diff --git a/.github/workflows/format-command.yml b/.github/workflows/format-command.yml
index 610814fd..4844a1b6 100644
--- a/.github/workflows/format-command.yml
+++ b/.github/workflows/format-command.yml
@@ -36,7 +36,7 @@ jobs:
       - name: Setup flutter
         uses: subosito/flutter-action@v2
         with:
-          flutter-version: 3.13.9
+          flutter-version: 3.16.0
           cache: true
           cache-path: ${{ runner.tool_cache }}/flutter/linux
       
diff --git a/.github/workflows/pathplanner-ci.yaml b/.github/workflows/pathplanner-ci.yaml
index 142d0702..4d9a11e9 100644
--- a/.github/workflows/pathplanner-ci.yaml
+++ b/.github/workflows/pathplanner-ci.yaml
@@ -14,7 +14,7 @@ on:
         required: true
 
 env:
-  FLUTTER_VERSION: 3.13.9
+  FLUTTER_VERSION: 3.16.0
 
 jobs:
   formatting-analysis:
@@ -85,7 +85,7 @@ jobs:
         include:
           - os: windows-2022
             build-option: "windows"
-            artifact-path: "build/windows/runner/Release"
+            artifact-path: "build/windows/x64/runner/Release"
             artifact-name: PathPlanner-Windows
           - os: macos-13
             build-option: "macos"
@@ -145,9 +145,9 @@ jobs:
       - name: Copy redist
         if: ${{ matrix.build-option == 'windows' }}
         run: |
-          cp windows/redist/msvcp140.dll build/windows/runner/Release
-          cp windows/redist/vcruntime140.dll build/windows/runner/Release
-          cp windows/redist/vcruntime140_1.dll build/windows/runner/Release
+          cp windows/redist/msvcp140.dll build/windows/x64/runner/Release
+          cp windows/redist/vcruntime140.dll build/windows/x64/runner/Release
+          cp windows/redist/vcruntime140_1.dll build/windows/x64/runner/Release
       
       - name: Zip release
         if: ${{ matrix.build-option == 'macos' }}
diff --git a/lib/path/goal_end_state.dart b/lib/path/goal_end_state.dart
index e83547db..bcca819e 100644
--- a/lib/path/goal_end_state.dart
+++ b/lib/path/goal_end_state.dart
@@ -1,25 +1,30 @@
 class GoalEndState {
   num velocity;
   num rotation;
+  bool rotateFast;
 
   GoalEndState({
     this.velocity = 0,
     this.rotation = 0,
+    this.rotateFast = false,
   });
 
   GoalEndState.fromJson(Map<String, dynamic> json)
       : velocity = json['velocity'] ?? 0,
-        rotation = json['rotation'] ?? 0;
+        rotation = json['rotation'] ?? 0,
+        rotateFast = json['rotateFast'] ?? false;
 
   Map<String, dynamic> toJson() {
     return {
       'velocity': velocity,
       'rotation': rotation,
+      'rotateFast': rotateFast,
     };
   }
 
   GoalEndState clone() {
-    return GoalEndState(velocity: velocity, rotation: rotation);
+    return GoalEndState(
+        velocity: velocity, rotation: rotation, rotateFast: rotateFast);
   }
 
   @override
@@ -27,8 +32,9 @@ class GoalEndState {
       other is GoalEndState &&
       other.runtimeType == runtimeType &&
       other.velocity == velocity &&
-      other.rotation == rotation;
+      other.rotation == rotation &&
+      other.rotateFast == rotateFast;
 
   @override
-  int get hashCode => Object.hash(velocity, rotation);
+  int get hashCode => Object.hash(velocity, rotation, rotateFast);
 }
diff --git a/lib/path/path_point.dart b/lib/path/path_point.dart
index b98597c1..3b309348 100644
--- a/lib/path/path_point.dart
+++ b/lib/path/path_point.dart
@@ -1,17 +1,18 @@
 import 'dart:math';
 
 import 'package:pathplanner/path/path_constraints.dart';
+import 'package:pathplanner/path/rotation_target.dart';
 
 class PathPoint {
   final Point position;
-  final num? holonomicRotation;
+  final RotationTarget? rotationTarget;
   final PathConstraints constraints;
   final num distanceAlongPath;
   num maxV = double.infinity;
 
