diff --git a/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto b/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto
index ff797653..74c6cdce 100644
--- a/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto	
+++ b/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto	
@@ -24,22 +24,9 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Center Field Limelight 2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CW"
           }
         },
         {
@@ -48,54 +35,22 @@
             "pathName": "Center Field Limelight 3"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Center Field Limelight 4"
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Center Field Limelight 4"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CW"
           }
         },
         {
@@ -104,41 +59,22 @@
             "pathName": "Center Field Limelight 5"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Center Field Limelight 6"
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Center Field Limelight 6"
+            "name": "Limelight Intake CW"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/Center Field Limelight.auto b/src/main/deploy/pathplanner/autos/Center Field Limelight.auto
index efc39c42..1034fc2e 100644
--- a/src/main/deploy/pathplanner/autos/Center Field Limelight.auto	
+++ b/src/main/deploy/pathplanner/autos/Center Field Limelight.auto	
@@ -11,35 +11,10 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "PassToOuttake"
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
+            "name": "Shoot"
           }
         },
         {
@@ -49,22 +24,9 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Center Field Limelight 2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CW"
           }
         },
         {
@@ -73,54 +35,22 @@
             "pathName": "Center Field Limelight 3"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Center Field Limelight 4"
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Center Field Limelight 4"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CW"
           }
         },
         {
@@ -129,41 +59,22 @@
             "pathName": "Center Field Limelight 5"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Center Field Limelight 6"
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Center Field Limelight 6"
+            "name": "Limelight Intake CW"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/Center Forward.auto b/src/main/deploy/pathplanner/autos/Center Forward.auto
new file mode 100644
index 00000000..54e89612
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Center Forward.auto	
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.335176614373586,
+      "y": 5.535530663936646
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Forward"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto
index b535d0e4..83de7c0c 100644
--- a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto	
+++ b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto	
@@ -26,7 +26,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Limelight Intake CCW"
+            "name": "Limelight Intake Straight"
           }
         },
         {
@@ -44,7 +44,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Limelight Intake CW"
+            "name": "Limelight Intake CCW"
           }
         },
         {
@@ -62,7 +62,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Limelight Intake CCW"
+            "name": "Limelight Intake CW"
           }
         },
         {
@@ -104,7 +104,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Limelight Intake CCW"
+            "name": "Limelight Intake Straight"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/Left Forward.auto b/src/main/deploy/pathplanner/autos/Left Forward.auto
new file mode 100644
index 00000000..b11a61e3
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left Forward.auto	
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6842044526319189,
+      "y": 6.6998765551505
+    },
+    "rotation": 63.19916505304543
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Forward"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto
index c4731918..37109844 100644
--- a/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto	
+++ b/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto	
@@ -11,204 +11,76 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "PassToOuttake"
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Left Limelight 1"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Shoot"
           }
         },
         {
-          "type": "parallel",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "pathName": "Left Limelight 1"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Limelight Intake Straight"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
+            "name": "Shoot"
           }
         },
         {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Left Limelight 2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "parallel",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "pathName": "Left Limelight 2"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Limelight Intake Straight"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
+            "name": "Shoot"
