diff --git a/src/main/deploy/choreo/BtoD.traj b/src/main/deploy/choreo/BtoD.traj
new file mode 100644
index 00000000..1ee6dd9d
--- /dev/null
+++ b/src/main/deploy/choreo/BtoD.traj
@@ -0,0 +1,125 @@
+{
+ "name":"BtoD",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slower", "val":1.5}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "back":0.44196
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+   "differentialTrackWidth":0.5427218
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+    {"t":1.76602, "x":1.13336, "y":5.97525, "heading":-3.06735, "vx":-1.49966, "vy":0.0, "omega":-0.31085, "ax":0.0, "ay":0.0, "alpha":-0.16467, "fx":[-0.8323,-0.71706,0.8323,0.71706], "fy":[0.71706,-0.8323,-0.71706,0.8323]},
+    {"t":1.81046, "x":1.06671, "y":5.97525, "heading":-3.08117, "vx":-1.49966, "vy":0.0, "omega":-0.31816, "ax":0.0, "ay":0.0, "alpha":0.25594, "fx":[1.27812,1.13229,-1.27812,-1.13229], "fy":[-1.13229,1.27812,1.13229,-1.27812]},
+    {"t":1.8549, "x":1.00006, "y":5.97525, "heading":-3.09531, "vx":-1.49966, "vy":0.0, "omega":-0.30679, "ax":0.0, "ay":0.0, "alpha":0.67904, "fx":[3.34819,3.05176,-3.34819,-3.05176], "fy":[-3.05176,3.34819,3.05176,-3.34819]},
+    {"t":1.89934, "x":0.93341, "y":5.97525, "heading":-3.10894, "vx":-1.49966, "vy":0.0, "omega":-0.27661, "ax":0.0, "ay":0.0, "alpha":1.10868, "fx":[5.39818,5.05671,-5.39819,-5.05671], "fy":[-5.05671,5.39819,5.05671,-5.39819]},
+    {"t":1.94379, "x":0.86677, "y":5.97525, "heading":-3.12124, "vx":-1.49966, "vy":0.0, "omega":-0.22734, "ax":0.0, "ay":0.0, "alpha":1.54873, "fx":[7.45339,7.15594,-7.45339,-7.15594], "fy":[-7.15594,7.45339,7.15594,-7.45339]},
+    {"t":1.98823, "x":0.80012, "y":5.97525, "heading":-3.13134, "vx":-1.49966, "vy":0.0, "omega":-0.15851, "ax":0.00004, "ay":0.0, "alpha":2.00279, "fx":[9.54528,9.35152,-9.54395,-9.35019], "fy":[-9.35085,9.54461,9.35086,-9.54462]},
+    {"t":2.03267, "x":0.73347, "y":5.97525, "heading":-3.13838, "vx":-1.49966, "vy":0.0, "omega":-0.0695, "ax":3.67499, "ay":0.0, "alpha":1.53457, "fx":[66.28802,66.25454,55.23046,55.26796], "fy":[-8.43326,8.49016,9.44517,-9.50206]},
+    {"t":2.07711, "x":0.67045, "y":5.97525, "heading":-3.14147, "vx":-1.33634, "vy":0.0, "omega":-0.0013, "ax":7.50288, "ay":0.0, "alpha":0.01216, "fx":[124.04882,124.04882,124.0479,124.0479], "fy":[-0.11416,0.11418,0.11437,-0.11439]},
+    {"t":2.12156, "x":0.61847, "y":5.97525, "heading":-3.14153, "vx":-1.00289, "vy":0.0, "omega":-0.00076, "ax":7.51792, "ay":0.0, "alpha":0.00712, "fx":[124.29723,124.29723,124.29696,124.29696], "fy":[-0.06701,0.06702,0.06708,-0.06709]},
+    {"t":2.166, "x":0.58132, "y":5.97525, "heading":-3.14156, "vx":-0.66878, "vy":0.0, "omega":-0.00045, "ax":7.52296, "ay":0.0, "alpha":0.00544, "fx":[124.38041,124.38041,124.38027,124.38027], "fy":[-0.0512,0.0512,0.05124,-0.05124]},
+    {"t":2.21044, "x":0.55903, "y":5.97525, "heading":-3.14158, "vx":-0.33445, "vy":0.0, "omega":-0.0002, "ax":7.52548, "ay":0.0, "alpha":0.00459, "fx":[124.42206,124.42206,124.42198,124.42198], "fy":[-0.04328,0.04328,0.04331,-0.04331]},
+    {"t":2.25488, "x":0.5516, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/CtoO.traj b/src/main/deploy/choreo/CtoO.traj
deleted file mode 100644
index 1bcfebbe..00000000
--- a/src/main/deploy/choreo/CtoO.traj
+++ /dev/null
@@ -1,115 +0,0 @@
-{
- "name":"CtoO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.4044814109802246, "y":2.0, "heading":-3.120762420732352, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.6131027936935425, "y":1.1535886526107788, "heading":1.9909931005444836, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"CC.x", "val":2.4044814109802246}, "y":{"exp":"CC.y", "val":2.0}, "heading":{"exp":"CC.heading", "val":-3.120762420732352}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.6131027936935425 m", "val":1.6131027936935425}, "y":{"exp":"1.1535886526107788 m", "val":1.1535886526107788}, "heading":{"exp":"1.9909931005444836 rad", "val":1.9909931005444836}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
-   },
-   "mass":66.133767546,
-   "inertia":10.42384825260472,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":485.8996637552213,
-   "tmax":0.9,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.8731,1.62816],
-  "samples":[
-    {"t":0.0, "x":2.40448, "y":2.0, "heading":-3.12076, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.10375, "ay":-5.52486, "alpha":-0.03558, "fx":[-84.73034,-84.38983,-84.03414,-84.37577], "fy":[-91.02307,-91.33985,-91.66623,-91.35086]},
-    {"t":0.0291, "x":2.40232, "y":1.99766, "heading":-3.12076, "vx":-0.14854, "vy":-0.16079, "omega":-0.00104, "ax":-5.10219, "ay":-5.52318, "alpha":-0.04015, "fx":[-84.74923,-84.36524,-83.96374,-84.34916], "fy":[-90.95391,-91.31156,-91.67958,-91.32373]},
-    {"t":0.05821, "x":2.39584, "y":1.99064, "heading":-3.12079, "vx":-0.29703, "vy":-0.32153, "omega":-0.0022, "ax":-5.09988, "ay":-5.52067, "alpha":-0.04698, "fx":[-84.77733,-84.32862,-83.85875,-84.30941], "fy":[-90.85077,-91.26939,-91.69941,-91.28324]},
-    {"t":0.08731, "x":2.38503, "y":1.97895, "heading":-3.12086, "vx":-0.44545, "vy":-0.4822, "omega":-0.00357, "ax":-5.09605, "ay":-5.51652, "alpha":-0.05826, "fx":[-84.82358,-84.2683,-83.68536,-84.24362], "fy":[-90.68041,-91.19989,-91.732,-91.21627]},
-    {"t":0.11641, "x":2.36991, "y":1.96258, "heading":-3.12096, "vx":-0.59376, "vy":-0.64275, "omega":-0.00527, "ax":-5.08851, "ay":-5.50836, "alpha":-0.08044, "fx":[-84.91387,-84.15016,-83.34448,-84.11384], "fy":[-90.34539,-91.06376,-91.79541,-91.08419]},
-    {"t":0.14552, "x":2.35047, "y":1.94154, "heading":-3.12111, "vx":-0.74185, "vy":-0.80307, "omega":-0.00761, "ax":-5.06683, "ay":-5.48489, "alpha":-0.14418, "fx":[-85.16818,-83.81475,-82.36729,-83.73853], "fy":[-89.38428,-90.67721,-91.97258,-90.70222]},
-    {"t":0.17462, "x":2.32674, "y":1.91584, "heading":-3.12134, "vx":-0.88932, "vy":-0.96269, "omega":-0.0118, "ax":-4.40317, "ay":-4.76664, "alpha":-2.019, "fx":[-89.58917,-75.90525,-55.09687,-70.60664], "fy":[-62.14649,-81.58975,-94.22461,-77.27471]},
-    {"t":0.20372, "x":2.29899, "y":1.88581, "heading":-3.12168, "vx":-1.01746, "vy":-1.10142, "omega":-0.07056, "ax":-0.00092, "ay":-0.0009, "alpha":-9.93014, "fx":[-47.7886,-45.91487,47.75001,45.89247], "fy":[45.88426,-47.77975,-45.92308,47.75885]},
-    {"t":0.23283, "x":2.26938, "y":1.85375, "heading":-3.12373, "vx":-1.01749, "vy":-1.10145, "omega":-0.35956, "ax":-0.00001, "ay":0.00001, "alpha":-9.39585, "fx":[-45.10991,-43.52674,45.10971,43.52642], "fy":[43.52667,-45.10966,-43.52649,45.10996]},
-    {"t":0.26193, "x":2.23977, "y":1.82169, "heading":-3.1342, "vx":-1.01749, "vy":-1.10145, "omega":-0.63301, "ax":0.0, "ay":0.0, "alpha":-8.828, "fx":[-41.95328,-41.33729,41.95325,41.33725], "fy":[41.33728,-41.95324,-41.33725,41.95329]},
-    {"t":0.29103, "x":2.21015, "y":1.78964, "heading":3.13057, "vx":-1.01749, "vy":-1.10145, "omega":-0.88994, "ax":0.0, "ay":0.0, "alpha":-8.2263, "fx":[-38.37755,-39.23341,38.37757,39.23343], "fy":[39.23342,-38.37756,-39.23342,38.37755]},
-    {"t":0.32014, "x":2.18054, "y":1.75758, "heading":3.10467, "vx":-1.01749, "vy":-1.10145, "omega":-1.12935, "ax":0.0, "ay":0.0, "alpha":-7.59122, "fx":[-34.46525,-37.10952,34.4653,37.10957], "fy":[37.10953,-34.4653,-37.10956,34.46525]},
-    {"t":0.34924, "x":2.15093, "y":1.72553, "heading":3.0718, "vx":-1.01749, "vy":-1.10145, "omega":-1.35028, "ax":0.0, "ay":0.0, "alpha":-6.92408, "fx":[-30.30704,-34.86299,30.30712,34.8631], "fy":[34.86301,-30.30713,-34.86308,30.30703]},
-    {"t":0.37834, "x":2.12132, "y":1.69347, "heading":3.0325, "vx":-1.01749, "vy":-1.10145, "omega":-1.55179, "ax":0.0, "ay":0.0, "alpha":-6.22711, "fx":[-26.00346,-32.4003,26.00362,32.40048], "fy":[32.40033,-26.00362,-32.40045,26.00346]},
-    {"t":0.40745, "x":2.09171, "y":1.66142, "heading":2.98734, "vx":-1.01749, "vy":-1.10145, "omega":-1.73302, "ax":0.00001, "ay":-0.00001, "alpha":-5.50333, "fx":[-21.66484,-29.64271,21.66507,29.64296], "fy":[29.64274,-21.66508,-29.64293,21.66484]},
-    {"t":0.43655, "x":2.06209, "y":1.62936, "heading":2.9369, "vx":-1.01749, "vy":-1.10145, "omega":-1.89319, "ax":0.00001, "ay":-0.00001, "alpha":-4.75643, "fx":[-17.40902,-26.53101,17.40932,26.53132], "fy":[26.53104,-17.40931,-26.53128,17.40902]},
-    {"t":0.46565, "x":2.03248, "y":1.5973, "heading":2.8818, "vx":-1.01749, "vy":-1.10145, "omega":-2.03162, "ax":0.00001, "ay":-0.00001, "alpha":-3.99041, "fx":[-13.35734,-23.02873,13.35766,23.02905], "fy":[23.02876,-13.35765,-23.02902,13.35735]},
-    {"t":0.49476, "x":2.00287, "y":1.56525, "heading":2.82268, "vx":-1.01749, "vy":-1.10145, "omega":-2.14775, "ax":0.00001, "ay":-0.00001, "alpha":-3.20932, "fx":[-9.62953,-19.12352,9.62979,19.12379], "fy":[19.12354,-9.62978,-19.12377,9.62953]},
-    {"t":0.52386, "x":1.97326, "y":1.53319, "heading":2.76017, "vx":-1.01749, "vy":-1.10145, "omega":-2.24115, "ax":0.0, "ay":0.0, "alpha":-2.41694, "fx":[-6.33822,-14.82681,6.33834,14.82694], "fy":[14.82682,-6.33834,-14.82693,6.33823]},
-    {"t":0.55296, "x":1.94364, "y":1.50114, "heading":2.69494, "vx":-1.01749, "vy":-1.10145, "omega":-2.31149, "ax":0.0, "ay":0.0, "alpha":-1.61655, "fx":[-3.58398,-10.17214,3.5839,10.17206], "fy":[10.17214,-3.5839,-10.17206,3.58398]},
-    {"t":0.58207, "x":1.91403, "y":1.46908, "heading":2.62767, "vx":-1.01749, "vy":-1.10145, "omega":-2.35854, "ax":-0.00001, "ay":0.00001, "alpha":-0.811, "fx":[-1.45105,-5.21266,1.45075,5.21237], "fy":[5.21265,-1.45076,-5.21238,1.45104]},
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-    {"t":0.64027, "x":1.85481, "y":1.40497, "heading":2.4897, "vx":-1.01749, "vy":-1.10145, "omega":-2.38222, "ax":-0.00002, "ay":0.00002, "alpha":0.80586, "fx":[0.71533,5.32819,-0.71598,-5.32884], "fy":[-5.32822,0.71595,5.32882,-0.71535]},
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-    {"t":0.81489, "x":1.67698, "y":1.21278, "heading":2.09754, "vx":-1.02571, "vy":-1.09379, "omega":-1.89421, "ax":-1.8812, "ay":1.85723, "alpha":4.37691, "fx":[-44.21365,-1.35339,-22.39854,-56.44534], "fy":[0.69301,27.90662,58.61337,35.61276]},
-    {"t":0.844, "x":1.64633, "y":1.18173, "heading":2.04241, "vx":-1.08046, "vy":-1.03974, "omega":-1.76682, "ax":-4.21606, "ay":5.00446, "alpha":0.9621, "fx":[-76.74692,-63.98311,-63.25343,-74.84019], "fy":[75.59641,85.91488,89.18704,80.26517]},
-    {"t":0.8731, "x":1.6131, "y":1.15359, "heading":1.99099, "vx":-1.20316, "vy":-0.89409, "omega":-1.73882, "ax":-3.50554, "ay":5.46389, "alpha":1.05281, "fx":[-66.08172,-50.6064,-50.71966,-64.4266], "fy":[83.75735,93.39132,96.20757,87.99106]},
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-    {"t":0.93876, "x":1.52796, "y":1.10464, "heading":1.87796, "vx":-1.34719, "vy":-0.65855, "omega":-1.53033, "ax":-0.08075, "ay":0.16603, "alpha":5.52672, "fx":[-18.59079,31.67083,15.3925,-33.81269], "fy":[-30.02715,-14.15798,35.43085,19.73458]},
-    {"t":0.97159, "x":1.48369, "y":1.08311, "heading":1.82772, "vx":-1.34984, "vy":-0.65309, "omega":-1.3489, "ax":-0.00727, "ay":0.01502, "alpha":5.11758, "fx":[-17.35612,29.3853,17.07449,-29.58415], "fy":[-29.23758,-16.96527,29.73171,17.46466]},
-    {"t":1.00442, "x":1.43938, "y":1.06168, "heading":1.78344, "vx":-1.35008, "vy":-0.6526, "omega":-1.18089, "ax":-0.00064, "ay":0.00133, "alpha":4.71928, "fx":[-17.07554,26.45141,17.0512,-26.46952], "fy":[-26.43848,-17.04146,26.48245,17.08528]},
-    {"t":1.03724, "x":1.39505, "y":1.04025, "heading":1.74467, "vx":-1.3501, "vy":-0.65256, "omega":-1.02597, "ax":-0.00006, "ay":0.00011, "alpha":4.33784, "fx":[-16.61612,23.69484,16.61406,-23.69645], "fy":[-23.69374,-16.61321,23.69755,16.61698]},
-    {"t":1.07007, "x":1.35073, "y":1.01883, "heading":1.71099, "vx":-1.3501, "vy":-0.65255, "omega":-0.88356, "ax":0.0, "ay":0.00001, "alpha":3.97319, "fx":[-15.9407,21.17887,15.94053,-21.179], "fy":[-21.17878,-15.94046,21.17909,15.94077]},
-    {"t":1.1029, "x":1.30641, "y":0.99741, "heading":1.68198, "vx":-1.3501, "vy":-0.65255, "omega":-0.75312, "ax":0.0, "ay":0.0, "alpha":3.62501, "fx":[-15.09798,18.89302,15.09797,-18.89303], "fy":[-18.89302,-15.09797,18.89304,15.09799]},
-    {"t":1.13573, "x":1.26209, "y":0.97599, "heading":1.65726, "vx":-1.3501, "vy":-0.65255, "omega":-0.63412, "ax":0.0, "ay":0.0, "alpha":3.2928, "fx":[-14.13441,16.81731,14.13441,-16.81731], "fy":[-16.81731,-14.13441,16.81731,14.13441]},
-    {"t":1.16856, "x":1.21777, "y":0.95456, "heading":1.63644, "vx":-1.3501, "vy":-0.65255, "omega":-0.52602, "ax":0.0, "ay":0.0, "alpha":2.97591, "fx":[-13.08777,14.92968,13.08777,-14.92968], "fy":[-14.92968,-13.08778,14.92967,13.08777]},
-    {"t":1.20139, "x":1.17344, "y":0.93314, "heading":1.61917, "vx":-1.3501, "vy":-0.65255, "omega":-0.42833, "ax":0.0, "ay":0.0, "alpha":2.67355, "fx":[-11.98787,13.20774,11.98787,-13.20774], "fy":[-13.20774,-11.98787,13.20774,11.98787]},
-    {"t":1.23422, "x":1.12912, "y":0.91172, "heading":1.60511, "vx":-1.3501, "vy":-0.65255, "omega":-0.34056, "ax":0.0, "ay":0.0, "alpha":2.3848, "fx":[-10.85774,11.62974,10.85774,-11.62974], "fy":[-11.62974,-10.85774,11.62974,10.85774]},
-    {"t":1.26705, "x":1.0848, "y":0.8903, "heading":1.59393, "vx":-1.3501, "vy":-0.65255, "omega":-0.26227, "ax":0.0, "ay":0.0, "alpha":2.10864, "fx":[-9.71477,10.17503,9.71477,-10.17503], "fy":[-10.17503,-9.71477,10.17503,9.71477]},
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-    {"t":1.5625, "x":0.74678, "y":0.72692, "heading":1.5708, "vx":-0.4447, "vy":-0.21494, "omega":0.00001, "ax":6.77213, "ay":3.27321, "alpha":-0.00008, "fx":[111.96645,111.96616,111.96675,111.96704], "fy":[54.11781,54.1184,54.11717,54.11657]},
-    {"t":1.59533, "x":0.73583, "y":0.72163, "heading":1.5708, "vx":-0.22238, "vy":-0.10748, "omega":0.00001, "ax":6.77384, "ay":3.27404, "alpha":-0.00036, "fx":[111.99423,111.99293,111.99559,111.99688], "fy":[54.13259,54.13525,54.12975,54.12709]},
-    {"t":1.62816, "x":0.73218, "y":0.71986, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DtoC.traj b/src/main/deploy/choreo/DtoC.traj
deleted file mode 100644
index 950d1b0d..00000000
--- a/src/main/deploy/choreo/DtoC.traj
+++ /dev/null
@@ -1,113 +0,0 @@
-{
- "name":"DtoC",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.1980347633361816, "y":5.884655952453613, "heading":3.141666845264474, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.4044814109802246, "y":2.0, "heading":-3.120762420732352, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":2, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"D.x", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.1980347633361816 m", "val":2.1980347633361816}, "y":{"exp":"5.884655952453613 m", "val":5.884655952453613}, "heading":{"exp":"3.1416668452644734 rad", "val":3.141666845264474}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CC.x", "val":2.4044814109802246}, "y":{"exp":"CC.y", "val":2.0}, "heading":{"exp":"CC.heading", "val":-3.120762420732352}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":2, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.8 m / s", "val":1.8}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
-   },
-   "mass":66.133767546,
-   "inertia":10.42384825260472,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":485.8996637552213,
-   "tmax":0.9,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.96944,3.27198],
-  "samples":[
-    {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52414, "ay":0.20178, "alpha":-0.00003, "fx":[124.4,124.40002,124.40002,124.4], "fy":[3.33647,3.33593,3.33592,3.33646]},
-    {"t":0.05386, "x":0.71491, "y":5.97554, "heading":3.14159, "vx":0.40523, "vy":0.01087, "omega":0.0, "ax":7.52208, "ay":0.20173, "alpha":-0.00003, "fx":[124.36587,124.36589,124.36589,124.36587], "fy":[3.3356,3.33498,3.33496,3.33558]},
-    {"t":0.10772, "x":0.74765, "y":5.97642, "heading":3.14159, "vx":0.81035, "vy":0.02173, "omega":0.0, "ax":7.51796, "ay":0.20162, "alpha":-0.00004, "fx":[124.29768,124.2977,124.2977,124.29768], "fy":[3.33386,3.33307,3.33305,3.33384]},
-    {"t":0.16157, "x":0.80219, "y":5.97788, "heading":3.14159, "vx":1.21525, "vy":0.03259, "omega":-0.00001, "ax":7.50562, "ay":0.20129, "alpha":-0.00007, "fx":[124.09366,124.09369,124.0937,124.09366], "fy":[3.32864,3.32736,3.32733,3.3286]},
-    {"t":0.21543, "x":0.87853, "y":5.97993, "heading":3.14159, "vx":1.61948, "vy":0.04343, "omega":-0.00001, "ax":3.33348, "ay":0.0894, "alpha":-0.0107, "fx":[55.07276,55.07382,55.155,55.15394], "fy":[1.53896,1.41823,1.41721,1.53785]},
-    {"t":0.26929, "x":0.97059, "y":5.9824, "heading":3.14159, "vx":1.79902, "vy":0.04825, "omega":-0.00059, "ax":0.00002, "ay":0.0, "alpha":-0.01144, "fx":[-0.05362,-0.05362,0.05436,0.05436], "fy":[0.054,-0.05398,-0.05398,0.054]},
-    {"t":0.32315, "x":1.06748, "y":5.985, "heading":3.14156, "vx":1.79902, "vy":0.04825, "omega":-0.0012, "ax":0.0, "ay":0.0, "alpha":-0.00724, "fx":[-0.03416,-0.03416,0.03416,0.03416], "fy":[0.03416,-0.03416,-0.03416,0.03416]},
-    {"t":0.377, "x":1.16437, "y":5.98759, "heading":3.1415, "vx":1.79902, "vy":0.04825, "omega":-0.00159, "ax":0.0, "ay":0.0, "alpha":-0.0032, "fx":[-0.01511,-0.01512,0.01511,0.01512], "fy":[0.01512,-0.01511,-0.01512,0.01511]},
-    {"t":0.43086, "x":1.26126, "y":5.99019, "heading":3.14141, "vx":1.79902, "vy":0.04825, "omega":-0.00176, "ax":0.0, "ay":0.0, "alpha":0.00076, "fx":[0.00358,0.00358,-0.00358,-0.00358], "fy":[-0.00358,0.00358,0.00358,-0.00358]},