   PathPoint({
     required this.position,
-    required this.holonomicRotation,
+    required this.rotationTarget,
     required this.constraints,
     required this.distanceAlongPath,
   });
diff --git a/lib/path/pathplanner_path.dart b/lib/path/pathplanner_path.dart
index c4697621..7f7780d2 100644
--- a/lib/path/pathplanner_path.dart
+++ b/lib/path/pathplanner_path.dart
@@ -342,7 +342,7 @@ class PathPlannerPath {
     for (int i = 0; i < waypoints.length - 1; i++) {
       for (double t = 0; t < 1.0; t += pathResolution) {
         num actualWaypointPos = i + t;
-        num? rotation;
+        RotationTarget? rotation;
 
         if (unaddedTargets.isNotEmpty) {
           if ((unaddedTargets[0].waypointRelativePos - actualWaypointPos)
@@ -351,7 +351,7 @@ class PathPlannerPath {
                       min(actualWaypointPos + pathResolution,
                           waypoints.length - 1))
                   .abs()) {
-            rotation = unaddedTargets.removeAt(0).rotationDegrees;
+            rotation = unaddedTargets.removeAt(0);
           }
         }
 
@@ -378,7 +378,7 @@ class PathPlannerPath {
         pathPoints.add(
           PathPoint(
             position: position,
-            holonomicRotation: rotation,
+            rotationTarget: rotation,
             constraints: constraints ?? globalConstraints,
             distanceAlongPath: dist,
           ),
@@ -388,7 +388,10 @@ class PathPlannerPath {
       if (i == waypoints.length - 2) {
         pathPoints.add(PathPoint(
           position: waypoints[waypoints.length - 1].anchor,
-          holonomicRotation: goalEndState.rotation,
+          rotationTarget: RotationTarget(
+              rotationDegrees: goalEndState.rotation,
+              waypointRelativePos: waypoints.length - 1,
+              rotateFast: goalEndState.rotateFast),
           constraints: globalConstraints,
           distanceAlongPath: pathPoints.last.distanceAlongPath +
               (pathPoints.last.position
diff --git a/lib/path/rotation_target.dart b/lib/path/rotation_target.dart
index bbbff0c5..c5a56069 100644
--- a/lib/path/rotation_target.dart
+++ b/lib/path/rotation_target.dart
@@ -1,20 +1,24 @@
 class RotationTarget {
   num waypointRelativePos;
   num rotationDegrees;
+  bool rotateFast;
 
   RotationTarget({
     this.waypointRelativePos = 0.5,
     this.rotationDegrees = 0,
+    this.rotateFast = false,
   });
 
   RotationTarget.fromJson(Map<String, dynamic> json)
       : waypointRelativePos = json['waypointRelativePos'] ?? 0.5,
-        rotationDegrees = json['rotationDegrees'] ?? 0;
+        rotationDegrees = json['rotationDegrees'] ?? 0,
+        rotateFast = json['rotateFast'] ?? false;
 
   Map<String, dynamic> toJson() {
     return {
       'waypointRelativePos': waypointRelativePos,
       'rotationDegrees': rotationDegrees,
+      'rotateFast': rotateFast,
     };
   }
 
@@ -22,6 +26,7 @@ class RotationTarget {
     return RotationTarget(
       waypointRelativePos: waypointRelativePos,
       rotationDegrees: rotationDegrees,
+      rotateFast: rotateFast,
     );
   }
 
@@ -30,8 +35,10 @@ class RotationTarget {
       other is RotationTarget &&
       other.runtimeType == runtimeType &&
       other.waypointRelativePos == waypointRelativePos &&
-      other.rotationDegrees == rotationDegrees;
+      other.rotationDegrees == rotationDegrees &&
+      other.rotateFast == rotateFast;
 
   @override
-  int get hashCode => Object.hash(waypointRelativePos, rotationDegrees);
+  int get hashCode =>
+      Object.hash(waypointRelativePos, rotationDegrees, rotateFast);
 }
diff --git a/lib/services/simulator/trajectory_generator.dart b/lib/services/simulator/trajectory_generator.dart
index 1fa526fe..2896db73 100644
--- a/lib/services/simulator/trajectory_generator.dart
+++ b/lib/services/simulator/trajectory_generator.dart
@@ -389,7 +389,7 @@ class Trajectory {
     num startingRotationRadians, {
     num maxModuleSpeed = 4.5,
     num driveBaseRadius = 0.425,
-  }) : states = _generateStates(path, linearVel) {
+  }) : states = _generateStates(path, linearVel, startingRotationRadians) {
     _simulateRotation(startingRotationRadians, maxModuleSpeed, driveBaseRadius);
   }
 
@@ -453,7 +453,7 @@ class Trajectory {
     int idx = path.pathPoints.length - 1;
 
     for (int i = startingIndex; i < path.pathPoints.length - 2; i++) {
-      if (path.pathPoints[i].holonomicRotation != null) {
+      if (path.pathPoints[i].rotationTarget != null) {
         idx = i;
         break;
       }
@@ -463,12 +463,16 @@ class Trajectory {
   }
 
   static List<TrajectoryState> _generateStates(
-      PathPlannerPath path, num linearVel) {
+      PathPlannerPath path, num linearVel, num currentRotationRadians) {
     List<TrajectoryState> states = [];
 
     num startVel = linearVel.abs();
 