           }
         },
         {
-          "type": "deadline",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Left Limelight 3"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "pathName": "Left Limelight 3"
           }
         },
         {
-          "type": "parallel",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "name": "Limelight Intake Straight"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Left Limelight 4"
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Left Limelight 4"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CCW"
           }
         },
         {
@@ -217,54 +89,22 @@
             "pathName": "Left Limelight 5"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Left Limelight 6"
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Left Limelight 6"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CCW"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/Right Forward.auto b/src/main/deploy/pathplanner/autos/Right Forward.auto
new file mode 100644
index 00000000..afbb601a
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Right Forward.auto	
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6842044526319189,
+      "y": 6.6998765551505
+    },
+    "rotation": -67.01128319791938
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Forward"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto
index 0a803d43..ac8eadd5 100644
--- a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto	
+++ b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto	
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.4048307100172925,
-      "y": 5.570246205735591
+      "x": 0.7134190306340287,
+      "y": 4.411401278318571
     },
     "rotation": -61.557071375636745
   },
@@ -12,84 +12,39 @@
     "data": {
       "commands": [
         {
-          "type": "parallel",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "pathName": "Right Limelight 1"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "PassToOuttake"
+            "pathName": "Right Limelight 2"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Right Limelight 3"
           }
         },
         {
-          "type": "deadline",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Right Limelight 1 Piece"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "pathName": "Right Limelight 4"
           }
         },
         {
-          "type": "parallel",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "pathName": "Right Limelight 5"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "PassToOuttake"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "ArmToGround"
+            "pathName": "Right Limelight 6"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto
index dfa0eb3a..bd95a568 100644
--- a/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto	
+++ b/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto	
@@ -11,204 +11,76 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "PassToOuttake"
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Right Limelight 1"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Shoot"
           }
         },
         {
-          "type": "parallel",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "pathName": "Right Limelight 1"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Limelight Intake Straight"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
+            "name": "Shoot"
           }
         },
         {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Right Limelight 2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "parallel",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "pathName": "Right Limelight 2"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Limelight Intake Straight"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "ArmToGround"
+            "name": "Shoot"
           }
         },
         {
-          "type": "deadline",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Right Limelight 3"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "pathName": "Right Limelight 3"
           }
         },
         {
-          "type": "parallel",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
+            "name": "Limelight Intake Straight"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Right Limelight 4"
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Right Limelight 4"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CCW"
           }
         },
         {
@@ -217,54 +89,22 @@
             "pathName": "Right Limelight 5"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "AlignToAprilTagMegaTag2"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "AimArmSpeakerMT2"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "PassToOuttake"
+            "name": "Shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "ArmToGround"
+            "pathName": "Right Limelight 6"
           }
         },
         {
-          "type": "deadline",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Right Limelight 6"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
+            "name": "Limelight Intake CCW"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path
index c1073fe9..69196ddb 100644