-    {"t":0.48472, "x":1.35815, "y":5.99279, "heading":3.14131, "vx":1.79902, "vy":0.04825, "omega":-0.00172, "ax":0.0, "ay":0.0, "alpha":0.00474, "fx":[0.02235,0.02237,-0.02235,-0.02237], "fy":[-0.02237,0.02235,0.02237,-0.02236]},
-    {"t":0.53858, "x":1.45504, "y":5.99539, "heading":3.14122, "vx":1.79902, "vy":0.04825, "omega":-0.00147, "ax":0.0, "ay":0.0, "alpha":0.00883, "fx":[0.04164,0.04167,-0.04164,-0.04167], "fy":[-0.04172,0.04159,0.04162,-0.04169]},
-    {"t":0.59243, "x":1.55193, "y":5.99799, "heading":3.14114, "vx":1.79902, "vy":0.04825, "omega":-0.00099, "ax":0.0, "ay":-0.00011, "alpha":0.01312, "fx":[0.06193,0.06198,-0.06183,-0.06189], "fy":[-0.06376,0.06006,0.06011,-0.0637]},
-    {"t":0.64629, "x":1.64882, "y":6.00059, "heading":3.14109, "vx":1.79902, "vy":0.04824, "omega":-0.00029, "ax":0.00011, "ay":-0.00399, "alpha":0.01772, "fx":[0.08531,0.08539,-0.08178,-0.08186], "fy":[-0.14958,0.01759,0.01768,-0.14949]},
-    {"t":0.70015, "x":1.74571, "y":6.00318, "heading":3.14107, "vx":1.79902, "vy":0.04803, "omega":0.00067, "ax":0.00354, "ay":-0.14434, "alpha":0.0227, "fx":[0.16561,0.16573,-0.04858,-0.04869], "fy":[-2.49346,-2.27937,-2.27926,-2.49335]},
-    {"t":0.75401, "x":1.84261, "y":6.00556, "heading":3.14111, "vx":1.79922, "vy":0.04025, "omega":0.00189, "ax":-0.13685, "ay":-3.85777, "alpha":0.0165, "fx":[-2.16307,-2.16575,-2.36229,-2.35937], "fy":[-63.8412,-63.72633,-63.72337,-63.83825]},
-    {"t":0.80786, "x":1.93931, "y":6.00213, "heading":3.14121, "vx":1.79185, "vy":-0.16752, "omega":0.00278, "ax":-1.48163, "ay":-7.18614, "alpha":0.0009, "fx":[-24.48698,-24.49016,-24.50603,-24.50286], "fy":[-118.81369,-118.8126,-118.80942,-118.81051]},
-    {"t":0.86172, "x":2.03367, "y":5.98268, "heading":3.14136, "vx":1.71205, "vy":-0.55455, "omega":0.00283, "ax":-3.08851, "ay":-6.81194, "alpha":0.00029, "fx":[-51.06039,-51.06239,-51.06685,-51.06485], "fy":[-112.62625,-112.62531,-112.6233,-112.62425]},
-    {"t":0.91558, "x":2.12139, "y":5.94294, "heading":3.14151, "vx":1.54571, "vy":-0.92142, "omega":0.00284, "ax":-4.55497, "ay":-5.96877, "alpha":0.00015, "fx":[-75.30776,-75.30913,-75.31093,-75.30956], "fy":[-98.68557,-98.68452,-98.68315,-98.6842]},
-    {"t":0.96944, "x":2.19803, "y":5.88466, "heading":-3.14152, "vx":1.30039, "vy":-1.24288, "omega":0.00285, "ax":-5.91853, "ay":-4.62574, "alpha":0.00015, "fx":[-97.85247,-97.85382,-97.85488,-97.85353], "fy":[-76.48089,-76.47916,-76.47782,-76.47955]},
-    {"t":1.03921, "x":2.27436, "y":5.78668, "heading":-3.14132, "vx":0.88743, "vy":-1.56564, "omega":0.00286, "ax":-6.9568, "ay":-2.70318, "alpha":0.00042, "fx":[-115.01808,-115.02069,-115.02177,-115.01917], "fy":[-44.69764,-44.69086,-44.68826,-44.69503]},
-    {"t":1.10898, "x":2.31935, "y":5.67085, "heading":-3.14112, "vx":0.40203, "vy":-1.75425, "omega":0.00289, "ax":-5.12946, "ay":-0.64423, "alpha":0.01353, "fx":[-84.76543,-84.78035,-84.84974,-84.83486], "fy":[-10.75175,-10.56566,-10.55101,-10.73684]},
-    {"t":1.17876, "x":2.33491, "y":5.54689, "heading":-3.14092, "vx":0.04412, "vy":-1.7992, "omega":0.00384, "ax":-0.1272, "ay":-0.00281, "alpha":0.03082, "fx":[-1.95763,-1.95783,-2.24852,-2.24832], "fy":[-0.19178,0.09913,0.09893,-0.19196]},
-    {"t":1.24853, "x":2.33768, "y":5.42134, "heading":-3.14065, "vx":0.03525, "vy":-1.7994, "omega":0.00599, "ax":-0.00167, "ay":-0.00003, "alpha":0.02524, "fx":[0.09166,0.09144,-0.14672,-0.14649], "fy":[-0.1195,0.11865,0.11843,-0.11973]},
-    {"t":1.31831, "x":2.34014, "y":5.29579, "heading":-3.14023, "vx":0.03513, "vy":-1.7994, "omega":0.00775, "ax":-0.00002, "ay":0.0, "alpha":0.02062, "fx":[0.09703,0.09677,-0.09776,-0.09749], "fy":[-0.09714,0.09739,0.09712,-0.0974]},
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-    {"t":1.45785, "x":2.34504, "y":5.04469, "heading":-3.13905, "vx":0.03513, "vy":-1.7994, "omega":0.01036, "ax":0.0, "ay":0.0, "alpha":0.01361, "fx":[0.06437,0.06405,-0.06437,-0.06405], "fy":[-0.06405,0.06437,0.06405,-0.06437]},
-    {"t":1.52763, "x":2.34749, "y":4.91914, "heading":-3.13833, "vx":0.03513, "vy":-1.7994, "omega":0.01131, "ax":0.0, "ay":0.0, "alpha":0.01096, "fx":[0.05186,0.05152,-0.05186,-0.05152], "fy":[-0.05152,0.05186,0.05152,-0.05186]},
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-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DtoS.traj b/src/main/deploy/choreo/DtoS.traj
new file mode 100644
index 00000000..5aebd467
--- /dev/null
+++ b/src/main/deploy/choreo/DtoS.traj
@@ -0,0 +1,113 @@
+{
+ "name":"DtoS",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.551599767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.1980347633361816, "y":5.884655952453613, "heading":3.141666845264474, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4044814109802246, "y":2.0, "heading":-3.141507624207323, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":2, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"D.x - 6 in", "val":0.551599767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.1980347633361816 m", "val":2.1980347633361816}, "y":{"exp":"5.884655952453613 m", "val":5.884655952453613}, "heading":{"exp":"3.1416668452644734 rad", "val":3.141666845264474}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SC.x", "val":2.4044814109802246}, "y":{"exp":"SC.y", "val":2.0}, "heading":{"exp":"SC.heading", "val":-3.141507624207323}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":2, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.8 m / s", "val":1.8}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
+    "x":-0.2761996,
+    "y":0.2761996
+   },
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.0542,3.35646],
+  "samples":[
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+    {"t":1.48587, "x":2.34279, "y":5.14653, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":0.00003, "ax":0.0, "ay":0.0, "alpha":-0.00016, "fx":[-0.00077,-0.00077,0.00077,0.00077], "fy":[0.00077,-0.00077,-0.00077,0.00077]},
+    {"t":1.55782, "x":2.34533, "y":5.01707, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00013, "fx":[-0.00063,-0.00063,0.00063,0.00063], "fy":[0.00063,-0.00063,-0.00063,0.00063]},
+    {"t":1.62976, "x":2.34787, "y":4.88761, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":0.00001, "ax":0.0, "ay":0.0, "alpha":-0.00011, "fx":[-0.00051,-0.00051,0.00051,0.00051], "fy":[0.00051,-0.00051,-0.00051,0.00051]},
+    {"t":1.70171, "x":2.3504, "y":4.75815, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[-0.00041,-0.00041,0.00041,0.00041], "fy":[0.00041,-0.00041,-0.00041,0.00041]},
+    {"t":1.77365, "x":2.35294, "y":4.62869, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":-0.00001, "ax":0.0, "ay":0.0, "alpha":-0.00007, "fx":[-0.00033,-0.00033,0.00033,0.00033], "fy":[0.00033,-0.00033,-0.00033,0.00033]},
+    {"t":1.8456, "x":2.35548, "y":4.49923, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":-0.00001, "ax":0.0, "ay":0.0, "alpha":-0.00006, "fx":[-0.00027,-0.00027,0.00027,0.00027], "fy":[0.00027,-0.00027,-0.00027,0.00027]},
+    {"t":1.91755, "x":2.35802, "y":4.36977, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00005, "fx":[-0.00021,-0.00021,0.00021,0.00021], "fy":[0.00021,-0.00021,-0.00021,0.00021]},
+    {"t":1.98949, "x":2.36056, "y":4.24031, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00004, "fx":[-0.00017,-0.00017,0.00017,0.00017], "fy":[0.00017,-0.00017,-0.00017,0.00017]},
+    {"t":2.06144, "x":2.36309, "y":4.11085, "heading":-3.14148, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00003, "fx":[-0.00013,-0.00013,0.00013,0.00013], "fy":[0.00013,-0.00013,-0.00013,0.00013]},
+    {"t":2.13338, "x":2.36563, "y":3.98139, "heading":-3.14149, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":-0.00002, "fx":[-0.00009,-0.00009,0.00009,0.00009], "fy":[0.00009,-0.00009,-0.00009,0.00009]},
+    {"t":2.20533, "x":2.36817, "y":3.85193, "heading":-3.14149, "vx":0.03528, "vy":-1.7994, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[-0.00006,-0.00006,0.00006,0.00006], "fy":[0.00006,-0.00006,-0.00006,0.00006]},
+    {"t":2.27727, "x":2.37071, "y":3.72247, "heading":-3.14149, "vx":0.03528, "vy":-1.7994, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[-0.00004,-0.00004,0.00004,0.00004], "fy":[0.00004,-0.00004,-0.00004,0.00004]},
+    {"t":2.34922, "x":2.37325, "y":3.59302, "heading":-3.14149, "vx":0.03528, "vy":-1.7994, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,0.00001,0.00001], "fy":[0.00001,-0.00001,-0.00001,0.00001]},
+    {"t":2.42117, "x":2.37579, "y":3.46356, "heading":-3.14149, "vx":0.03528, "vy":-1.7994, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,-0.00002,-0.00002], "fy":[-0.00002,0.00002,0.00002,-0.00002]},
+    {"t":2.49311, "x":2.37832, "y":3.3341, "heading":-3.1415, "vx":0.03528, "vy":-1.7994, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[0.00004,0.00004,-0.00004,-0.00004], "fy":[-0.00004,0.00004,0.00004,-0.00004]},
+    {"t":2.56506, "x":2.38086, "y":3.20464, "heading":-3.1415, "vx":0.03528, "vy":-1.7994, "omega":-0.00003, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[0.00007,0.00007,-0.00007,-0.00007], "fy":[-0.00007,0.00007,0.00007,-0.00007]},
+    {"t":2.637, "x":2.3834, "y":3.07518, "heading":-3.1415, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[0.0001,0.0001,-0.0001,-0.0001], "fy":[-0.0001,0.0001,0.0001,-0.0001]},
+    {"t":2.70895, "x":2.38594, "y":2.94572, "heading":-3.1415, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[0.00014,0.00014,-0.00014,-0.00014], "fy":[-0.00014,0.00014,0.00014,-0.00014]},
+    {"t":2.78089, "x":2.38848, "y":2.81626, "heading":-3.1415, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":0.00004, "fx":[0.00018,0.00018,-0.00018,-0.00018], "fy":[-0.00018,0.00018,0.00018,-0.00018]},
+    {"t":2.85284, "x":2.39102, "y":2.6868, "heading":-3.1415, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":0.00005, "fx":[0.00022,0.00022,-0.00022,-0.00022], "fy":[-0.00022,0.00022,0.00022,-0.00022]},
+    {"t":2.92478, "x":2.39355, "y":2.55734, "heading":-3.14151, "vx":0.03528, "vy":-1.7994, "omega":-0.00002, "ax":0.0, "ay":0.0, "alpha":0.00006, "fx":[0.00028,0.00028,-0.00028,-0.00028], "fy":[-0.00028,0.00028,0.00028,-0.00028]},
+    {"t":2.99673, "x":2.39609, "y":2.42788, "heading":-3.14151, "vx":0.03528, "vy":-1.7994, "omega":-0.00001, "ax":0.0, "ay":0.0, "alpha":0.00007, "fx":[0.00035,0.00035,-0.00035,-0.00035], "fy":[-0.00027,0.00043,0.00043,-0.00027]},
+    {"t":3.06868, "x":2.39863, "y":2.29842, "heading":-3.14151, "vx":0.03528, "vy":-1.7994, "omega":-0.00001, "ax":-0.04787, "ay":2.44133, "alpha":0.00007, "fx":[-0.79101,-0.791,-0.79178,-0.79178], "fy":[40.36324,40.36387,40.36387,40.36324]},
+    {"t":3.14062, "x":2.40104, "y":2.17528, "heading":-3.14151, "vx":0.03184, "vy":-1.62376, "omega":0.0, "ax":-0.1474, "ay":7.51767, "alpha":0.0, "fx":[-2.43696,-2.43696,-2.43696,-2.43696], "fy":[124.29289,124.29289,124.29289,124.29289]},
+    {"t":3.21257, "x":2.40295, "y":2.07792, "heading":-3.14151, "vx":0.02123, "vy":-1.0829, "omega":0.0, "ax":-0.14753, "ay":7.52463, "alpha":0.0, "fx":[-2.43922,-2.43922,-2.43922,-2.43922], "fy":[124.40804,124.40804,124.40804,124.40804]},
+    {"t":3.28451, "x":2.4041, "y":2.01948, "heading":-3.14151, "vx":0.01062, "vy":-0.54153, "omega":0.0, "ax":-0.14758, "ay":7.52695, "alpha":0.0, "fx":[-2.43997,-2.43997,-2.43997,-2.43997], "fy":[124.44646,124.44646,124.44646,124.44646]},
+    {"t":3.35646, "x":2.40448, "y":2.0, "heading":-3.14151, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj
index 0a0701bf..2c29dde0 100644
--- a/src/main/deploy/choreo/FRMtoMR.traj
+++ b/src/main/deploy/choreo/FRMtoMR.traj
@@ -3,28 +3,28 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.3}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":false},
     {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2.3 m / s", "val":2.3}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"6 rad / s", "val":6.0}}}, "enabled":false},
     {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
   "targetDt":{
@@ -57,91 +57,98 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.37739,2.93811],
+  "waypoints":[0.0,1.55576,3.35045],
   "samples":[
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-    {"t":0.0313, "x":7.80992, "y":3.4858, "heading":1.61187, "vx":-0.33397, "vy":-2.27488, "omega":1.31155, "ax":0.00001, "ay":-0.00001, "alpha":-0.02344, "fx":[0.10609,-0.11489,-0.10581,0.11517], "fy":[0.11492,0.10584,-0.11514,-0.10606]},
-    {"t":0.06261, "x":7.79946, "y":3.41459, "heading":1.65292, "vx":-0.33397, "vy":-2.27488, "omega":1.31081, "ax":0.00001, "ay":0.0, "alpha":-0.0334, "fx":[0.14436,-0.16973,-0.14388,0.17021], "fy":[0.16994,0.14408,-0.17001,-0.14415]},
-    {"t":0.09391, "x":7.78901, "y":3.34338, "heading":1.69396, "vx":-0.33397, "vy":-2.27488, "omega":1.30977, "ax":0.00001, "ay":0.0, "alpha":-0.04294, "fx":[0.17635,-0.22575,-0.17597,0.22613], "fy":[0.22591,0.17614,-0.22597,-0.17619]},
-    {"t":0.12522, "x":7.77855, "y":3.27216, "heading":1.73496, "vx":-0.33397, "vy":-2.27488, "omega":1.30842, "ax":0.00001, "ay":0.0, "alpha":-0.05215, "fx":[0.2026,-0.2828,-0.20239,0.28301], "fy":[0.28289,0.20248,-0.28292,-0.20251]},
-    {"t":0.15652, "x":7.7681, "y":3.20095, "heading":1.77592, "vx":-0.33397, "vy":-2.27488, "omega":1.30679, "ax":0.0, "ay":0.0, "alpha":-0.06113, "fx":[0.22362,-0.34105,-0.22357,0.34109], "fy":[0.34107,0.22359,-0.34107,-0.2236]},
-    {"t":0.18783, "x":7.75764, "y":3.12974, "heading":1.81683, "vx":-0.33397, "vy":-2.27488, "omega":1.30488, "ax":0.0, "ay":0.0, "alpha":-0.07003, "fx":[0.2399,-0.40095,-0.24002,0.40083], "fy":[0.4009,0.23997,-0.40088,-0.23995]},
-    {"t":0.21913, "x":7.74719, "y":3.05852, "heading":1.85768, "vx":-0.33397, "vy":-2.27488, "omega":1.30269, "ax":-0.00001, "ay":0.0, "alpha":-0.07904, "fx":[0.25197,-0.46327,-0.25226,0.46298], "fy":[0.46315,0.25214,-0.46311,-0.2521]},
-    {"t":0.25044, "x":7.73673, "y":2.98731, "heading":1.89846, "vx":-0.33397, "vy":-2.27488, "omega":1.30021, "ax":-0.00001, "ay":0.0, "alpha":-0.08836, "fx":[0.2603,-0.52905,-0.26074,0.52861], "fy":[0.52886,0.26055,-0.5288,-0.26049]},
-    {"t":0.28174, "x":7.72628, "y":2.91609, "heading":1.93916, "vx":-0.33397, "vy":-2.27488, "omega":1.29745, "ax":-0.00002, "ay":0.0, "alpha":-0.09827, "fx":[0.26526,-0.59969,-0.26584,0.59912], "fy":[0.59945,0.26559,-0.59936,-0.26551]},
-    {"t":0.31304, "x":7.71582, "y":2.84488, "heading":1.97977, "vx":-0.33397, "vy":-2.27488, "omega":1.29437, "ax":-0.00002, "ay":0.0, "alpha":-0.10905, "fx":[0.26708,-0.67692,-0.26777,0.67623], "fy":[0.67663,0.26748,-0.67653,-0.26738]},
-    {"t":0.34435, "x":7.70537, "y":2.77367, "heading":2.02029, "vx":-0.33398, "vy":-2.27488, "omega":1.29096, "ax":-0.00002, "ay":0.0, "alpha":-0.12104, "fx":[0.2658,-0.76282,-0.26658,0.76204], "fy":[0.76248,0.26624,-0.76237,-0.26613]},
-    {"t":0.37565, "x":7.69491, "y":2.70245, "heading":2.06071, "vx":-0.33398, "vy":-2.27488, "omega":1.28717, "ax":-0.00003, "ay":0.0, "alpha":-0.13465, "fx":[0.26117,-0.85979,-0.26202,0.85894], "fy":[0.85943,0.26165,-0.85931,-0.26153]},
-    {"t":0.40696, "x":7.68446, "y":2.63124, "heading":2.101, "vx":-0.33398, "vy":-2.27488, "omega":1.28295, "ax":-0.00003, "ay":0.0, "alpha":-0.15028, "fx":[0.25265,-0.97059,-0.25354,0.96971], "fy":[0.97021,0.25316,-0.97008,-0.25303]},
-    {"t":0.43826, "x":7.674, "y":2.56003, "heading":2.14116, "vx":-0.33398, "vy":-2.27488, "omega":1.27825, "ax":-0.00003, "ay":0.0, "alpha":-0.16843, "fx":[0.23933,-1.09827,-0.24022,1.09738], "fy":[1.09789,0.23984,-1.09776,-0.23971]},
-    {"t":0.46957, "x":7.66355, "y":2.48881, "heading":2.18118, "vx":-0.33398, "vy":-2.27488, "omega":1.27297, "ax":-0.00003, "ay":0.0, "alpha":-0.18962, "fx":[0.21985,-1.24618,-0.22072,1.24531], "fy":[1.24581,0.22035,-1.24568,-0.22022]},
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+    {"t":3.30772, "x":3.4151, "y":0.68853, "heading":-3.13355, "vx":-1.99952, "vy":-0.00759, "omega":-0.1883, "ax":0.01094, "ay":0.00003, "alpha":0.07479, "fx":[0.53659,0.53091,-0.17471,-0.16903], "fy":[-0.34955,0.35607,0.35039,-0.35524]},
+    {"t":3.35045, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-1.99905, "vy":-0.00759, "omega":-0.1851, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/MRtoO.traj b/src/main/deploy/choreo/MRtoO.traj
index 0ddc0482..66055e26 100644
--- a/src/main/deploy/choreo/MRtoO.traj
+++ b/src/main/deploy/choreo/MRtoO.traj
@@ -17,8 +17,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.0304315090179443 m", "val":2.0304315090179443}, "y":{"exp":"0.749363362789154 m", "val":0.749363362789154}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"2.0304315090179443 m", "val":2.0304315090179443}, "y":{"exp":"0.749363362789154 m", "val":0.749363362789154}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
diff --git a/src/main/deploy/choreo/OtoCR.traj b/src/main/deploy/choreo/OtoCR.traj
index b3c63403..7d97a05b 100644
--- a/src/main/deploy/choreo/OtoCR.traj
+++ b/src/main/deploy/choreo/OtoCR.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.918229579925537, "y":2.544593811035156, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.918229579925537 m", "val":1.918229579925537}, "y":{"exp":"2.5445938110351562 m", "val":2.544593811035156}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -51,72 +51,78 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.31226],
+  "waypoints":[0.0,2.62479],
   "samples":[
-    {"t":0.0, "x":0.73218, "y":0.71986, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.10002, "ay":6.30784, "alpha":0.01021, "fx":[67.76368,67.89908,67.81123,67.67586], "fy":[104.30559,104.21767,104.2751,104.36285]},