+    num prevRotationTargetDist = 0;
+    num prevRotationTargetRot = currentRotationRadians;
     int nextRotationTargetIdx = _getNextRotationTargetIdx(path, 0);
+    num distBetweenTargets =
+        path.pathPoints[nextRotationTargetIdx].distanceAlongPath;
 
     // Initial pass. Creates all states and handles linear acceleration
     for (int i = 0; i < path.pathPoints.length; i++) {
@@ -478,11 +482,37 @@ class Trajectory {
       state.constraints = constraints;
 
       if (i > nextRotationTargetIdx) {
+        prevRotationTargetDist =
+            path.pathPoints[nextRotationTargetIdx].distanceAlongPath;
+        prevRotationTargetRot = GeometryUtil.toRadians(path
+            .pathPoints[nextRotationTargetIdx].rotationTarget!.rotationDegrees);
         nextRotationTargetIdx = _getNextRotationTargetIdx(path, i);
+        distBetweenTargets =
+            path.pathPoints[nextRotationTargetIdx].distanceAlongPath -
+                prevRotationTargetDist;
       }
 
-      state.holonomicRotationRadians = GeometryUtil.toRadians(
-          path.pathPoints[nextRotationTargetIdx].holonomicRotation!);
+      RotationTarget nextTarget =
+          path.pathPoints[nextRotationTargetIdx].rotationTarget!;
+
+      if (nextTarget.rotateFast) {
+        state.holonomicRotationRadians =
+            GeometryUtil.toRadians(nextTarget.rotationDegrees);
+      } else {
+        double t =
+            (path.pathPoints[i].distanceAlongPath - prevRotationTargetDist) /
+                distBetweenTargets;
+        t = min(max(0.0, t), 1.0);
+        if (!t.isFinite) {
+          t = 0;
+        }
+
+        state.holonomicRotationRadians = GeometryUtil.rotationLerp(
+            prevRotationTargetRot,
+            GeometryUtil.toRadians(nextTarget.rotationDegrees),
+            t,
+            pi);
+      }
 
       state.position = path.pathPoints[i].position;
 
diff --git a/lib/widgets/editor/tree_widgets/goal_end_state_tree.dart b/lib/widgets/editor/tree_widgets/goal_end_state_tree.dart
index 59d76bc9..de65cc92 100644
--- a/lib/widgets/editor/tree_widgets/goal_end_state_tree.dart
+++ b/lib/widgets/editor/tree_widgets/goal_end_state_tree.dart
@@ -66,6 +66,24 @@ class GoalEndStateTree extends StatelessWidget {
             ],
           ),
         ),
+        if (holonomicMode) const SizedBox(height: 12),
+        if (holonomicMode)
+          Row(
+            children: [
+              Checkbox(
+                value: path.goalEndState.rotateFast,
+                onChanged: (value) {
+                  _addChange(
+                      () => path.goalEndState.rotateFast = value ?? false);
+                },
+              ),
+              const SizedBox(width: 4),
+              const Text(
+                'Rotate as Fast as Possible',
+                style: TextStyle(fontSize: 18),
+              ),
+            ],
+          ),
       ],
     );
   }
diff --git a/lib/widgets/editor/tree_widgets/rotation_targets_tree.dart b/lib/widgets/editor/tree_widgets/rotation_targets_tree.dart
index 1d3b2167..37bafa5e 100644
--- a/lib/widgets/editor/tree_widgets/rotation_targets_tree.dart
+++ b/lib/widgets/editor/tree_widgets/rotation_targets_tree.dart
@@ -194,6 +194,32 @@ class _RotationTargetsTreeState extends State<RotationTargetsTree> {
           ),
         ),
         const SizedBox(height: 12),
+        Row(
+          children: [
+            Checkbox(
+              value: rotations[targetIdx].rotateFast,
+              onChanged: (value) {
+                widget.undoStack.add(Change(
+                  rotations[targetIdx].clone(),
+                  () {
+                    rotations[targetIdx].rotateFast = value ?? false;
+                    widget.onPathChanged?.call();
+                  },
+                  (oldValue) {
+                    rotations[targetIdx].rotateFast = oldValue.rotateFast;
+                    widget.onPathChanged?.call();
+                  },
+                ));
+              },
+            ),
+            const SizedBox(width: 4),
+            const Text(
+              'Reach as Fast as Possible',
+              style: TextStyle(fontSize: 18),
+            ),
+          ],
+        ),
+        const SizedBox(height: 12),
         Slider(
           value: rotations[targetIdx].waypointRelativePos.toDouble(),
           min: 0.0,
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathCommand.java b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathCommand.java
index 08c99e76..1c2f4b81 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathCommand.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathCommand.java
@@ -69,7 +69,8 @@ public void initialize() {
                 >= 0.25)) {
       replanPath(currentPose, currentSpeeds);
     } else {
-      generatedTrajectory = new PathPlannerTrajectory(path, currentSpeeds);
+      generatedTrajectory =
+          new PathPlannerTrajectory(path, currentSpeeds, currentPose.getRotation());
       PathPlannerLogging.logActivePath(path);
       PPLibTelemetry.setCurrentPath(path);
     }
@@ -146,7 +147,8 @@ public void end(boolean interrupted) {
 