--- a/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path	
+++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.358727567327909,
-        "y": 6.694858784119604
+        "x": 2.3796163622861606,
+        "y": 6.92463552866037
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.6904903631690225,
-        "y": 6.496415232016215
+        "x": 7.372038357308267,
+        "y": 6.0055285504973055
       },
       "prevControl": {
-        "x": 3.298723340449227,
-        "y": 6.569526014370095
+        "x": 5.001160129546722,
+        "y": 6.903746733702119
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path
index fd315072..5b389ff3 100644
--- a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path	
+++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path	
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 7.894258231264555,
-        "y": 4.073315016859041
+        "x": 7.403371549745644,
+        "y": 4.219536581566802
       },
       "prevControl": {
-        "x": 7.100484022850999,
-        "y": 4.1777589916502995
+        "x": 6.609597341332088,
+        "y": 4.32398055635806
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path
index f76dfe9a..70123210 100644
--- a/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path	
+++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path	
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 7.862925038827178,
-        "y": 2.736432139530946
+        "x": 7.466037934620398,
+        "y": 2.9662088840717122
       },
       "prevControl": {
-        "x": 7.069150830413621,
-        "y": 3.5302063479445027
+        "x": 6.672263726206841,
+        "y": 3.759983092485269
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Forward.path b/src/main/deploy/pathplanner/paths/Center Forward.path
new file mode 100644
index 00000000..e9bca659
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Center Forward.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.335176614373586,
+        "y": 5.535530663936646
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.126492899296232,
+        "y": 7.687076544636549
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.766904366548946,
+        "y": 6.8946404084978985
+      },
+      "prevControl": {
+        "x": 7.766904366548946,
+        "y": 6.8946404084978985
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 50.355825042855095,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 1.path b/src/main/deploy/pathplanner/paths/Center Limelight 1.path
index 0bc9a9ce..46e87732 100644
--- a/src/main/deploy/pathplanner/paths/Center Limelight 1.path	
+++ b/src/main/deploy/pathplanner/paths/Center Limelight 1.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3561397466804435,
-        "y": 5.531293435066112
+        "x": 2.0245068479958848,
+        "y": 5.525086266457521
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.909024481556072,
+        "x": 2.0453956429541362,
         "y": 5.531293435066112
       },
       "prevControl": {
-        "x": 0.909024481556072,
-        "y": 5.531293435066112
+        "x": 1.4709537816022202,
+        "y": 5.525086266457521
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 2.path b/src/main/deploy/pathplanner/paths/Center Limelight 2.path
index 71eb0f9a..4b955bee 100644
--- a/src/main/deploy/pathplanner/paths/Center Limelight 2.path	
+++ b/src/main/deploy/pathplanner/paths/Center Limelight 2.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.8701178634584756,
-        "y": 6.195878932042224
+        "x": 2.2438391950575256,
+        "y": 6.485970834537088
       },
       "prevControl": {
-        "x": 1.198978701274938,
-        "y": 5.991619187029844
+        "x": 1.7320637185803638,
+        "y": 6.193527705121568
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 3.path b/src/main/deploy/pathplanner/paths/Center Limelight 3.path
index 4fd2b525..58ba045b 100644
--- a/src/main/deploy/pathplanner/paths/Center Limelight 3.path	
+++ b/src/main/deploy/pathplanner/paths/Center Limelight 3.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.0475514260637064,
-        "y": 6.368778004459924
+        "x": 2.4527271446400407,
+        "y": 6.3188604748710775
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.899297827031673,
-        "y": 4.960593807443538
+        "x": 2.108062027828891,
+        "y": 4.3344249538371855
       },
       "prevControl": {
-        "x": 1.3247444596568483,
-        "y": 5.272215972799375
+        "x": 2.1602840152245197,
+        "y": 4.96108880258473
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -43.36342295838326,
+    "rotation": -12.804266065286738,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Limelight 4.path
index f5f7661f..ff245aae 100644
--- a/src/main/deploy/pathplanner/paths/Center Limelight 4.path	
+++ b/src/main/deploy/pathplanner/paths/Center Limelight 4.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.064151379487593,
-        "y": 2.344123740380181
+        "x": 7.413815947224771,
+        "y": 2.391767022719796
       },
       "prevControl": {
-        "x": 5.759233562060025,
-        "y": 1.3995190516453007
+        "x": 6.108898129797203,
+        "y": 1.4471623339849158
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Limelight 6.path