-    {"t":0.0367, "x":0.73494, "y":0.72411, "heading":1.5708, "vx":0.15048, "vy":0.23151, "omega":0.00037, "ax":4.09736, "ay":6.30374, "alpha":0.01427, "fx":[67.7102,67.89937,67.77674,67.58763], "fy":[104.24377,104.12099,104.20138,104.3238]},
-    {"t":0.07341, "x":0.74322, "y":0.73685, "heading":1.57081, "vx":0.30086, "vy":0.46288, "omega":0.0009, "ax":4.08943, "ay":6.29151, "alpha":0.02639, "fx":[67.55057,67.89998,67.67408,67.32486], "fy":[104.05914,103.83274,103.98204,104.20724]},
-    {"t":0.11011, "x":0.75702, "y":0.75808, "heading":1.57084, "vx":0.45096, "vy":0.69379, "omega":0.00187, "ax":2.55761, "ay":3.93519, "alpha":2.60714, "fx":[31.41257,61.50266,51.61639,24.61302], "fy":[59.48868,49.98538,71.41775,79.35702]},
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+    {"t":2.58675, "x":1.91499, "y":2.54022, "heading":-1.57381, "vx":0.17053, "vy":0.22986, "omega":0.00028, "ax":-4.48298, "ay":-6.04247, "alpha":-0.00748, "fx":[-74.13114,-74.03989,-74.10703,-74.19828], "fy":[-99.89403,-99.96156,-99.91161,-99.844]},
+    {"t":2.62479, "x":1.91823, "y":2.54459, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/OtoRR.traj b/src/main/deploy/choreo/OtoRR.traj
index 13591b5f..d07a379c 100644
--- a/src/main/deploy/choreo/OtoRR.traj
+++ b/src/main/deploy/choreo/OtoRR.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -15,7 +15,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -53,49 +53,51 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.60877,0.87919],
+  "waypoints":[0.0,0.69,0.94864],
   "samples":[
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-    {"t":0.09366, "x":0.74745, "y":0.72026, "heading":1.52067, "vx":0.3312, "vy":0.00757, "omega":-1.41471, "ax":3.78468, "ay":-0.00995, "alpha":-14.62568, "fx":[112.3151,17.33231,8.26999,112.37756], "fy":[53.35534,122.90467,-123.71795,-53.20022]},
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diff --git a/src/main/deploy/choreo/OtoS.traj b/src/main/deploy/choreo/OtoS.traj
new file mode 100644
index 00000000..ba7f5559
--- /dev/null
+++ b/src/main/deploy/choreo/OtoS.traj
@@ -0,0 +1,109 @@
+{
+ "name":"OtoS",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4044814109802246, "y":2.0, "heading":-3.141507624207323, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SC.x", "val":2.4044814109802246}, "y":{"exp":"SC.y", "val":2.0}, "heading":{"exp":"SC.heading", "val":-3.141507624207323}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
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+    "y":0.2761996
+   },
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.83316],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PMtoM.traj b/src/main/deploy/choreo/PMtoM.traj
new file mode 100644
index 00000000..67f4ab35
--- /dev/null
+++ b/src/main/deploy/choreo/PMtoM.traj
@@ -0,0 +1,80 @@
+{
+ "name":"PMtoM",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.674594640731811, "y":4.0000072192, "heading":1.5707963192945, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.8712037801742551, "y":4.0, "heading":1.570796319299, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":1, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"PM.x", "val":3.674594640731811}, "y":{"exp":"PM.y", "val":4.0000072192}, "heading":{"exp":"PM.heading", "val":1.5707963192945}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"M.x", "val":1.8712037801742551}, "y":{"exp":"M.y", "val":4.0}, "heading":{"exp":"M.heading", "val":1.570796319299}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":1, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
+    "x":-0.2761996,
+    "y":0.2761996
+   },
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.95293],
+  "samples":[
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+    {"t":0.97646, "x":2.7729, "y":4.0, "heading":1.5708, "vx":-0.9999, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":1.75763, "x":1.99181, "y":4.0, "heading":1.5708, "vx":-0.9999, "vy":0.0, "omega":0.0, "ax":2.71112, "ay":0.00001, "alpha":0.0, "fx":[44.82422,44.82422,44.82422,44.82422], "fy":[0.00018,0.00018,0.00018,0.00018]},
+    {"t":1.85528, "x":1.9071, "y":4.0, "heading":1.5708, "vx":-0.73517, "vy":0.0, "omega":0.0, "ax":7.52887, "ay":0.00003, "alpha":0.0, "fx":[124.47812,124.47812,124.47812,124.47812], "fy":[0.0005,0.0005,0.0005,0.0005]},
+    {"t":1.95293, "x":1.8712, "y":4.0, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PRtoO.traj b/src/main/deploy/choreo/PRtoO.traj
index a9058f31..88ffc7e4 100644
--- a/src/main/deploy/choreo/PRtoO.traj
+++ b/src/main/deploy/choreo/PRtoO.traj
@@ -4,8 +4,8 @@
  "snapshot":{
   "waypoints":[
     {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.3072574138641357, "y":0.7420299053192139, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -17,8 +17,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, "y":{"exp":"0.7420299053192139 m", "val":0.7420299053192139}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"2.3072574138641357 m", "val":2.3072574138641357}, "y":{"exp":"0.7420299053192139 m", "val":0.7420299053192139}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -55,46 +55,48 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.64248,1.36762],
+  "waypoints":[0.0,0.64251,1.46974],
   "samples":[
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-    {"t":0.07139, "x":3.70504, "y":0.73114, "heading":1.5708, "vx":-0.53709, "vy":0.0048, "omega":0.0, "ax":-7.52247, "ay":0.06725, "alpha":0.0, "fx":[-124.37226,-124.37226,-124.37226,-124.37226], "fy":[1.11195,1.11195,1.11195,1.11195]},
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diff --git a/src/main/deploy/choreo/RBtoO.traj b/src/main/deploy/choreo/RBtoO.traj
new file mode 100644
index 00000000..1a8ab342
--- /dev/null
+++ b/src/main/deploy/choreo/RBtoO.traj
@@ -0,0 +1,100 @@
+{
+ "name":"RBtoO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "y":0.2761996
+   },
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+    "y":0.2761996
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+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
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+   "bumper":{
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+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.99223],
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+    {"t":0.44825, "x":2.96958, "y":1.78222, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.49806, "x":2.88007, "y":1.73856, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.54786, "x":2.79056, "y":1.6949, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.59767, "x":2.70105, "y":1.65123, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.64748, "x":2.61154, "y":1.60757, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.69728, "x":2.52203, "y":1.56391, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.74709, "x":2.43252, "y":1.52024, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.79689, "x":2.34301, "y":1.47658, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.8467, "x":2.2535, "y":1.43292, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.89651, "x":2.16399, "y":1.38925, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.94631, "x":2.07448, "y":1.34559, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.99612, "x":1.98497, "y":1.30193, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.04592, "x":1.89547, "y":1.25826, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.09573, "x":1.80596, "y":1.2146, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.14553, "x":1.71645, "y":1.17094, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.19534, "x":1.62694, "y":1.12727, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.24515, "x":1.53743, "y":1.08361, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.29495, "x":1.44792, "y":1.03995, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.34476, "x":1.35841, "y":0.99628, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.39456, "x":1.2689, "y":0.95262, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.44437, "x":1.17939, "y":0.90896, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.49418, "x":1.08988, "y":0.86529, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.54398, "x":1.00037, "y":0.82163, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59379, "x":0.91086, "y":0.77797, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.64359, "x":0.82135, "y":0.7343, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":0.00002, "ay":0.00001, "alpha":0.0, "fx":[0.0004,0.0004,0.0004,0.0004], "fy":[0.0002,0.0002,0.0002,0.0002]},
+    {"t":1.6934, "x":0.73184, "y":0.69064, "heading":1.5708, "vx":-1.79717, "vy":-0.87667, "omega":0.0, "ax":2.29774, "ay":1.12085, "alpha":0.0, "fx":[37.98949,37.98949,37.98949,37.98949], "fy":[18.53147,18.53147,18.53147,18.53147]},
+    {"t":1.74321, "x":0.64518, "y":0.64837, "heading":1.5708, "vx":-1.68273, "vy":-0.82085, "omega":0.0, "ax":6.74136, "ay":3.28847, "alpha":0.0, "fx":[111.45787,111.45787,111.45787,111.45787], "fy":[54.36972,54.36972,54.36972,54.36972]},
+    {"t":1.79301, "x":0.56973, "y":0.61156, "heading":1.5708, "vx":-1.34697, "vy":-0.65706, "omega":0.0, "ax":6.75589, "ay":3.29556, "alpha":0.0, "fx":[111.69815,111.69815,111.69815,111.69815], "fy":[54.48693,54.48693,54.48693,54.48693]},
+    {"t":1.84282, "x":0.51102, "y":0.58292, "heading":1.5708, "vx":-1.01049, "vy":-0.49292, "omega":0.0, "ax":6.76075, "ay":3.29793, "alpha":0.0, "fx":[111.77842,111.77842,111.77842,111.77842], "fy":[54.52609,54.52609,54.52609,54.52609]},
+    {"t":1.89262, "x":0.46908, "y":0.56246, "heading":1.5708, "vx":-0.67376, "vy":-0.32867, "omega":0.0, "ax":6.76318, "ay":3.29911, "alpha":0.0, "fx":[111.81859,111.81859,111.81859,111.81859], "fy":[54.54568,54.54568,54.54568,54.54568]},
+    {"t":1.94243, "x":0.44391, "y":0.55019, "heading":1.5708, "vx":-0.33692, "vy":-0.16435, "omega":0.0, "ax":6.76463, "ay":3.29982, "alpha":0.0, "fx":[111.84269,111.84269,111.84269,111.84269], "fy":[54.55744,54.55744,54.55744,54.55744]},
+    {"t":1.99223, "x":0.43552, "y":0.54609, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/RRtoFR.traj b/src/main/deploy/choreo/RRtoFR.traj
index 4292f558..32144ae2 100644
--- a/src/main/deploy/choreo/RRtoFR.traj
+++ b/src/main/deploy/choreo/RRtoFR.traj
@@ -3,29 +3,29 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
@@ -57,92 +57,105 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.28888,1.7385,2.11235],
+  "waypoints":[0.0,1.93341,2.57629,3.12125],
   "samples":[
-    {"t":0.0, "x":2.51068, "y":0.66066, "heading":0.0, "vx":2.99678, "vy":-0.0123, "omega":-0.104, "ax":0.06333, "ay":-0.00912, "alpha":-0.01465, "fx":[1.11615,1.11615,0.97795,0.97795], "fy":[-0.21994,-0.08172,-0.08172,-0.21995]},
-    {"t":0.03791, "x":2.62433, "y":0.66019, "heading":-0.00394, "vx":2.99918, "vy":-0.01265, "omega":-0.10455, "ax":-0.00007, "ay":-0.01716, "alpha":-0.03127, "fx":[0.14573,0.1469,-0.14809,-0.14925], "fy":[-0.4318,-0.13681,-0.13565,-0.43063]},
-    {"t":0.07582, "x":2.73802, "y":0.6597, "heading":-0.00791, "vx":2.99917, "vy":-0.0133, "omega":-0.10574, "ax":-0.00007, "ay":-0.01494, "alpha":-0.04793, "fx":[0.22318,0.22676,-0.22546,-0.22903], "fy":[-0.47494,-0.02273,-0.01915,-0.47137]},
-    {"t":0.11372, "x":2.85172, "y":0.65918, "heading":-0.01191, "vx":2.99917, "vy":-0.01387, "omega":-0.10756, "ax":-0.00006, "ay":-0.01182, "alpha":-0.06472, "fx":[0.30074,0.30802,-0.30261,-0.30988], "fy":[-0.50436,0.10625,0.11353,-0.49709]},
-    {"t":0.15163, "x":2.96541, "y":0.65865, "heading":-0.01599, "vx":2.99917, "vy":-0.01431, "omega":-0.11001, "ax":-0.00005, "ay":-0.00921, "alpha":-0.08169, "fx":[0.37841,0.39074,-0.37991,-0.39223], "fy":[-0.5437,0.22694,0.23927,-0.53137]},
-    {"t":0.18954, "x":3.0791, "y":0.6581, "heading":-0.02016, "vx":2.99917, "vy":-0.01466, "omega":-0.11311, "ax":-0.00004, "ay":-0.00719, "alpha":-0.09885, "fx":[0.45621,0.47502,-0.45742,-0.47621], "fy":[-0.59454,0.33789,0.35669,-0.57574]},
-    {"t":0.22745, "x":3.19279, "y":0.65754, "heading":-0.02445, "vx":2.99917, "vy":-0.01494, "omega":-0.11685, "ax":-0.00003, "ay":-0.00568, "alpha":-0.11617, "fx":[0.534,0.56081,-0.53498,-0.56177], "fy":[-0.65526,0.44051,0.46731,-0.62847]},
-    {"t":0.26536, "x":3.30649, "y":0.65697, "heading":-0.02888, "vx":2.99917, "vy":-0.01515, "omega":-0.12126, "ax":-0.00002, "ay":-0.00458, "alpha":-0.1336, "fx":[0.61139,0.64779,-0.61219,-0.64858], "fy":[-0.72393,0.53604,0.57244,-0.68753]},
-    {"t":0.30326, "x":3.42018, "y":0.65639, "heading":-0.03348, "vx":2.99917, "vy":-0.01532, "omega":-0.12632, "ax":-0.00002, "ay":-0.00381, "alpha":-0.15098, "fx":[0.68769,0.73537,-0.68836,-0.73603], "fy":[-0.79867,0.62505,0.67273,-0.751]},
-    {"t":0.34117, "x":3.53387, "y":0.6558, "heading":-0.03826, "vx":2.99916, "vy":-0.01547, "omega":-0.13205, "ax":-0.00002, "ay":-0.00331, "alpha":-0.1681, "fx":[0.76182,0.82251,-0.76242,-0.82309], "fy":[-0.87757,0.70735,0.76802,-0.8169]},
-    {"t":0.37908, "x":3.64756, "y":0.65522, "heading":-0.04327, "vx":2.99916, "vy":-0.01559, "omega":-0.13842, "ax":-0.00002, "ay":-0.00306, "alpha":-0.18463, "fx":[0.83222,0.90758,-0.83278,-0.90812], "fy":[-0.95844,0.78191,0.85726,-0.88309]},
-    {"t":0.41699, "x":3.76126, "y":0.65462, "heading":-0.04852, "vx":2.99916, "vy":-0.01571, "omega":-0.14542, "ax":-0.00002, "ay":-0.00303, "alpha":-0.20006, "fx":[0.89664,0.9882,-0.8972,-0.98873], "fy":[-1.0386,0.84679,0.93833,-0.94705]},
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diff --git a/src/main/deploy/choreo/StoO.traj b/src/main/deploy/choreo/StoO.traj
new file mode 100644
index 00000000..aa3f6972
--- /dev/null
+++ b/src/main/deploy/choreo/StoO.traj
@@ -0,0 +1,120 @@
+{
+ "name":"StoO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.4044814109802246, "y":2.0, "heading":-3.141507624207323, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.6131027936935425, "y":1.1535886526107788, "heading":1.9909931005444836, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"SC.x", "val":2.4044814109802246}, "y":{"exp":"SC.y", "val":2.0}, "heading":{"exp":"SC.heading", "val":-3.141507624207323}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.6131027936935425 m", "val":1.6131027936935425}, "y":{"exp":"1.1535886526107788 m", "val":1.1535886526107788}, "heading":{"exp":"1.9909931005444836 rad", "val":1.9909931005444836}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"t":1.82224, "x":0.43966, "y":0.5482, "heading":1.57079, "vx":-0.23563, "vy":-0.12012, "omega":0.00009, "ax":6.70276, "ay":3.41688, "alpha":-0.0025, "fx":[110.81511,110.80533,110.8244,110.83417], "fy":[56.502,56.52107,56.48361,56.46454]},
+    {"t":1.85739, "x":0.43552, "y":0.54609, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor
index b060eae2..b192f864 100644
--- a/src/main/deploy/choreo/rebuiltChoreo.chor
+++ b/src/main/deploy/choreo/rebuiltChoreo.chor
@@ -34,20 +34,6 @@
    }
   },
   "poses":{
-   "CC":{
-    "x":{
-     "exp":"2.4044814109802246 m",
-     "val":2.4044814109802246
-    },
-    "y":{
-     "exp":"2 m",
-     "val":2.0
-    },
-    "heading":{
-     "exp":"-3.120762420732352 rad",
-     "val":-3.120762420732352
-    }
-   },
    "CL":{
     "x":{
      "exp":"1.998773455619812 m",
@@ -244,6 +230,20 @@
      "val":1.5707963267948966
     }
    },
+   "M":{
+    "x":{
+     "exp":"1.8712037801742554 m",
+     "val":1.8712037801742551
+    },
+    "y":{
+     "exp":"4 m",
+     "val":4.0
+    },
+    "heading":{
+     "exp":"3.141592638598 / 2 rad",
+     "val":1.570796319299
+    }
+   },
    "MLL":{
     "x":{
      "exp":"3.2225897312164307 m",
@@ -274,12 +274,12 @@
    },
    "O":{
     "x":{
-     "exp":"0.7321799635887146 m",
-     "val":0.7321799635887146
+     "exp":"0.4355199635028839 m",
+     "val":0.4355199635028839
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     "y":{
-     "exp":"0.7198631167411804 m",
-     "val":0.7198631167411804
+     "exp":"0.5460934042930603 m",
+     "val":0.5460934042930603
     },
     "heading":{
      "exp":"3.141592653589793 / 2 rad",
@@ -314,6 +314,20 @@
      "val":3.141592653589793
     }
    },
+   "PM":{
+    "x":{
+     "exp":"3.6745946407318115 m",
+     "val":3.674594640731811
+    },
+    "y":{
+     "exp":"4.0000072192 m",
+     "val":4.0000072192
+    },
+    "heading":{
+     "exp":"3.141592638589 / 2 rad",
+     "val":1.5707963192945
+    }
+   },
    "PRB":{
     "x":{
      "exp":"3.7007737159729004 m",
@@ -370,6 +384,20 @@
      "val":0.0
     }
    },
+   "SC":{
+    "x":{
+     "exp":"2.4044814109802246 m",
+     "val":2.4044814109802246
+    },
+    "y":{
+     "exp":"2 m",
+     "val":2.0
+    },
+    "heading":{
+     "exp":"-3.1415076242073234 rad",
+     "val":-3.141507624207323
+    }
+   },
    "SLB":{
     "x":{
      "exp":"2.7844135761260986 m",
diff --git a/src/main/deploy/tagmaps/field_map_mar_13_18_10_19.json b/src/main/deploy/tagmaps/field_map_mar_13_18_10_19.json
new file mode 100644
index 00000000..4c24c2e9
--- /dev/null
+++ b/src/main/deploy/tagmaps/field_map_mar_13_18_10_19.json
@@ -0,0 +1,585 @@
+{
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+  "_comment": "generated by PractiCal 1.0.5 (3) on 3/13/2026"
+}
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index 0d976eee..e522c47d 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -64,9 +64,12 @@ public enum Action {
     INTAKE,
     SCORE,
     FLOW,
-    CLIMB,
+    CLIMB_SCORE,
     OUTPOST,
-    NOTHING;
+    NOTHING,
+    OUTPOST_SCORE,
+    CLIMB_ONLY,
+    INTAKE_SCORE;
   }
 