   private void replanPath(Pose2d currentPose, ChassisSpeeds currentSpeeds) {
     PathPlannerPath replanned = path.replan(currentPose, currentSpeeds);
-    generatedTrajectory = new PathPlannerTrajectory(replanned, currentSpeeds);
+    generatedTrajectory =
+        new PathPlannerTrajectory(replanned, currentSpeeds, currentPose.getRotation());
     PathPlannerLogging.logActivePath(replanned);
     PPLibTelemetry.setCurrentPath(replanned);
   }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindingCommand.java b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindingCommand.java
index d670e19e..ffadf8b8 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindingCommand.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindingCommand.java
@@ -66,8 +66,8 @@ public PathfindingCommand(
 
     Rotation2d targetRotation = new Rotation2d();
     for (PathPoint p : targetPath.getAllPathPoints()) {
-      if (p.holonomicRotation != null) {
-        targetRotation = p.holonomicRotation;
+      if (p.rotationTarget != null) {
+        targetRotation = p.rotationTarget.getTarget();
         break;
       }
     }
@@ -76,7 +76,7 @@ public PathfindingCommand(
     this.targetPose = new Pose2d(this.targetPath.getPoint(0).position, targetRotation);
     this.goalEndState =
         new GoalEndState(
-            this.targetPath.getGlobalConstraints().getMaxVelocityMps(), targetRotation);
+            this.targetPath.getGlobalConstraints().getMaxVelocityMps(), targetRotation, true);
     this.constraints = constraints;
     this.controller = controller;
     this.poseSupplier = poseSupplier;
@@ -119,7 +119,7 @@ public PathfindingCommand(
 
     this.targetPath = null;
     this.targetPose = targetPose;
-    this.goalEndState = new GoalEndState(goalEndVel, targetPose.getRotation());
+    this.goalEndState = new GoalEndState(goalEndVel, targetPose.getRotation(), true);
     this.constraints = constraints;
     this.controller = controller;
     this.poseSupplier = poseSupplier;
@@ -178,7 +178,8 @@ public void execute() {
         if (!replanningConfig.enableInitialReplanning
             || (currentPose.getTranslation().getDistance(currentPath.getPoint(0).position) <= 0.25
                 && onHeading)) {
-          currentTrajectory = new PathPlannerTrajectory(currentPath, currentSpeeds);
+          currentTrajectory =
+              new PathPlannerTrajectory(currentPath, currentSpeeds, currentPose.getRotation());
 
           // Find the two closest states in front of and behind robot
           int closestState1Idx = 0;
@@ -217,7 +218,8 @@ public void execute() {
           PPLibTelemetry.setCurrentPath(currentPath);
         } else {
           PathPlannerPath replanned = currentPath.replan(currentPose, currentSpeeds);
-          currentTrajectory = new PathPlannerTrajectory(replanned, currentSpeeds);
+          currentTrajectory =
+              new PathPlannerTrajectory(replanned, currentSpeeds, currentPose.getRotation());
 
           timeOffset = 0;
 
@@ -316,7 +318,8 @@ public void end(boolean interrupted) {
 
   private void replanPath(Pose2d currentPose, ChassisSpeeds currentSpeeds) {
     PathPlannerPath replanned = currentPath.replan(currentPose, currentSpeeds);
-    currentTrajectory = new PathPlannerTrajectory(replanned, currentSpeeds);
+    currentTrajectory =
+        new PathPlannerTrajectory(replanned, currentSpeeds, currentPose.getRotation());
     PathPlannerLogging.logActivePath(replanned);
     PPLibTelemetry.setCurrentPath(replanned);
   }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/GoalEndState.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/GoalEndState.java
index ba3ceae6..ede5e691 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/GoalEndState.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/GoalEndState.java
@@ -8,16 +8,19 @@
 public class GoalEndState {
   private final double velocity;
   private final Rotation2d rotation;
+  private final boolean rotateFast;
 
   /**
    * Create a new goal end state
    *
    * @param velocity The goal end velocity (M/S)
    * @param rotation The goal rotation
+   * @param rotateFast Should the robot reach the rotation as fast as possible
    */
-  public GoalEndState(double velocity, Rotation2d rotation) {
+  public GoalEndState(double velocity, Rotation2d rotation, boolean rotateFast) {
     this.velocity = velocity;
     this.rotation = rotation;
+    this.rotateFast = rotateFast;
   }
 