index b20b0955..25c3ba2b 100644
--- a/src/main/deploy/pathplanner/paths/Center Limelight 6.path	
+++ b/src/main/deploy/pathplanner/paths/Center Limelight 6.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.696383923573536,
-        "y": 3.063896175185714
+        "x": 7.915147026222807,
+        "y": 3.3839847832367425
       },
       "prevControl": {
-        "x": 7.297118024211369,
-        "y": 1.690811009086556
+        "x": 7.5158811268606405,
+        "y": 2.0108996171375844
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Left Forward.path b/src/main/deploy/pathplanner/paths/Left Forward.path
new file mode 100644
index 00000000..084fe010
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left Forward.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.6842044526319189,
+        "y": 6.6998765551505
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.00796199694416,
+        "y": 6.865425830495789
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.766904366548946,
+        "y": 6.8946404084978985
+      },
+      "prevControl": {
+        "x": 7.766904366548946,
+        "y": 6.8946404084978985
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 50.355825042855095,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 59.470294100065814,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 1.path b/src/main/deploy/pathplanner/paths/Left Limelight 1.path
index d23205ec..27bcf5cc 100644
--- a/src/main/deploy/pathplanner/paths/Left Limelight 1.path	
+++ b/src/main/deploy/pathplanner/paths/Left Limelight 1.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7067146827057598,
-        "y": 6.836211252493681
+        "x": 1.564953358914352,
+        "y": 6.976857516056
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.583152022769052,
-        "y": 6.9920223351715975
+        "x": 2.0036180530376333,
+        "y": 7.008190708493376
       },
       "prevControl": {
-        "x": 1.5411654073604717,
-        "y": 6.875164023163159
+        "x": 0.959178305125059,
+        "y": 6.809747156384766
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 2.path b/src/main/deploy/pathplanner/paths/Left Limelight 2.path
index c5addb31..20c763cd 100644
--- a/src/main/deploy/pathplanner/paths/Left Limelight 2.path	
+++ b/src/main/deploy/pathplanner/paths/Left Limelight 2.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.463259866021512,
-        "y": 6.485636316468363
+        "x": 2.1707284127036455,
+        "y": 6.015972947981653
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.583152022769052,
-        "y": 5.502078857064002
+        "x": 2.0036180530376333,
+        "y": 5.598197048816623
       },
       "prevControl": {
-        "x": 2.144933352737406,
-        "y": 5.443649701059782
+        "x": 2.0976176303497653,
+        "y": 5.974195358065149
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 3.path b/src/main/deploy/pathplanner/paths/Left Limelight 3.path
index 518b26d1..162e3dfd 100644
--- a/src/main/deploy/pathplanner/paths/Left Limelight 3.path	
+++ b/src/main/deploy/pathplanner/paths/Left Limelight 3.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3464015540130732,
-        "y": 4.771714407011259
+        "x": 2.118506425308017,
+        "y": 4.773089647960467
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.583152022769052,
-        "y": 4.0413499569585145
+        "x": 2.097617630349765,
+        "y": 4.031537426942538
       },
       "prevControl": {
-        "x": 2.144933352737406,
-        "y": 3.982920800954295
+        "x": 2.181172810182771,
+        "y": 4.61642368577358
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 4.path b/src/main/deploy/pathplanner/paths/Left Limelight 4.path
index d0b3e0fa..421a19c9 100644
--- a/src/main/deploy/pathplanner/paths/Left Limelight 4.path	
+++ b/src/main/deploy/pathplanner/paths/Left Limelight 4.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 8.017063531161464,
-        "y": 2.356642625503519
+        "x": 7.549593114453406,
+        "y": 2.036657508429521
       },
       "prevControl": {
-        "x": 6.7608366770707455,
-        "y": 1.6360163681181459
+        "x": 6.293366260362688,
+        "y": 1.3160312510441479
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 5.path b/src/main/deploy/pathplanner/paths/Left Limelight 5.path
index 60e7e539..33c66352 100644
--- a/src/main/deploy/pathplanner/paths/Left Limelight 5.path	
+++ b/src/main/deploy/pathplanner/paths/Left Limelight 5.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.1090144268009174,
-        "y": 2.3176898548345597
+        "x": 2.5258379269939204,
+        "y": 2.736432139530946
       },
       "prevControl": {
-        "x": 3.644615023506263,
-        "y": 1.7723510654618457
+        "x": 3.061438523699266,
+        "y": 2.191093350158232
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -29.054604099077075,
+    "rotation": -44.06080905426434,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 6.path b/src/main/deploy/pathplanner/paths/Left Limelight 6.path
index 6bb7a742..e2a5cfac 100644
--- a/src/main/deploy/pathplanner/paths/Left Limelight 6.path	
+++ b/src/main/deploy/pathplanner/paths/Left Limelight 6.path	