   public enum Obstacle {
@@ -105,7 +108,7 @@ public enum Path {
     // OUTPOST
     PRtoO("PR", "O", Action.OUTPOST),
     MRtoO("MR", "O", Action.OUTPOST),
-    CtoO("C", "O", Action.OUTPOST),
+    StoO("S", "O", Action.OUTPOST),
     // DEPOT
     PLtoD("PL", "D", Action.INTAKE),
     // FEED
@@ -124,17 +127,25 @@ public enum Path {
     PLtoIL("PL", "FL", Action.INTAKE),
     // SCORE
     DtoRL("D", "RL", Action.SCORE),
-    OtoRR("O", "RR", Action.SCORE),
-    DtoC("D", "C", Action.SCORE),
+    OtoRR("O", "RR", Action.NOTHING),
+    DtoS("D", "S", Action.SCORE),
+    OtoS("O", "S", Action.SCORE),
+    PMtoM("PM", "M", Action.SCORE),
     // FLOW
     MLtoD("ML", "D", Action.FLOW),
     // CLIMB
-    MLtoCL("ML", "CL", Action.CLIMB),
-    MRtoCR("MR", "CR", Action.CLIMB),
-    OtoCR("O", "CR", Action.CLIMB),
-    DtoCL("D", "CL", Action.CLIMB),
+    MLtoCL("ML", "CL", Action.CLIMB_SCORE),
+    MRtoCR("MR", "CR", Action.CLIMB_SCORE),
+    OtoCR("O", "CR", Action.CLIMB_SCORE),
+    noScoreOtoCR("O", "CR", Action.CLIMB_ONLY),
+    DtoCL("D", "CL", Action.CLIMB_SCORE),
+    RBtoO("RB", "O", Action.OUTPOST_SCORE),
 