   /**
@@ -29,7 +32,11 @@ public GoalEndState(double velocity, Rotation2d rotation) {
   static GoalEndState fromJson(JSONObject endStateJson) {
     double vel = ((Number) endStateJson.get("velocity")).doubleValue();
     double deg = ((Number) endStateJson.get("rotation")).doubleValue();
-    return new GoalEndState(vel, Rotation2d.fromDegrees(deg));
+    boolean rotateFast = false;
+    if (endStateJson.get("rotateFast") != null) {
+      rotateFast = (boolean) endStateJson.get("rotation");
+    }
+    return new GoalEndState(vel, Rotation2d.fromDegrees(deg), rotateFast);
   }
 
   /**
@@ -50,21 +57,39 @@ public Rotation2d getRotation() {
     return rotation;
   }
 
+  /**
+   * Get if the robot should reach the rotation as fast as possible
+   *
+   * @return True if the robot should reach the rotation as fast as possible
+   */
+  public boolean shouldRotateFast() {
+    return rotateFast;
+  }
+
   @Override
   public boolean equals(Object o) {
     if (this == o) return true;
     if (o == null || getClass() != o.getClass()) return false;
     GoalEndState that = (GoalEndState) o;
-    return Math.abs(that.velocity - velocity) < 1E-3 && Objects.equals(rotation, that.rotation);
+    return Math.abs(that.velocity - velocity) < 1E-3
+        && Objects.equals(rotation, that.rotation)
+        && rotateFast == that.rotateFast;
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(velocity, rotation);
+    return Objects.hash(velocity, rotation, rotateFast);
   }
 
   @Override
   public String toString() {
-    return "GoalEndState{" + "velocity=" + velocity + ", rotation=" + rotation + '}';
+    return "GoalEndState{"
+        + "velocity="
+        + velocity
+        + ", rotation="
+        + rotation
+        + ", rotateFast="
+        + rotateFast
+        + "}";
   }
 }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
index d823082e..1889ac2c 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
@@ -478,7 +478,8 @@ private void precalcValues() {
         m.markerPos = allPoints.get(pointIndex).position;
       }
 
-      allPoints.get(allPoints.size() - 1).holonomicRotation = goalEndState.getRotation();
+      allPoints.get(allPoints.size() - 1).rotationTarget =
+          new RotationTarget(-1, goalEndState.getRotation(), goalEndState.shouldRotateFast());
       allPoints.get(allPoints.size() - 1).maxV = goalEndState.getVelocity();
     }
   }
@@ -684,7 +685,12 @@ public PathPlannerPath replan(Pose2d startingPose, ChassisSpeeds currentSpeeds)
         return new PathPlannerPath(
             replannedBezier,
             rotationTargets.stream()
-                .map((target) -> new RotationTarget(target.getPosition() + 1, target.getTarget()))
+                .map(
+                    (target) ->
+                        new RotationTarget(
+                            target.getPosition() + 1,
+                            target.getTarget(),
+                            target.shouldRotateFast()))
                 .collect(Collectors.toList()),
             constraintZones.stream()
                 .map(
@@ -820,10 +826,13 @@ public PathPlannerPath replan(Pose2d startingPose, ChassisSpeeds currentSpeeds)
 
     for (RotationTarget t : rotationTargets) {
       if (t.getPosition() >= nextWaypointIdx) {
-        mappedTargets.add(new RotationTarget(t.getPosition() - nextWaypointIdx + 2, t.getTarget()));
+        mappedTargets.add(
+            new RotationTarget(
+                t.getPosition() - nextWaypointIdx + 2, t.getTarget(), t.shouldRotateFast()));
       } else if (t.getPosition() >= nextWaypointIdx - 1) {
         double pct = t.getPosition() - (nextWaypointIdx - 1);
-        mappedTargets.add(new RotationTarget(mapPct(pct, segment1Pct), t.getTarget()));
+        mappedTargets.add(
+            new RotationTarget(mapPct(pct, segment1Pct), t.getTarget(), t.shouldRotateFast()));
       }
     }
 
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerTrajectory.java
index b15880ae..f87037a0 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerTrajectory.java
@@ -18,16 +18,18 @@ public class PathPlannerTrajectory {
    *
    * @param path {@link com.pathplanner.lib.path.PathPlannerPath} to generate the trajectory for
    * @param startingSpeeds Starting speeds of the robot when starting the trajectory
+   * @param startingRotation Starting rotation of the robot when starting the trajectory
    */
-  public PathPlannerTrajectory(PathPlannerPath path, ChassisSpeeds startingSpeeds) {
-    this.states = generateStates(path, startingSpeeds);
+  public PathPlannerTrajectory(
+      PathPlannerPath path, ChassisSpeeds startingSpeeds, Rotation2d startingRotation) {
+    this.states = generateStates(path, startingSpeeds, startingRotation);
   }
 
   private static int getNextRotationTargetIdx(PathPlannerPath path, int startingIndex) {
     int idx = path.numPoints() - 1;
 
     for (int i = startingIndex; i < path.numPoints() - 2; i++) {
-      if (path.getPoint(i).holonomicRotation != null) {
+      if (path.getPoint(i).rotationTarget != null) {
         idx = i;
         break;
       }
@@ -36,13 +38,17 @@ private static int getNextRotationTargetIdx(PathPlannerPath path, int startingIn
     return idx;
   }
 