@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.1090144268009174,
-        "y": 2.3176898548345597
+        "x": 2.442282747160915,
+        "y": 2.778209729447448
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.452885014904075,
-        "y": 3.3402000849078815
+        "x": 3.9044983942385194,
+        "y": 3.4466511681114964
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.144296694287339,
-        "y": 3.768680562272157
+        "x": 4.844494167359836,
+        "y": 3.7182055025687664
       },
       "prevControl": {
-        "x": 4.480206191370604,
-        "y": 3.540399451894529
+        "x": 4.3358036908498185,
+        "y": 2.9157338243683215
       },
       "nextControl": {
-        "x": 6.079163190354851,
-        "y": 4.0900409202953645
+        "x": 5.3737648046055755,
+        "y": 4.553142888082103
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.958634375157244,
-        "y": 4.148470076299583
+        "x": 7.434704742183022,
+        "y": 4.135981401733796
       },
       "prevControl": {
-        "x": 6.906909567081294,
-        "y": 4.051088149625883
+        "x": 6.382979934107071,
+        "y": 4.038599475060096
       },
       "nextControl": null,
       "isLocked": false,
@@ -61,7 +61,7 @@
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": -43.806510575683916,
+    "rotation": 6.340191745910007,
     "velocity": 0
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path b/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path
index 15394ae1..2c4a6d6e 100644
--- a/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path	
+++ b/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path	
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 8.139789061985532,
-        "y": 7.441753332580739
+        "x": 8.31894750384993,
+        "y": 7.430241005203245
       },
       "prevControl": {
-        "x": 8.17020615010322,
-        "y": 7.531391482794168
+        "x": 8.34936459196762,
+        "y": 7.519879155416674
       },
       "nextControl": {
-        "x": 8.109371973867844,
-        "y": 7.35211518236731
+        "x": 8.288530415732243,
+        "y": 7.3406028549898155
       },
       "isLocked": false,
       "linkedName": null
@@ -36,28 +36,28 @@
         "y": 5.807970324273982
       },
       "prevControl": {
-        "x": 7.05254675155435,
-        "y": 6.028968188110407
+        "x": 7.0127401698482945,
+        "y": 5.799347290818089
       },
       "nextControl": {
-        "x": 9.20116605048025,
-        "y": 5.227725566562245
+        "x": 10.208156881319693,
+        "y": 5.842915600421949
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.645176577390192,
-        "y": 4.1023916029313545
+        "x": 7.900205219153025,
+        "y": 4.197161039636433
       },
       "prevControl": {
-        "x": 6.762130876113604,
-        "y": 4.479779325299392
+        "x": 6.234974273032769,
+        "y": 4.664594287670188
       },
       "nextControl": {
-        "x": 8.973712184377149,
-        "y": 3.534614616892208
+        "x": 9.928006485127504,
+        "y": 3.627953666731317
       },
       "isLocked": false,
       "linkedName": null
@@ -65,15 +65,15 @@
     {
       "anchor": {
         "x": 7.645176577390192,
-        "y": 2.4015636318309674
+        "y": 2.5806210568530275
       },
       "prevControl": {
-        "x": 6.7860051744406125,
-        "y": 2.6430837194342613
+        "x": 6.410261741045428,
+        "y": 2.837584023214047
       },
       "nextControl": {
-        "x": 9.16280374227415,
-        "y": 1.9749462600777052
+        "x": 10.663278521681567,
+        "y": 1.9526097919785999
       },
       "isLocked": false,
       "linkedName": null
@@ -84,12 +84,12 @@
         "y": 0.7790554133895939
       },
       "prevControl": {
-        "x": 5.601463207556044,
-        "y": 0.7317343060612052
+        "x": 6.0304722270180005,
+        "y": 1.9184239554718743
       },
       "nextControl": {
-        "x": 8.81887171296734,
-        "y": 0.7877608793928265
+        "x": 8.766541381364528,
+        "y": 0.5562108020312624
       },
       "isLocked": false,
       "linkedName": null
@@ -115,7 +115,22 @@
       "rotateFast": false
     },
     {
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 2.05,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3.0,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 4.050000000000001,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 5.0,
       "rotationDegrees": 0,
       "rotateFast": false
     }
@@ -130,7 +145,7 @@
   },
   "goalEndState": {
     "velocity": 100.0,
-    "rotation": 0.5926760044409363,
+    "rotation": 146.84146577760032,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Right Forward.path b/src/main/deploy/pathplanner/paths/Right Forward.path
new file mode 100644
index 00000000..fe62d665
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Right Forward.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7815863793056181,
+        "y": 4.450354048988052
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.2977105906762236,
+        "y": 1.2367504687559792
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.893500871224756,
+        "y": 1.3049178174275693
+      },
+      "prevControl": {