-    RUNtoTEST("RUN", "TEST", Action.NOTHING);
+    FRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE),
+
+    RUNtoTEST("RUN", "TEST", Action.NOTHING),
+
+    BtoD("B", "D", Action.INTAKE);
 
     private final String start;
     private final String end;
@@ -200,12 +211,18 @@ public Command runPath(Path path, AutoRoutine routine) {
         return feedPath(path, routine);
       case SCORE:
         return scorePath(path, routine);
-      case CLIMB:
-        return climbPath(path, routine);
+      case CLIMB_SCORE:
+        return climbScorePath(path, routine);
       case FLOW:
         return flowPath(path, routine);
       case OUTPOST:
         return outpostPath(path, routine);
+      case OUTPOST_SCORE:
+        return outpostScorePath(path, routine);
+      case CLIMB_ONLY:
+        return climbNoScorePath(path, routine);
+      case INTAKE_SCORE:
+        return intakeScorePath(path, routine);
       case NOTHING:
         return emptyPath(path, routine);
       default: // this should never happen
@@ -213,11 +230,11 @@ public Command runPath(Path path, AutoRoutine routine) {
     }
   }
 
-  public Command climbPath(Path path, AutoRoutine routine) {
+  public Command climbScorePath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqFalse(),
         setAutoIntakeReqFalse(),
-        setAutoPreClimbReqTrue(),
+
         // Commands.parallel(
         path.getTrajectory(routine)
             .cmd()
@@ -228,14 +245,34 @@ public Command climbPath(Path path, AutoRoutine routine) {
                 //             path.getTrajectory(routine).getRawTrajectory().getTotalTime()
                 //                 - (0.3)))),
                 path.getTrajectory(routine).done()),
-        Commands.parallel(swerve.stop(), setAutoScoreReqTrue()).repeatedly().withTimeout(4),
+        Commands.parallel(swerve.stop(), setAutoScoreReqTrue()).repeatedly().withTimeout(2.5),
+        setAutoScoreReqFalse(),
+        setAutoPreClimbReqTrue(),
+        swerve.stop().until(() -> climber.atFullExtension()),
         Commands.parallel(
             swerve.alignToClimb(() -> getClimbAutoTarget()),
-            Commands.waitUntil(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose()))
+            Commands.waitUntil(
+                    new Trigger(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose()))
+                        .debounce(0.2))
                 .andThen(
-                    Commands.print("hooray!")
-                    // setAutoClimbReqTrue()
-                    )));
+                    // Commands.print("hooray!")
+                    setAutoClimbReqTrue())));
+  }
+
+  public Command climbNoScorePath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        setAutoScoreReqFalse(),
+        setAutoIntakeReqFalse(),
+        setAutoPreClimbReqTrue(),
+        // Commands.parallel(
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+        swerve.stop().until(() -> climber.atFullExtension()),
+        Commands.parallel(
+            swerve.alignToClimb(() -> getClimbAutoTarget()),
+            Commands.waitUntil(
+                    new Trigger(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose()))
+                        .debounce(0.2))
+                .andThen(setAutoClimbReqTrue())));
   }
 
   public Command feedPath(Path path, AutoRoutine routine) {
@@ -273,6 +310,18 @@ public Command intakePath(Path path, AutoRoutine routine) {
         setAutoIntakeReqFalse());
   }
 