-  private static List<State> generateStates(PathPlannerPath path, ChassisSpeeds startingSpeeds) {
+  private static List<State> generateStates(
+      PathPlannerPath path, ChassisSpeeds startingSpeeds, Rotation2d startingRotation) {
     List<State> states = new ArrayList<>();
 
     double startVel =
         Math.hypot(startingSpeeds.vxMetersPerSecond, startingSpeeds.vyMetersPerSecond);
 
+    double prevRotationTargetDist = 0.0;
+    Rotation2d prevRotationTargetRot = startingRotation;
     int nextRotationTargetIdx = getNextRotationTargetIdx(path, 0);
+    double distanceBetweenTargets = path.getPoint(nextRotationTargetIdx).distanceAlongPath;
 
     // Initial pass. Creates all states and handles linear acceleration
     for (int i = 0; i < path.numPoints(); i++) {
@@ -52,10 +58,28 @@ private static List<State> generateStates(PathPlannerPath path, ChassisSpeeds st
       state.constraints = constraints;
 
       if (i > nextRotationTargetIdx) {
+        prevRotationTargetDist = path.getPoint(nextRotationTargetIdx).distanceAlongPath;
+        prevRotationTargetRot = path.getPoint(nextRotationTargetIdx).rotationTarget.getTarget();
         nextRotationTargetIdx = getNextRotationTargetIdx(path, i);
+        distanceBetweenTargets =
+            path.getPoint(nextRotationTargetIdx).distanceAlongPath - prevRotationTargetDist;
       }
 
-      state.targetHolonomicRotation = path.getPoint(nextRotationTargetIdx).holonomicRotation;
+      RotationTarget nextTarget = path.getPoint(nextRotationTargetIdx).rotationTarget;
+
+      if (nextTarget.shouldRotateFast()) {
+        state.targetHolonomicRotation = nextTarget.getTarget();
+      } else {
+        double t =
+            (path.getPoint(i).distanceAlongPath - prevRotationTargetDist) / distanceBetweenTargets;
+        t = Math.min(Math.max(0.0, t), 1.0);
+        if (!Double.isFinite(t)) {
+          t = 0.0;
+        }
+
+        state.targetHolonomicRotation =
+            prevRotationTargetRot.interpolate(nextTarget.getTarget(), t);
+      }
 
       state.positionMeters = path.getPoint(i).position;
       double curveRadius = path.getPoint(i).curveRadius;
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPoint.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPoint.java
index 22975a41..7e9a0cf6 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPoint.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPoint.java
@@ -1,6 +1,5 @@
 package com.pathplanner.lib.path;
 
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import java.util.Objects;
 
@@ -16,7 +15,7 @@ public class PathPoint {
   /** The max velocity at this point */
   public double maxV = Double.POSITIVE_INFINITY;
   /** The target rotation at this point */
-  public Rotation2d holonomicRotation = null;
+  public RotationTarget rotationTarget = null;
   /** The constraints applied to this point */
   public PathConstraints constraints = null;
 
@@ -24,13 +23,13 @@ public class PathPoint {
    * Create a path point
    *
    * @param position Position of the point
-   * @param holonomicRotation Rotation target at this point
+   * @param rotationTarget Rotation target at this point
    * @param constraints The constraints at this point
    */
   public PathPoint(
-      Translation2d position, Rotation2d holonomicRotation, PathConstraints constraints) {
+      Translation2d position, RotationTarget rotationTarget, PathConstraints constraints) {
     this.position = position;
-    this.holonomicRotation = holonomicRotation;
+    this.rotationTarget = rotationTarget;
     this.constraints = constraints;
   }
 
@@ -38,11 +37,20 @@ public PathPoint(
    * Create a path point
    *
    * @param position Position of the point
-   * @param holonomicRotation Rotation target at this point
+   * @param rotationTarget Rotation target at this point
    */
-  public PathPoint(Translation2d position, Rotation2d holonomicRotation) {
+  public PathPoint(Translation2d position, RotationTarget rotationTarget) {
+    this.position = position;
+    this.rotationTarget = rotationTarget;
+  }
+
+  /**
+   * Create a path point
+   *
+   * @param position Position of the point
+   */
+  public PathPoint(Translation2d position) {
     this.position = position;
-    this.holonomicRotation = holonomicRotation;
   }
 