+        "x": 7.893500871224756,
+        "y": 1.3049178174275693
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 50.355825042855095,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -57.46493284206497,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 1.path b/src/main/deploy/pathplanner/paths/Right Limelight 1.path
index 94d67d3d..8b841430 100644
--- a/src/main/deploy/pathplanner/paths/Right Limelight 1.path	
+++ b/src/main/deploy/pathplanner/paths/Right Limelight 1.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7134190306340287,
-        "y": 4.411401278318571
+        "x": 1.4500649866439688,
+        "y": 4.303091761399808
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5052464814300928,
-        "y": 4.0900409202953645
+        "x": 2.0453956429541362,
+        "y": 4.135981401733796
       },
       "prevControl": {
-        "x": 1.5052464814300928,
-        "y": 4.0900409202953645
+        "x": 1.0218446899998135,
+        "y": 4.376202543753688
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 2.path b/src/main/deploy/pathplanner/paths/Right Limelight 2.path
index 6ccfa7cb..25eae395 100644
--- a/src/main/deploy/pathplanner/paths/Right Limelight 2.path	
+++ b/src/main/deploy/pathplanner/paths/Right Limelight 2.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3171869760109631,
-        "y": 4.294542966310132
+        "x": 2.2647279900157775,
+        "y": 4.699978865606586
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5052464814300928,
-        "y": 5.531293435066112
+        "x": 1.9513960656420046,
+        "y": 5.566863856374023
       },
       "prevControl": {
-        "x": 1.5052464814300928,
-        "y": 5.531293435066112
+        "x": 2.170728412703646,
+        "y": 4.710423263085711
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 3.path b/src/main/deploy/pathplanner/paths/Right Limelight 3.path
index 7328a0d1..1c04842e 100644
--- a/src/main/deploy/pathplanner/paths/Right Limelight 3.path	
+++ b/src/main/deploy/pathplanner/paths/Right Limelight 3.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3171869760109631,
-        "y": 5.7357954810808796
+        "x": 2.2542835925366513,
+        "y": 6.2457496925171965
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5052464814300928,
-        "y": 6.962807757169489
+        "x": 1.9513960656420046,
+        "y": 7.008190708493376
       },
       "prevControl": {
-        "x": 1.5052464814300928,
-        "y": 6.962807757169489
+        "x": 2.3691719648070344,
+        "y": 5.94286216562255
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 4.path b/src/main/deploy/pathplanner/paths/Right Limelight 4.path
index 81c68e07..79b2940e 100644
--- a/src/main/deploy/pathplanner/paths/Right Limelight 4.path	
+++ b/src/main/deploy/pathplanner/paths/Right Limelight 4.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.5052464814300928,
-        "y": 6.962807757169489
+        "x": 3.225612558095346,
+        "y": 7.0186351059725025
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.7809497208555514,
-        "y": 7.371811849199025
+        "x": 4.501315797520807,
+        "y": 7.427639198002039
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.812561485146696,
-        "y": 5.794224637085098
+        "x": 7.455593537141273,
+        "y": 5.786196203435664
       },
       "prevControl": {
-        "x": 6.8874331817465535,
-        "y": 6.174014151112526
+        "x": 6.530465233741131,
+        "y": 6.165985717463092
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 5.path b/src/main/deploy/pathplanner/paths/Right Limelight 5.path
index 0f6295fc..ba0165e5 100644
--- a/src/main/deploy/pathplanner/paths/Right Limelight 5.path	
+++ b/src/main/deploy/pathplanner/paths/Right Limelight 5.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.849117069527141,
-        "y": 6.641447399146282
+        "x": 3.0271690059919565,
+        "y": 6.14130571772594
       },
       "prevControl": {
-        "x": 4.472361400238816,
-        "y": 6.75830571115472
+        "x": 3.650413336703628,
+        "y": 6.258164029734378
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 13.706961004079655,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 6.path b/src/main/deploy/pathplanner/paths/Right Limelight 6.path
index b5bff3fd..aef4c03f 100644
--- a/src/main/deploy/pathplanner/paths/Right Limelight 6.path	
+++ b/src/main/deploy/pathplanner/paths/Right Limelight 6.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.849117069527141,
-        "y": 6.641447399146282
+        "x": 3.1316129807832143,
+        "y": 6.06819493537206
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.186497126174914,
-        "y": 6.01597294797643
+        "x": 3.643388457260376,
+        "y": 5.504197471499269
       },
       "isLocked": false,
       "linkedName": null
@@ -20,24 +20,24 @@
         "y": 4.135981401733796
       },
       "prevControl": {
-        "x": 3.8764479639557194,
-        "y": 4.221287541874861
+        "x": 4.228274716091418,
+        "y": 5.086421572334239
       },
       "nextControl": {
-        "x": 6.954262458143235,
-        "y": 4.062870619379916
+        "x": 5.855356212845234,
+        "y": 3.901906242697459
