diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp
index 802efdc095..01ce83c1cd 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp
@@ -8,13 +8,13 @@
 #include "Commands/Shoot.h"
 
 DriveAndShootAutonomous::DriveAndShootAutonomous() {
+    AddSequential(new CloseClaw());
     AddSequential(new WaitForPressure(), 2);
  	#ifdef REAL
     	// NOTE: Simulation doesn't currently have the concept of hot.
     	AddSequential(new CheckForHotGoal(2));
 	#endif
-    AddSequential(new CloseClaw());
     AddSequential(new SetPivotSetpoint(45));
-    AddSequential(new DriveForward(8, 0.4));
+    AddSequential(new DriveForward(8, 0.3));
     AddSequential(new Shoot());
 }
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
index 761e0cc920..36ce60afb3 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
@@ -29,7 +29,7 @@ DriveTrain::DriveTrain() :
 
 	// Configure encoders
 	rightEncoder = new Encoder(1, 2, true, Encoder::k4X);
-	leftEncoder = new Encoder(5, 6, false, Encoder::k4X); // TODO: Correct encoder module.
+	leftEncoder = new Encoder(3, 4, false, Encoder::k4X);
 	rightEncoder->SetPIDSourceParameter(PIDSource::kDistance);
 	leftEncoder->SetPIDSourceParameter(PIDSource::kDistance);
 
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp
index 90b39fe730..6ab3353dd6 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp
@@ -7,8 +7,8 @@ Pivot::Pivot() :
 	GetPIDController()->SetContinuous(false);
 	#ifdef SIMULATION
 		// PID is different in simulation.
-		GetPIDController()->SetPID(0.5, 0.00001, 4.5);
-		SetAbsoluteTolerance(2.5);
+		GetPIDController()->SetPID(0.5, 0.001, 2);
+		SetAbsoluteTolerance(5);
 	#endif
 
 	// Motor to move the pivot.
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java
index 21f079e7be..e6df729944 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java
@@ -70,8 +70,8 @@ public class Robot extends IterativeRobot {
 	}
 
 	public void autonomousInit() {
-		Command auto = (Command) autoChooser.getSelected();
-		auto.start();
+		autonomousCommand = (Command) autoChooser.getSelected();
+		autonomousCommand.start();
 	}
 
 	// This function is called periodically during autonomous
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java
index ff159818f2..a93f9fd033 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java
@@ -10,14 +10,14 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class DriveAndShootAutonomous extends CommandGroup {
     public DriveAndShootAutonomous() {
+        addSequential(new CloseClaw());
         addSequential(new WaitForPressure(), 2);
         if (Robot.isReal()) {
         	// NOTE: Simulation doesn't currently have the concept of hot. 
         	addSequential(new CheckForHotGoal(2));
-        }	
-        addSequential(new CloseClaw());
+        }
         addSequential(new SetPivotSetpoint(45));
-        addSequential(new DriveForward(8, 0.4));
+        addSequential(new DriveForward(8, 0.3));
         addSequential(new Shoot());
     }
 }
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java
index 57cce4474a..7faf22a6a2 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java
@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.command.Command;
 public class DriveForward extends Command {
 	private double driveForwardSpeed;
 	private double distance;
-	private final double tolerance = .1; // TODO: Was 5
 	private double error;
-	private final double Kp = -1.0 / 5.0;
+	private final double TOLERANCE = .1;
+	private final double KP = -1.0 / 5.0;
 
 	public DriveForward() {
 		this(10, 0.5);
@@ -36,16 +36,16 @@ public class DriveForward extends Command {
 
 	protected void execute() {
 		error = (distance - Robot.drivetrain.getRightEncoder().getDistance());
-		if (driveForwardSpeed * Kp * error >= driveForwardSpeed) {
+		if (driveForwardSpeed * KP * error >= driveForwardSpeed) {
 			Robot.drivetrain.tankDrive(driveForwardSpeed, driveForwardSpeed);
 		} else {
-			Robot.drivetrain.tankDrive(driveForwardSpeed * Kp * error,
-					driveForwardSpeed * Kp * error);
+			Robot.drivetrain.tankDrive(driveForwardSpeed * KP * error,
+					driveForwardSpeed * KP * error);
 		}
 	}
 
 	protected boolean isFinished() {
-		return (Math.abs(error) <= tolerance) || isTimedOut();
+		return (Math.abs(error) <= TOLERANCE) || isTimedOut();
 	}
 
 	protected void end() {
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java
index 5fbaa5b432..2d34b8b788 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java
@@ -31,4 +31,4 @@ public class DriveWithJoystick extends Command {
 	protected void interrupted() {
 		end();
 	}
-}
+}
\ No newline at end of file
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java
index 1b840a0114..850a34a25e 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java
@@ -51,7 +51,7 @@ public class DriveTrain extends Subsystem {
 
 		// Configure encoders
 		rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
-		leftEncoder = new Encoder(5, 6, false, EncodingType.k4X); // XXX: Module 2
+		leftEncoder = new Encoder(3, 4, false, EncodingType.k4X);
 		rightEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance);
 		leftEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance);
 
@@ -126,4 +126,4 @@ public class DriveTrain extends Subsystem {
 	public double getAngle() {
 		return gyro.getAngle();
 	}
-}
+}
\ No newline at end of file
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java
index 728aafe62c..fee1cf5b94 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java
@@ -29,8 +29,8 @@ public class Pivot extends PIDSubsystem {
 		setAbsoluteTolerance(0.005);
 		getPIDController().setContinuous(false);
 		if (Robot.isSimulation()) { // PID is different in simulation.
-			getPIDController().setPID(0.5, 0.00001, 4.5);
-			setAbsoluteTolerance(2.5);
+			getPIDController().setPID(0.5, 0.001, 2);
+			setAbsoluteTolerance(5);
 		}
 		
 		// Motor to move the pivot.