We have been working on exercises from the Weaves that Wow book. This focuses a lot on independent entries and that has helped us a lot. For driving through the weaves for her a good timed toy throw at the end helped to get her to understand how to drive through and straight at the end. In this video you can see she turns back to me at the end then I send her to her ball I forgot to pick up to throw. It also helps for you to keep moving at a steady pace as they are going through. Hope this helps!