diff --git a/src/main/java/frc/robot/constants/TagServoingConstants.java b/src/main/java/frc/robot/constants/TagServoingConstants.java
index b4c422e..0061dc8 100644
--- a/src/main/java/frc/robot/constants/TagServoingConstants.java
+++ b/src/main/java/frc/robot/constants/TagServoingConstants.java
@@ -101,6 +101,8 @@ public class TagServoingConstants {
   public static final double kCoralStuckAllowence = 0.03;
 
   // Reef
-  public static final Translation2d kBlueReefPose = new Translation2d(4.489323, 4.0259);
-  public static final Translation2d kRedReefPose = new Translation2d(13.058902, 4.0259);
+  public static final Translation2d kBlueReefPose =
+      new Translation2d(4.489323, 4.0259); // welded: 4.489323, 4.0259, AM: 4.489323, 4.02082
+  public static final Translation2d kRedReefPose =
+      new Translation2d(13.058902, 4.0259); // welded: 13.058902, 4.0259, AM: 13.058902, 4.02082
 }
diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java
index 2532d80..7460c17 100644
--- a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java
+++ b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java
@@ -501,6 +501,23 @@ private AutoCommandInterface getAutoCommand(int switchPos) {
             ScoringLevel.L2,
             new Pose2d(7.1008875, 4.0509, Rotation2d.fromDegrees(180.0)));
       }
+      case 0x18 -> {
+        return new StealOneAlgeaAutonCommand(
+            driveSubsystem,
+            robotStateSubsystem,
+            algaeSubsystem,
+            biscuitSubsystem,
+            coralSubsystem,
+            elevatorSubsystem,
+            tagAlignSubsystem,
+            visionSubsystem,
+            "startBargeToG",
+            "GToBarge",
+            "bargeToOppG",
+            "OppGToOppBarge",
+            ScoringLevel.L2,
+            new Pose2d(7.1, 3.7209, Rotation2d.fromRadians(3.14159)));
+      }
 
       case 0x20 -> {
         return new ProcessorShallowSlowAutonCommand(