+  public Command intakeScorePath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        setAutoScoreReqFalse(),
+        setAutoFlowReqFalse(),
+        setAutoIntakeReqTrue(),
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+        setAutoIntakeReqFalse(),
+        setAutoScoreReqTrue(),
+        swerve.stop().repeatedly().withTimeout(4),
+        setAutoScoreReqFalse());
+  }
+
   public Command flowPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqTrue(),
@@ -303,6 +352,25 @@ public Command outpostPath(Path path, AutoRoutine routine) {
         );
   }
 
+  public Command outpostScorePath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        setAutoScoreReqFalse(),
+        setAutoFlowReqFalse(),
+        setAutoIntakeReqFalse(),
+        // spin up before we get there
+        // Commands.parallel(
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+        // Commands.waitUntil(path.getTrajectory(routine).atTimeBeforeEnd(0.2))
+        // .andThen(
+        setAutoScoreReqTrue()
+        // ))
+        ,
+        swerve.stop().repeatedly().withTimeout(4),
+        setAutoScoreReqFalse()
+        // Commands.waitSeconds(1)
+        );
+  }
+
   public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) {
     routine
         .observe(
@@ -313,7 +381,7 @@ public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double toler
   }
 
   public Command shootPreload() {
-    return Commands.sequence(setAutoScoreReqTrue(), waitUntilEmpty(), setAutoScoreReqFalse());
+    return Commands.sequence(setAutoScoreReqTrue(), swerve.stop().repeatedly().withTimeout(3));
   }
 
   public Command setAutoIntakeReqTrue() {
@@ -500,6 +568,23 @@ public Command getFillOutpostScoreClimbAuto() {
     return routine.cmd();
   }
 
+  public Command getRightBumpOutpostCenterAuto() {
+    final AutoRoutine routine = factory.newRoutine("Right Bump Outpost Center Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    // Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR};
+    Path[] paths = {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.FRMtoMRScore};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
   public Command getDepotClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Depot Climb Auto");
     lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
@@ -515,10 +600,63 @@ public Command getDepotClimbAuto() {
     return routine.cmd();
   }
 
+  public Command getOutpostClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Outpost Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PRtoO, Path.OtoS, Path.OtoCR};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
   public Command getDepotOutpostClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Depot Outpost Climb Auto");
     lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
-    Path[] paths = {Path.PLtoD, Path.DtoC, Path.CtoO, Path.OtoCR};
+    Path[] paths = {Path.PLtoD, Path.DtoS, Path.StoO, Path.OtoCR};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
+  public Command getLeftBumpDepotOutpostClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Left Bump Outpost Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.BtoD, Path.DtoS, Path.StoO, Path.OtoCR};
+    Command autoCommand =
+        paths[0]
+            .getTrajectory(routine)
+            .resetOdometry()
+            .alongWith(setleftClimbAutoFalse())
+            .andThen(shootPreload());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
+  // this is so cursed and im not proud of it
+  public Command getRightBumpOutpostClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Right Bump Outpost Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    // Path[] paths = {Path.BtoD, Path.DtoS, Path.StoO, Path.OtoCR};
+    Path[] paths = {Path.RBtoO, Path.noScoreOtoCR};
     Command autoCommand =
         paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
 
@@ -531,6 +669,21 @@ public Command getDepotOutpostClimbAuto() {
     return routine.cmd();
   }
 
+  public Command getCenterScoreAuto() {
+    final AutoRoutine routine = factory.newRoutine("Center Score Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PMtoM};
+    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry();
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
   public Command getTestAuto() {
     final AutoRoutine routine = factory.newRoutine("test auto");
     Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST};
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index f5c3cfde..9eb09008 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -71,6 +71,7 @@
 import frc.robot.utils.FieldUtils.FeedTargets;
 import frc.robot.utils.FieldUtils.TrenchPoses;
 import frc.robot.utils.autoaim.AutoAim;
+import java.io.File;
 import java.util.Arrays;
 import java.util.Optional;
 import java.util.Set;
@@ -108,6 +109,10 @@ public enum RobotEdition {
   public static final RobotEdition REPLAY_ROBOT_EDITION = RobotEdition.ALPHA;
   private static final Alert unknownRioAlert =
       new Alert("!! Unknown Rio detected. Defaulting to comp", AlertType.kError);
+  private static final Alert noLogStickAlert =
+      new Alert("NO LOG STICK!! POWER OFF BEFORE PLUGGING IT IN", AlertType.kError);
+
+  File directory = new File("/U");
 
   // for replay to work properly this needs to match the edition in the log
   static {
@@ -144,7 +149,7 @@ public enum RobotEdition {
    * This is for when we're testing shot and extension numbers and should be FALSE once bring up is
    * complete
    */
-  public static final boolean TUNING_MODE = true;
+  public static final boolean TUNING_MODE = false;
 
   public boolean hasZeroedSinceStartup = false;
 
@@ -426,7 +431,7 @@ public Robot() {
     superstructure =
         new Superstructure(swerve, indexer, intake, shooter, climber, driver, operator);
 
-    DriverStation.silenceJoystickConnectionWarning(true);
+    DriverStation.silenceJoystickConnectionWarning(false);
     SignalLogger.enableAutoLogging(false);
     RobotController.setBrownoutVoltage(6.0);
 
@@ -455,7 +460,7 @@ public Robot() {
     // set up logging stuff depending on robot mode
     switch (ROBOT_MODE) {
       case REAL:
-        Logger.addDataReceiver(new WPILOGWriter("/U")); // Log to a USB stick
+        Logger.addDataReceiver(new WPILOGWriter("/U")); // Log to a USB stick)
         Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
         // TODO confirm pdp vs pdh
         // apparently LoggedPowerDistribution doesn't work with the pdp 2.0
@@ -646,7 +651,11 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
                         shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing())));
 
     new Trigger(() -> AutoAim.targetInTurretDeadzone())
-        .onTrue(driver.rumbleCmd(1, 1).withTimeout(0.25));
+        .onTrue(
+            driver
+                .rumbleCmd(1, 1)
+                .withTimeout(0.25)
+                .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25)));
     // ---zeroing stuff---
     driver.povUp().whileTrue(shooter.currentZeroTurretAgainstForwardHardstop());
 
@@ -689,6 +698,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
     new Trigger(AutoAim::targetInTurretDeadzone)
         .and(() -> Superstructure.getState().isAScoreState())
         .and(() -> !Superstructure.getPoseOverride())
+        .and(() -> superstructure.inScoringArea())
         .whileTrue(
             swerve.faceHubComp(
                 () ->
@@ -701,6 +711,23 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
                         * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(),
                 shooter::getTurretPosition));
 
+    new Trigger(AutoAim::targetInTurretDeadzone)
+        .and(() -> Superstructure.getState().isAFeedState())
+        .and(() -> !Superstructure.getPoseOverride())
+        .and(() -> !superstructure.inScoringArea())
+        .whileTrue(
+            swerve.faceFeedComp(
+                () ->
+                    -1
+                        * modifyJoystick(driver.getLeftY())
+                        * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(),
+                () ->
+                    -1
+                        * modifyJoystick(driver.getLeftX())
+                        * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(),
+                shooter::getTurretPosition,
+                () -> Superstructure.getFeedTarget()));
+
     // create triggers for joystick disconnect alerts
     new Trigger(() -> DriverStation.isJoystickConnected(0))
         .negate()
@@ -709,6 +736,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
 
     new Trigger(() -> DriverStation.isJoystickConnected(1))
         .negate()
+        .or(() -> DriverStation.getStickButton(1, 3))
         .onTrue(Commands.runOnce(() -> operatorJoystickDisconnectedAlert.set(true)))
         .onFalse(Commands.runOnce(() -> operatorJoystickDisconnectedAlert.set(false)));
   }
@@ -725,8 +753,14 @@ private void addAutos() {
     autoChooser.addOption("Fill Outpost Score Climb", autos.getFillOutpostScoreClimbAuto());
     autoChooser.addOption("Depot Climb", autos.getDepotClimbAuto());
     autoChooser.addOption("Depot Outpost Climb", autos.getDepotOutpostClimbAuto());
+    autoChooser.addOption("Outpost Climb", autos.getOutpostClimbAuto());
+    autoChooser.addOption("Score in Center", autos.getCenterScoreAuto());
     autoChooser.addOption("Test Auto", autos.getTestAuto());
     autoChooser.addOption("Just Score", autos.getJustScoreAuto());
+    autoChooser.addOption(
+        "Left Bump Depot Outpost Climb", autos.getLeftBumpDepotOutpostClimbAuto());
+    autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto());
+    autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto());
 
     haveAutosGenerated = true;
     System.out.println("Done generating autos");
@@ -813,6 +847,8 @@ public void robotPeriodic() {
         Arrays.stream(TrenchPoses.values()).map(target -> target.getPose()).toArray(Pose2d[]::new));
 
     Logger.recordOutput("Turret/out of range", AutoAim.targetInTurretDeadzone());
+
+    noLogStickAlert.set(!directory.exists());
   }
 
   public void updateAlerts() {
@@ -902,6 +938,7 @@ public void simulationPeriodic() {
   public void disabledInit() {
     addAutos();
     System.out.println("--------------Robot Disabled-----------");
+    Superstructure.matchStartTime = 0;
   }
 
   @Override
@@ -925,6 +962,8 @@ public void autonomousExit() {
 
   @Override
   public void teleopInit() {
+    Superstructure.matchStartTime = Timer.getFPGATimestamp();
+
     intake.slapdownInit();
   }
 
diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java
index fedf75e7..f9fdb6b4 100644
--- a/src/main/java/frc/robot/Superstructure.java
+++ b/src/main/java/frc/robot/Superstructure.java
@@ -46,7 +46,8 @@ public enum SuperState {
     CLIMB,
     POST_CLIMB,
     SPIN_UP_SCORE_PRE_CLIMB,
-    SCORE_PRE_CLIMB;
+    SCORE_PRE_CLIMB,
+    DEFENSE;
     public final Trigger trigger;
 
     private SuperState() {
@@ -63,6 +64,10 @@ public boolean isAScoreState() {
           || this == SPIN_UP_SCORE_FLOW
           || this == SCORE_FLOW;
     }
+
+    public boolean isAFeedState() {
+      return this == FEED || this == SPIN_UP_FEED || this == SPIN_UP_FEED_FLOW || this == FEED_FLOW;
+    }
   }
 
   public enum ShotTarget {
@@ -86,16 +91,40 @@ public enum FixedShotTarget {
   @AutoLogOutput(key = "Superstructure/State")
   private static SuperState state = SuperState.IDLE;
 
-  @AutoLogOutput(key = "Scoring/Scoring Active")
-  public boolean isScoringActive =
-      isOurShift(); // assuming we want the dashboard to show if the time allows us to score not if
-
-  // its litterly possible
-
   private SuperState prevState = SuperState.IDLE;
 
   private Timer stateTimer = new Timer();
 
+  private double getFPGATimestamp() {
+    return Timer.getFPGATimestamp();
+  }
+
+  @AutoLogOutput(key = "Superstructure/match starttime")
+  public static double matchStartTime;
+
+  private double getTimeElapsed() {
+    return getFPGATimestamp() - matchStartTime;
+  }
+
+  private double timeLeftinMatch() {
+    return 140.00 - getTimeElapsed();
+  }
+
+  @AutoLogOutput(key = "Superstructure/Shift Timer")
+  private double getTimeStampLeftInShift() {
+    return getTimeLeftInShift();
+  }
+
+  @AutoLogOutput(key = "Superstructure/Current Shift")
+  private String getCurrentShiftName() {
+    return getCurrentShift();
+  }
+
+  @AutoLogOutput(key = "Scoring/Scoring Active")
+  public boolean isScoringActive() {
+    return isOurShift();
+  }
+
   private final SwerveSubsystem swerve;
   private final Indexer indexer;
   private final Intake intake;
@@ -150,8 +179,14 @@ public enum FixedShotTarget {
   @AutoLogOutput(key = "Superstructure/Operator Pose Override?")
   private static boolean poseOverride = false;
 