   @Override
@@ -53,12 +61,12 @@ public boolean equals(Object o) {
     return Math.abs(pathPoint.distanceAlongPath - distanceAlongPath) < 1E-3
         && Math.abs(pathPoint.maxV - maxV) < 1E-3
         && Objects.equals(position, pathPoint.position)
-        && Objects.equals(holonomicRotation, pathPoint.holonomicRotation)
+        && Objects.equals(rotationTarget, pathPoint.rotationTarget)
         && Objects.equals(constraints, pathPoint.constraints);
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(position, distanceAlongPath, maxV, holonomicRotation, constraints);
+    return Objects.hash(position, distanceAlongPath, maxV, rotationTarget, constraints);
   }
 }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathSegment.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathSegment.java
index 29bb977a..7949931d 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathSegment.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/PathSegment.java
@@ -1,7 +1,6 @@
 package com.pathplanner.lib.path;
 
 import com.pathplanner.lib.util.GeometryUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import java.util.ArrayList;
 import java.util.List;
@@ -36,13 +35,13 @@ public PathSegment(
     this.segmentPoints = new ArrayList<>();
 
     for (double t = 0.0; t < 1.0; t += RESOLUTION) {
-      Rotation2d holonomicRotation = null;
+      RotationTarget holonomicRotation = null;
 
       if (!targetHolonomicRotations.isEmpty()) {
         if (Math.abs(targetHolonomicRotations.get(0).getPosition() - t)
             <= Math.abs(
                 targetHolonomicRotations.get(0).getPosition() - Math.min(t + RESOLUTION, 1.0))) {
-          holonomicRotation = targetHolonomicRotations.remove(0).getTarget();
+          holonomicRotation = targetHolonomicRotations.remove(0);
         }
       }
 
@@ -61,10 +60,8 @@ public PathSegment(
     }
 
     if (endSegment) {
-      Rotation2d holonomicRotation =
-          targetHolonomicRotations.isEmpty()
-              ? null
-              : targetHolonomicRotations.remove(0).getTarget();
+      RotationTarget holonomicRotation =
+          targetHolonomicRotations.isEmpty() ? null : targetHolonomicRotations.remove(0);
       this.segmentPoints.add(
           new PathPoint(GeometryUtil.cubicLerp(p1, p2, p3, p4, 1.0), holonomicRotation));
     }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/path/RotationTarget.java b/pathplannerlib/src/main/java/com/pathplanner/lib/path/RotationTarget.java
index 2e5ee4fd..eca626a1 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/path/RotationTarget.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/path/RotationTarget.java
@@ -8,16 +8,19 @@
 public class RotationTarget {
   private final double waypointRelativePosition;
   private final Rotation2d target;
+  private final boolean rotateFast;
 
   /**
    * Create a new rotation target
    *
    * @param waypointRelativePosition Waypoint relative position of this target
    * @param target Target rotation
+   * @param rotateFast Should the robot reach the rotation as fast as possible
    */
-  public RotationTarget(double waypointRelativePosition, Rotation2d target) {
+  public RotationTarget(double waypointRelativePosition, Rotation2d target, boolean rotateFast) {
     this.waypointRelativePosition = waypointRelativePosition;
     this.target = target;
+    this.rotateFast = rotateFast;
   }
 
   /**
@@ -29,7 +32,11 @@ public RotationTarget(double waypointRelativePosition, Rotation2d target) {
   static RotationTarget fromJson(JSONObject targetJson) {
     double pos = ((Number) targetJson.get("waypointRelativePos")).doubleValue();
     double deg = ((Number) targetJson.get("rotationDegrees")).doubleValue();
-    return new RotationTarget(pos, Rotation2d.fromDegrees(deg));
+    boolean rotateFast = false;
+    if (targetJson.get("rotateFast") != null) {
+      rotateFast = (boolean) targetJson.get("rotation");
+    }
+    return new RotationTarget(pos, Rotation2d.fromDegrees(deg), rotateFast);
   }
 
   /**
@@ -50,6 +57,15 @@ public Rotation2d getTarget() {
     return target;
   }
 
+  /**
+   * Get if the robot should reach the rotation as fast as possible
+   *
+   * @return True if the robot should reach the rotation as fast as possible
+   */
+  public boolean shouldRotateFast() {
+    return rotateFast;
+  }
+
   /**
    * Transform the position of this target for a given segment number.
    *
@@ -59,7 +75,7 @@ public Rotation2d getTarget() {
    * @return The transformed target
    */
   public RotationTarget forSegmentIndex(int segmentIndex) {
-    return new RotationTarget(waypointRelativePosition - segmentIndex, target);
+    return new RotationTarget(waypointRelativePosition - segmentIndex, target, rotateFast);
   }
 
   @Override
@@ -68,7 +84,8 @@ public boolean equals(Object o) {
     if (o == null || getClass() != o.getClass()) return false;
     RotationTarget that = (RotationTarget) o;
     return Math.abs(that.waypointRelativePosition - waypointRelativePosition) < 1E-3
-        && Objects.equals(target, that.target);
+        && Objects.equals(target, that.target)
+        && rotateFast == that.rotateFast;
   }
 