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.946480218660184,
+        "x": 7.424260344703896,
         "y": 4.135981401733796
       },
       "prevControl": {
-        "x": 7.413815947224771,
-        "y": 4.115092606775545
+        "x": 7.445149139662148,
+        "y": 4.1777589916502995
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path
index 3c66c3dd..a4a23e22 100644
--- a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path	
+++ b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path	
@@ -16,48 +16,48 @@
     },
     {
       "anchor": {
-        "x": 8.116213463908409,
-        "y": 0.886175532730662
+        "x": 8.34816208185204,
+        "y": 0.8277463767264434
       },
       "prevControl": {
-        "x": 7.685460491538737,
-        "y": 0.7277380121519171
+        "x": 7.917409109482368,
+        "y": 0.6693088561476985
       },
       "nextControl": {
-        "x": 9.394501771274664,
-        "y": 1.3563494908806235
+        "x": 9.626450389218295,
+        "y": 1.297920334876405
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.873369436306303,
-        "y": 2.3079516621666696
+        "x": 8.116213463908409,
+        "y": 2.2982134694993004
       },
       "prevControl": {
-        "x": 6.12222005788186,
-        "y": 1.299856480100275
+        "x": 6.365064085483965,
+        "y": 1.2901182874329058
       },
       "nextControl": {
-        "x": 9.175908458578483,
-        "y": 3.057792497554153
+        "x": 9.41875248618059,
+        "y": 3.048054304886784
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.873369436306303,
-        "y": 4.0803006143049325
+        "x": 7.987848953159354,
+        "y": 4.070564534960625
       },
       "prevControl": {
-        "x": 5.942839192834933,
-        "y": 3.539283038444537
+        "x": 5.989185465829067,
+        "y": 3.9124781574316763
       },
       "nextControl": {
-        "x": 9.020097375900564,
-        "y": 4.401663085651201
+        "x": 9.711509055283829,
+        "y": 4.206899232303804
       },
       "isLocked": false,
       "linkedName": null
diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
index d9ddb660..37ee2f9d 100644
--- a/src/main/java/org/carlmontrobotics/RobotContainer.java
+++ b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -361,7 +361,10 @@ private void registerAutoCommands() {
     NamedCommands.registerCommand("AlignToAprilTagMegaTag2",
             new AlignToApriltag(drivetrain, limelight));
     NamedCommands.registerCommand("Shoot", new SequentialCommandGroup(
-            new ParallelCommandGroup(new AlignToApriltag(drivetrain, limelight),
+            new ParallelCommandGroup(
+                    // TODO: Use Align To Drivetrain
+                    new AlignDrivetrain(drivetrain),
+                    // new AlignToApriltag(drivetrain, limelight),
                     new AimArmSpeaker(arm, limelight),
                     new RampRPMAuton(intakeShooter)),
             new PassToOuttake(intakeShooter),
@@ -375,6 +378,11 @@ private void registerAutoCommands() {
                     new AutoMATICALLYGetNote(drivetrain, limelight,
                             intakeShooter, -1)));
 
+    NamedCommands.registerCommand("Limelight Intake Straight",
+            new ParallelCommandGroup(new Intake(intakeShooter),
+                    new AutoMATICALLYGetNote(drivetrain, limelight,
+                            intakeShooter, 0)));
+
     NamedCommands.registerCommand("StopIntake",
         new InstantCommand(intakeShooter::stopIntake));
     NamedCommands.registerCommand("StopOutake",
diff --git a/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java b/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java
new file mode 100644
index 00000000..4718754c
--- /dev/null
+++ b/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java
@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.carlmontrobotics.commands;
+
+import java.util.Optional;
+
+import org.carlmontrobotics.subsystems.Drivetrain;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ProxyCommand;
+import edu.wpi.first.wpilibj.DriverStation;
+
+/** Add your docs here. */
+public class AlignDrivetrain extends ProxyCommand {
+  static double blueSpeakerX = 0.14;
+  static double blueSpeakerY = 5.54;
+
+  static double redSpeakerX = 16.36;
+  static double redSpeakerY = 5.51;
+
+  public AlignDrivetrain(Drivetrain dt) {
+    super(() -> {
+      Optional<Alliance> allianceSide = DriverStation.getAlliance();
+      if (allianceSide.get() == Alliance.Red) {
+        // double redAngle = Math.atan2(redSpeakerY-dt.getPose().getY(),
+        // dt.getPose().getX());
+        return new RotateToFieldRelativeAngle(new Rotation2d(
+            dt.getPose().getX(), blueSpeakerY - dt.getPose().getY()), dt);
+
+      } else if (allianceSide.get() == Alliance.Blue) {
+        // double blueAngle = Math.atan2(blueSpeakerY-dt.getPose().getY(),
+        // dt.getPose().getX());
+        return new RotateToFieldRelativeAngle(
+            new Rotation2d(redSpeakerX - dt.getPose().getX(),
+                redSpeakerY - dt.getPose().getY()),
+            dt);
+
+      }
+      // create an if statement based on alliance side
+      return new InstantCommand();
+    });
+  }
+}