-  @AutoLogOutput(key = "Superstructure/Fixed Shot")
-  private static FixedShotTarget fixedShotTarget = FixedShotTarget.NONE;
+  @AutoLogOutput(key = "Superstructure/Defense?")
+  private boolean defense = false;
+
+  @AutoLogOutput(key = "Superstructure/Defense Req")
+  private Trigger defenseReq = new Trigger(() -> defense);
+
+  // @AutoLogOutput(key = "Superstructure/Fixed Shot")
+  // private static FixedShotTarget fixedShotTarget = FixedShotTarget.NONE;
 
   /** Creates a new Superstructure. */
   public Superstructure(
@@ -182,6 +217,9 @@ private void addTriggers() {
     operator.x().onTrue(Commands.runOnce(() -> shotTarget = ShotTarget.SCORE));
     operator.y().onTrue(Commands.runOnce(() -> shotTarget = ShotTarget.FEED));
 
+    operator.povUp().onTrue(Commands.runOnce(() -> defense = true));
+    operator.povDown().onTrue(Commands.runOnce(() -> defense = false));
+
     // toggle for flow state
     operator
         .a()
@@ -200,38 +238,40 @@ private void addTriggers() {
     // operator.leftTrigger().onTrue(Commands.runOnce(() -> poseOverride = true));
     // operator.rightTrigger().onTrue(Commands.runOnce(() -> poseOverride = false));
 
-    operator
-        .povLeft()
-        .onTrue(
-            Commands.runOnce(
-                () -> {
-                  fixedShotTarget = FixedShotTarget.LEFT;
-                  poseOverride = true;
-                }));
-    operator
-        .povUp()
-        .onTrue(
-            Commands.runOnce(
-                () -> {
-                  fixedShotTarget = FixedShotTarget.MID;
-                  poseOverride = true;
-                }));
-    operator
-        .povRight()
-        .onTrue(
-            Commands.runOnce(
-                () -> {
-                  fixedShotTarget = FixedShotTarget.RIGHT;
-                  poseOverride = true;
-                }));
-    operator
-        .povDown()
-        .onTrue(
-            Commands.runOnce(
-                () -> {
-                  fixedShotTarget = FixedShotTarget.NONE;
-                }));
-
+    // operator
+    //     .povLeft()
+    //     .onTrue(
+    //         Commands.runOnce(
+    //             () -> {
+    //               fixedShotTarget = FixedShotTarget.LEFT;
+    //               poseOverride = true;
+    //             }));
+    // operator
+    //     .povUp()
+    //     .onTrue(
+    //         Commands.runOnce(
+    //             () -> {
+    //               fixedShotTarget = FixedShotTarget.MID;
+    //               poseOverride = true;
+    //             }));
+    // operator
+    //     .povRight()
+    //     .onTrue(
+    //         Commands.runOnce(
+    //             () -> {
+    //               fixedShotTarget = FixedShotTarget.RIGHT;
+    //               poseOverride = true;
+    //             }));
+    // operator
+    //     .povDown()
+    //     .onTrue(
+    //         Commands.runOnce(
+    //             () -> {
+    //               fixedShotTarget = FixedShotTarget.NONE;
+    //             }));
+
+    operator.povUp().onTrue(Commands.parallel(intake.restRetracted(), shooter.stopTurret()));
+    operator.povDown().onTrue(Commands.parallel(intake.restRetracted(), shooter.stopTurret()));
     shootReq =
         driver
             .rightTrigger()
@@ -270,7 +310,7 @@ private void addTransitions() {
 
     bindTransition(SuperState.SPIN_UP_SCORE, SuperState.SCORE, readyTrigger);
 
-    bindTransition(SuperState.SCORE, SuperState.SPIN_UP_SCORE, readyTrigger.negate());
+    // bindTransition(SuperState.SCORE, SuperState.SPIN_UP_SCORE, readyTrigger.negate());
 
     bindTransition(SuperState.SPIN_UP_SCORE, SuperState.IDLE, shootReq.negate());
 
@@ -341,7 +381,13 @@ private void addTransitions() {
 
     bindTransition(SuperState.SPIT, SuperState.IDLE, antiJamReq.negate());
 
-    (preClimbReq.and(climbReq.negate()).and(() -> DriverStation.isTeleop()))
+    defenseReq.onTrue(changeStateTo(SuperState.DEFENSE));
+
+    bindTransition(SuperState.DEFENSE, SuperState.IDLE, defenseReq.negate());
+
+    (preClimbReq.and(climbReq.negate())
+        // .and(() -> DriverStation.isTeleop())
+        )
         .onTrue(changeStateTo(SuperState.PRE_CLIMB));
 
     bindTransition(
@@ -642,6 +688,13 @@ private void addCommands() {
                         : AutoAim.COMP_HUB_SHOT_TREE),
             swerve::getVelocityFieldRelative),
         climber.extend());
+
+    bindCommands(
+        SuperState.DEFENSE,
+        intake.restRetracted(),
+        indexer.rest(),
+        shooter.stopTurret(),
+        climber.retract());
   }
 
   public void periodic() {
@@ -758,28 +811,45 @@ private Alliance getStartingAlliance() {
     }
   }
 
-  private int getCurrentShift() {
-    double timeLeftinMatch = Timer.getMatchTime();
-    // may be a nicer way to do this
-    if (105.00 <= timeLeftinMatch && timeLeftinMatch <= 130.00) {
-      return 1;
-    } else if (80.00 <= timeLeftinMatch && timeLeftinMatch <= 105.00) {
-      return 2;
-    } else if ((55.00 <= timeLeftinMatch && timeLeftinMatch <= 80.00)) {
-      return 3;
-    } else if ((30.00 <= timeLeftinMatch && timeLeftinMatch <= 55.00)) {
-      return 4;
+  private String getCurrentShift() {
+    if (DriverStation.isDisabled()) return "Disabled";
+    if (130.00 < timeLeftinMatch() && timeLeftinMatch() <= 140.00) {
+      return "Transition";
+    } else if (105.00 < timeLeftinMatch() && timeLeftinMatch() <= 130.00) {
+      return "Shift 1";
+    } else if (80.00 < timeLeftinMatch() && timeLeftinMatch() <= 105.00) {
+      return "Shift 2";
+    } else if ((55.00 < timeLeftinMatch() && timeLeftinMatch() <= 80.00)) {
+      return "Shift 3";
+    } else if ((30.00 < timeLeftinMatch() && timeLeftinMatch() <= 55.00)) {
+      return "Shift 4";
     } else {
-      return 0;
+      return "End Game";
     }
   }
 
+  private double getTimeLeftInShift() {
+    if (DriverStation.isDisabled()) return 0;
+    double offset =
+        switch (getCurrentShift()) {
+          case "Transition" -> 130.00;
+          case "Shift 1" -> 105.00;
+          case "Shift 2" -> 80.00;
+          case "Shift 3" -> 55.00;
+          case "Shift 4" -> 30.00;
+          default -> 0.00;
+        };
+    return timeLeftinMatch() - offset;
+  }
+
+  @AutoLogOutput(key = "Is our shift?")
   public boolean isOurShift() {
+    if (DriverStation.isDisabled()) return false;
     // only cant score when its the others turn, otherwise everyone can
     if (getStartingAlliance() == DriverStation.getAlliance().orElse(Alliance.Blue)) {
-      return !(getCurrentShift() == 2 || getCurrentShift() == 4);
+      return !(getCurrentShift() == "Shift 2" || getCurrentShift() == "Shift 4");
     } else {
-      return !(getCurrentShift() == 1 || getCurrentShift() == 3);
+      return !(getCurrentShift() == "Shift 1" || getCurrentShift() == "Shift 3");
     }
   }
 
@@ -793,9 +863,13 @@ public boolean inScoringArea() {
   }
 
   public boolean canScore() {
-    return (isOurShift() || !DriverStation.isFMSAttached())
-        && (inScoringArea() || poseOverride)
-        && (!swerve.isNearTrench() || poseOverride || fixedShotTarget != FixedShotTarget.NONE);
+    return
+    // (isOurShift() || !DriverStation.isFMSAttached())
+    //     &&
+    (inScoringArea() || poseOverride)
+        && (!swerve.isNearTrench() || poseOverride
+        // || fixedShotTarget != FixedShotTarget.NONE
+        );
   }
 
   public boolean canShoot() {
@@ -810,9 +884,9 @@ public static FeedTarget getFeedTarget() {
     return feedTarget;
   }
 
-  public static FixedShotTarget getFixedShotTarget() {
-    return fixedShotTarget;
-  }
+  // public static FixedShotTarget getFixedShotTarget() {
+  //   return fixedShotTarget;
+  // }
 
   public static boolean getPoseOverride() {
     return poseOverride;
diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
index eaf9622f..25f8dc1e 100644
--- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
@@ -196,12 +196,12 @@ public static TalonFXConfiguration getPivotConfig() {
     config.Feedback.SensorToMechanismRatio = 1;
 
     config.Slot0.kS = 0.05;
-    config.Slot0.kV = 8.0; // Might suck
+    config.Slot0.kV = 8.0; // Might suck\
     config.Slot0.kA = 0.0;
     config.Slot0.kG = 0.55;
     config.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
     config.Slot0.GravityArmPositionOffset = 0.0; // Maybe need this??
-    config.Slot0.kP = 8.0;
+    config.Slot0.kP = 15.0;
     config.Slot0.kD = 0.3;
 
     config.CurrentLimits.StatorCurrentLimit = 45.0; // glup
@@ -210,8 +210,8 @@ public static TalonFXConfiguration getPivotConfig() {
     config.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     // TODO: TUNE
-    config.MotionMagic.MotionMagicCruiseVelocity = 5;
-    config.MotionMagic.MotionMagicAcceleration = 5;
+    config.MotionMagic.MotionMagicCruiseVelocity = 10;
+    config.MotionMagic.MotionMagicAcceleration = 10;
 
     return config;
   }
@@ -243,7 +243,7 @@ public static CANcoderConfiguration getCancoderConfig() {
     CANcoderConfiguration config = new CANcoderConfiguration();
 
     config.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
-    config.MagnetSensor.MagnetOffset = 0.262;
+    config.MagnetSensor.MagnetOffset = 0.26196;
     config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
 
     return config;
diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
index 5d190b81..b873e0e6 100644
--- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
@@ -23,7 +23,6 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.robot.Superstructure;
 import frc.robot.components.cancoder.CANcoderIO;
 import frc.robot.components.cancoder.CANcoderIOInputsAutoLogged;
 import frc.robot.utils.FieldUtils;
@@ -38,7 +37,7 @@
 public class TurretSubsystem extends SubsystemBase implements Shooter {
 
   /** Creates a new TurretSubsystem. */
-  public static final double HOOD_GEAR_RATIO = 58.96875;
+  public static final double HOOD_GEAR_RATIO = 33.8671875; // 58.96875;
 
   public static final double FLYWHEEL_GEAR_RATIO = 0.84615384615;
 
@@ -265,35 +264,35 @@ public Command score(
         .andThen(
             this.run(
                 () -> {
-                  switch (Superstructure.getFixedShotTarget()) {
-                      // in front of left trench with intake facing trench
-                    case LEFT:
-                      hoodIO.setHoodPosition(AutoAim.getLeftFixedShotData().hoodAngle());
-                      flywheelIO.setMotionProfiledFlywheelVelocity(
-                          AutoAim.getLeftFixedShotData().flywheelVelocityRotPerSec());
-                      turretIO.setTurretPosition(AutoAim.LEFT_FIXED_SHOT_TURRET_ANGLE);
-                      // in front of tower with intake facing left (to avoid deadzone)
-                    case MID:
-                      hoodIO.setHoodPosition(AutoAim.getMidFixedShotData().hoodAngle());
-                      flywheelIO.setMotionProfiledFlywheelVelocity(
-                          AutoAim.getMidFixedShotData().flywheelVelocityRotPerSec());
-                      turretIO.setTurretPosition(AutoAim.MID_FIXED_SHOT_TURRET_ANGLE);
-                      // in front of right trench with intake facing alliance wall
-                    case RIGHT:
-                      hoodIO.setHoodPosition(AutoAim.getRightFixedShotData().hoodAngle());
-                      flywheelIO.setMotionProfiledFlywheelVelocity(
-                          AutoAim.getRightFixedShotData().flywheelVelocityRotPerSec());
-                      turretIO.setTurretPosition(AutoAim.RIGHT_FIXED_SHOT_TURRET_ANGLE);
-                    case NONE:
-                      hoodIO.setHoodPosition(shotDataSupplier.get().hoodAngle());
-                      flywheelIO.setMotionProfiledFlywheelVelocity(
-                          shotDataSupplier.get().flywheelVelocityRotPerSec());
-                      turretIO.setTurretPosition(
-                          AutoAim.getTurretHubTargetRotation(
-                              FieldUtils.getCurrentHubTranslation(),
-                              robotPoseSupplier.get(),
-                              chassisSpeedsSupplier.get()));
-                  }
+                  // switch (Superstructure.getFixedShotTarget()) {
+                  //     // in front of left trench with intake facing trench
+                  //   case LEFT:
+                  //     hoodIO.setHoodPosition(AutoAim.getLeftFixedShotData().hoodAngle());
+                  //     flywheelIO.setMotionProfiledFlywheelVelocity(
+                  //         AutoAim.getLeftFixedShotData().flywheelVelocityRotPerSec());
+                  //     turretIO.setTurretPosition(AutoAim.LEFT_FIXED_SHOT_TURRET_ANGLE);
+                  //     // in front of tower with intake facing left (to avoid deadzone)
+                  //   case MID:
+                  //     hoodIO.setHoodPosition(AutoAim.getMidFixedShotData().hoodAngle());
+                  //     flywheelIO.setMotionProfiledFlywheelVelocity(
+                  //         AutoAim.getMidFixedShotData().flywheelVelocityRotPerSec());
+                  //     turretIO.setTurretPosition(AutoAim.MID_FIXED_SHOT_TURRET_ANGLE);
+                  //     // in front of right trench with intake facing alliance wall
+                  //   case RIGHT:
+                  //     hoodIO.setHoodPosition(AutoAim.getRightFixedShotData().hoodAngle());
+                  //     flywheelIO.setMotionProfiledFlywheelVelocity(
+                  //         AutoAim.getRightFixedShotData().flywheelVelocityRotPerSec());
+                  //     turretIO.setTurretPosition(AutoAim.RIGHT_FIXED_SHOT_TURRET_ANGLE);
+                  //   case NONE:
+                  hoodIO.setHoodPosition(shotDataSupplier.get().hoodAngle());
+                  flywheelIO.setMotionProfiledFlywheelVelocity(
+                      shotDataSupplier.get().flywheelVelocityRotPerSec());
+                  turretIO.setTurretPosition(
+                      AutoAim.getTurretHubTargetRotation(
+                          FieldUtils.getCurrentHubTranslation(),
+                          robotPoseSupplier.get(),
+                          chassisSpeedsSupplier.get()));
+                  // }
                 }));
   }
 
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
index 5e7a1fcf..e5ca680d 100644
--- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -39,6 +39,7 @@
 import frc.robot.Robot.RobotEdition;
 import frc.robot.Robot.RobotMode;
 import frc.robot.Superstructure;
+import frc.robot.Superstructure.FeedTarget;
 import frc.robot.components.camera.Camera;
 import frc.robot.components.camera.CameraIOReal;
 import frc.robot.components.camera.CameraIOSim;
@@ -735,6 +736,40 @@ public Command faceHubComp(
         yVel);
   }
 
+  public Command faceFeedComp(
+      DoubleSupplier xVel,
+      DoubleSupplier yVel,
+      Supplier<Rotation2d> turretRotation,
+      Supplier<FeedTarget> feedTargetSupplier) {
+    return driveWithHeadingSnap(
+        () -> {
+          Pose2d turretPose =
+              getPose()
+                  .transformBy(
+                      new Transform2d(
+                          TurretSubsystem.ROBOT_TO_TURRET_TRANSLATION, Rotation2d.kZero));
+
+          // get desired rotation to point at target
+          Rotation2d turretTargetRotation =
+              AutoAim.getVirtualTargetYaw(
+                  getVelocityFieldRelative(),
+                  FeedTargets.getFeedTarget(feedTargetSupplier.get()).getTranslation(),
+                  turretPose,
+                  AutoAim.FEED_SHOT_TREE);
+          // subtract that from rotation to point at target
+          turretTargetRotation = turretTargetRotation.minus(getRotation());
+          Logger.recordOutput("Turret/Unclamped target", turretTargetRotation);
+          Rotation2d diff = turretTargetRotation.minus(turretRotation.get());
+          Logger.recordOutput("Turret/diff", diff);
+          // if (diff.getDegrees() > 0) {
+          //   diff = Rotation2d.fromDegrees(-diff.getDegrees());
+          // }
+          return diff.plus(getRotation());
+        },
+        xVel,
+        yVel);
+  }
+
   public boolean isFacingTarget(InterpolatingShotTree tree) {
     switch (Superstructure.getShotTarget()) { // ugh maybe this should be in robot.java
       case SCORE:
diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
index e854fd6a..c6c9cd63 100644
--- a/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
+++ b/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
@@ -12,8 +12,10 @@
 import edu.wpi.first.units.measure.Mass;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.Filesystem;
 import frc.robot.components.camera.Camera.CameraConstants;
 import frc.robot.subsystems.swerve.module.Module.ModuleConstants;
+import java.io.File;
 
 public abstract class SwerveConstants {
 
@@ -24,19 +26,19 @@ public abstract class SwerveConstants {
   protected AprilTagFieldLayout fieldTags;
 
   public SwerveConstants() {
-    // try {
-    //   fieldTags =
-    //       new AprilTagFieldLayout(
-    //           Filesystem.getDeployDirectory()
-    //               .toPath()
-    //               .resolve("tagmaps" + File.separator + "2026-rebuilt-welded.json"));
-    //   System.out.println("Successfully loaded tag map");
-    // } catch (Exception e) {
-    //   System.err.println("Failed to load custom tag map");
-    //   tagLoadFailureAlert.set(true);
-    //   fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
-    // }
-    fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+    try {
+      fieldTags =
+          new AprilTagFieldLayout(
+              Filesystem.getDeployDirectory()
+                  .toPath()
+                  .resolve("tagmaps" + File.separator + "field_map_mar_13_18_10_19.json"));
+      System.out.println("Successfully loaded tag map");
+    } catch (Exception e) {
+      System.err.println("Failed to load custom tag map");
+      tagLoadFailureAlert.set(true);
+      fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+    }
+    // fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
   }
 
   public AprilTagFieldLayout getFieldTagLayout() {
diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
index 6a12c504..e461d583 100644
--- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java
+++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.math.util.Units;
 import frc.robot.subsystems.shooter.TurretSubsystem;
 import frc.robot.utils.FieldUtils;
-import frc.robot.utils.LoggedTunableNumber;
 import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData;
 import org.littletonrobotics.junction.Logger;
 
@@ -19,7 +18,9 @@ public class AutoAim {
   private static boolean outOfRange = false; // TODO not sure if this should be true by default
 
   public static double LATENCY_COMPENSATION_SECS =
-      new LoggedTunableNumber("Latency time", 0.3).getAsDouble(); // 0.6; // TODO tune latency comp
+      //   new LoggedTunableNumber("Latency time", 0.3).getAsDouble(); // 0.6; // TODO tune latency
+      // comp
+      0.3;
   //   public static double SPIN_UP_SECS = 0.0; // TODO tune spinup time
 
   public static final InterpolatingShotTree ALPHA_HUB_SHOT_TREE = new InterpolatingShotTree();
@@ -61,34 +62,73 @@ public class AutoAim {
   static { // For hub shot tree
     // TODO min shot
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 + 17), new ShotData(TurretSubsystem.HOOD_MIN_ANGLE, 40 - 6, 1.04));
+        Units.inchesToMeters(24 + 17),
+        new ShotData(TurretSubsystem.HOOD_MIN_ANGLE, 40 - 6 + 3, 1.04));
 
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12),
-        new ShotData(Rotation2d.fromDegrees(25), 35 - 6, 1.14));
+        new ShotData(Rotation2d.fromDegrees(25), 35 - 6 + 3, 1.14));
 
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12),
-        new ShotData(Rotation2d.fromDegrees(26), 37 - 6, 1.10));
+        new ShotData(
+            Rotation2d.fromDegrees(26),
+            37 - 6 + 3
+            // - 6
+            ,
+            1.10));
 
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12),
-        new ShotData(Rotation2d.fromDegrees(30), 37 - 6, 1.09));
+        new ShotData(
+            Rotation2d.fromDegrees(30),
+            37 - 6 + 3
+            // - 6
+            ,
+            1.09));
 
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12),
-        new ShotData(Rotation2d.fromDegrees(33), 37 - 6, 1.15));
+        new ShotData(
+            Rotation2d.fromDegrees(33),
+            37 - 6 + 3
+            // - 6
+            ,
+            1.15));
 
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12),
-        new ShotData(Rotation2d.fromDegrees(36), 38 - 6, 1.23));
+        new ShotData(
+            Rotation2d.fromDegrees(36),
+            38 - 6 + 3
+            // - 6
+            ,
+            1.23));
 
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12),
-        new ShotData(Rotation2d.fromDegrees(38), 39 - 6, 1.33));
+        new ShotData(
+            Rotation2d.fromDegrees(38),
+            39 - 6 + 3
+            // - 6
+            ,
+            1.33));
     COMP_HUB_SHOT_TREE.put(
         Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12),
-        new ShotData(Rotation2d.fromDegrees(39), 40.5 - 6, 1.35));
+        new ShotData(
+            Rotation2d.fromDegrees(39),
+            40.5 - 6 + 3
+            // - 6
+            ,
+            1.35));
+    COMP_HUB_SHOT_TREE.put(
+        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12 + 6),
+        new ShotData(
+            Rotation2d.fromDegrees(39),
+            40.5 - 6 + 3 + 2
+            // - 6
+            ,
+            1.35));
   }
 
   // Ig we'll see if we need more than 1 feed shot tree
@@ -96,49 +136,69 @@ public class AutoAim {
 
   static { // For feed shot tree
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(2), new ShotData(Rotation2d.fromDegrees(23.16), 20 - 2, 0));
+        Units.feetToMeters(2), new ShotData(Rotation2d.fromDegrees(23.16), 20 - 2, 0)); // - 2, 0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(4), new ShotData(Rotation2d.fromDegrees(30), 40 - 2, 0.0));
+        Units.feetToMeters(4),
+        new ShotData(Rotation2d.fromDegrees(30), 40 - 2, 0.0)); // - 2, 0.0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(6), new ShotData(Rotation2d.fromDegrees(40), 30 - 2, 0.0));
+        Units.feetToMeters(6),
+        new ShotData(Rotation2d.fromDegrees(40), 30 - 2, 0.0)); // - 2, 0.0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(8), new ShotData(Rotation2d.fromDegrees(40), 32 - 2, 0.0));
+        Units.feetToMeters(8),
+        new ShotData(Rotation2d.fromDegrees(40), 32 - 2, 0.0)); // - 2, 0.0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(10), new ShotData(Rotation2d.fromDegrees(40), 35 - 2, 0.0));
+        Units.feetToMeters(10),
+        new ShotData(Rotation2d.fromDegrees(40), 35 - 2, 0.0)); // - 2, 0.0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(12), new ShotData(Rotation2d.fromDegrees(40), 40 - 2, 0.0));
+        Units.feetToMeters(12),
+        new ShotData(Rotation2d.fromDegrees(40), 40 - 2, 0.0)); // - 2, 0.0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(14), new ShotData(Rotation2d.fromDegrees(45), 38 - 2, 0.0));
+        Units.feetToMeters(14),
+        new ShotData(Rotation2d.fromDegrees(45), 38 - 2, 0.0)); // - 2, 0.0));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(16), new ShotData(Rotation2d.fromDegrees(45), 40 - 2, 0.0));
+        Units.feetToMeters(16),
+        new ShotData(Rotation2d.fromDegrees(45), 40 - 2, 0.0)); // - 2, 0.0));
 
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(18), new ShotData(Rotation2d.fromDegrees(40), 38 - 2, 1.42));
+        Units.feetToMeters(18),
+        new ShotData(Rotation2d.fromDegrees(40), 38 - 2, 1.42)); // - 2, 1.42));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(20), new ShotData(Rotation2d.fromDegrees(43), 40 - 2, 1.36));
+        Units.feetToMeters(20),
+        new ShotData(Rotation2d.fromDegrees(43), 40 - 2, 1.36)); // - 2, 1.36));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(22), new ShotData(Rotation2d.fromDegrees(45), 41 - 2, 1.34));
+        Units.feetToMeters(22),
+        new ShotData(Rotation2d.fromDegrees(45), 41 - 2, 1.34)); // - 2, 1.34));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(24), new ShotData(Rotation2d.fromDegrees(47), 42 - 2, 1.25));
+        Units.feetToMeters(24),
+        new ShotData(Rotation2d.fromDegrees(47), 42 - 2, 1.25)); // - 2, 1.25));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(26), new ShotData(Rotation2d.fromDegrees(48), 43 - 2, 1.28));
+        Units.feetToMeters(26),
+        new ShotData(Rotation2d.fromDegrees(48), 43 - 2, 1.28)); // - 2, 1.28));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(28), new ShotData(Rotation2d.fromDegrees(49), 45 - 2, 1.27));
+        Units.feetToMeters(28),
+        new ShotData(Rotation2d.fromDegrees(49), 45 - 2, 1.27)); // - 2, 1.27));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(30), new ShotData(Rotation2d.fromDegrees(49), 46 - 2, 1.32));
+        Units.feetToMeters(30),
+        new ShotData(Rotation2d.fromDegrees(49), 46 - 2, 1.32)); // - 2, 1.32));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(32), new ShotData(Rotation2d.fromDegrees(49), 48 - 2, 1.4));
+        Units.feetToMeters(32),
+        new ShotData(Rotation2d.fromDegrees(49), 48 - 2, 1.4)); // - 2, 1.4));
 
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(34), new ShotData(Rotation2d.fromDegrees(52), 49 - 2, 1.3));
+        Units.feetToMeters(34),
+        new ShotData(Rotation2d.fromDegrees(52), 49 - 2, 1.3)); // - 2, 1.3));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(36), new ShotData(Rotation2d.fromDegrees(53), 53 - 2, 1.33));
+        Units.feetToMeters(36),
+        new ShotData(Rotation2d.fromDegrees(53), 53 - 2, 1.33)); // - 2, 1.33));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(38), new ShotData(Rotation2d.fromDegrees(53), 57 - 2, 1.3));
+        Units.feetToMeters(38),
+        new ShotData(Rotation2d.fromDegrees(53), 57 - 2, 1.3)); // - 2, 1.3));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(40), new ShotData(Rotation2d.fromDegrees(55), 57 - 2, 1.2));
+        Units.feetToMeters(40),
+        new ShotData(Rotation2d.fromDegrees(55), 57 - 2, 1.2)); // - 2, 1.2));
     FEED_SHOT_TREE.put(
-        Units.feetToMeters(42), new ShotData(Rotation2d.fromDegrees(56), 59 - 2, 1.2));
+        Units.feetToMeters(42),
+        new ShotData(Rotation2d.fromDegrees(56), 59 - 2, 1.2)); // - 2, 1.2));
 
     // TODO: POPULATE beyond 24 feet and time of flight
   }