   @Override
@@ -83,6 +100,8 @@ public String toString() {
         + waypointRelativePosition
         + ", target="
         + target
-        + '}';
+        + ", rotateFast="
+        + rotateFast
+        + "}";
   }
 }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/LocalADStar.java b/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/LocalADStar.java
index 5eb8932c..c53c3178 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/LocalADStar.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/LocalADStar.java
@@ -338,7 +338,7 @@ private List<PathPoint> extractPath(
       Translation2d realGoalPos,
       Set<GridPosition> obstacles) {
     if (sGoal.equals(sStart)) {
-      return List.of(new PathPoint(realGoalPos, null));
+      return new ArrayList<>();
     }
 
     List<GridPosition> path = new ArrayList<>();
@@ -445,10 +445,10 @@ private List<PathPoint> extractPath(
       }
 
       for (double t = 0.0; t < 1.0; t += resolution) {
-        pathPoints.add(new PathPoint(GeometryUtil.cubicLerp(p1, p2, p3, p4, t), null));
+        pathPoints.add(new PathPoint(GeometryUtil.cubicLerp(p1, p2, p3, p4, t)));
       }
     }
-    pathPoints.add(new PathPoint(bezierPoints.get(bezierPoints.size() - 1), null));
+    pathPoints.add(new PathPoint(bezierPoints.get(bezierPoints.size() - 1)));
 
     return pathPoints;
   }
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/RemoteADStar.java b/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/RemoteADStar.java
index 6e4b28c4..6744854a 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/RemoteADStar.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/pathfinding/RemoteADStar.java
@@ -18,6 +18,7 @@
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicReference;
 
+/** Implementation of ADStar running on a coprocessor */
 public class RemoteADStar implements Pathfinder {
   private final StringPublisher navGridJsonPub;
   private final DoubleArrayPublisher startPosPub;
@@ -30,6 +31,7 @@ public class RemoteADStar implements Pathfinder {
       new AtomicReference<>(new ArrayList<>());
   private final AtomicBoolean newPathAvailable = new AtomicBoolean(false);
 
+  /** Create a RemoteADStar object. This will use NT4 to communicate with the coprocessor. */
   public RemoteADStar() {
     var nt = NetworkTableInstance.getDefault();
 
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp
index 981f0943..23014b5a 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp
@@ -27,7 +27,8 @@ void FollowPathCommand::Initialize() {
 							>= 0.25_mps)) {
 		replanPath(currentPose, currentSpeeds);
 	} else {
-		m_generatedTrajectory = PathPlannerTrajectory(m_path, currentSpeeds);
+		m_generatedTrajectory = PathPlannerTrajectory(m_path, currentSpeeds,
+				currentPose.Rotation());
 		PathPlannerLogging::logActivePath (m_path);
 		PPLibTelemetry::setCurrentPath(m_path);
 	}
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp
index bee88438..3b4adb41 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp
@@ -13,7 +13,7 @@ PathfindingCommand::PathfindingCommand(
 		std::unique_ptr<PathFollowingController> controller,
 		units::meter_t rotationDelayDistance, ReplanningConfig replanningConfig,
 		frc2::Requirements requirements) : m_targetPath(targetPath), m_targetPose(), m_goalEndState(
-		0_mps, frc::Rotation2d()), m_constraints(constraints), m_poseSupplier(
+		0_mps, frc::Rotation2d(), true), m_constraints(constraints), m_poseSupplier(
 		poseSupplier), m_speedsSupplier(speedsSupplier), m_output(output), m_controller(
 		std::move(controller)), m_rotationDelayDistance(rotationDelayDistance), m_replanningConfig(
 		replanningConfig) {
@@ -23,8 +23,8 @@ PathfindingCommand::PathfindingCommand(
 
 	frc::Rotation2d targetRotation;
 	for (PathPoint p : m_targetPath->getAllPathPoints()) {
-		if (p.holonomicRotation.has_value()) {
-			targetRotation = p.holonomicRotation.value();
+		if (p.rotationTarget.has_value()) {
+			targetRotation = p.rotationTarget.value().getTarget();
 			break;
 		}
 	}
@@ -33,7 +33,7 @@ PathfindingCommand::PathfindingCommand(
 			targetRotation);
 	m_goalEndState = GoalEndState(
 			m_targetPath->getGlobalConstraints().getMaxVelocity(),
-			targetRotation);
+			targetRotation, true);
 }
 
 PathfindingCommand::PathfindingCommand(frc::Pose2d targetPose,
@@ -44,7 +44,7 @@ PathfindingCommand::PathfindingCommand(frc::Pose2d targetPose,
 		std::unique_ptr<PathFollowingController> controller,
 		units::meter_t rotationDelayDistance, ReplanningConfig replanningConfig,
 		frc2::Requirements requirements) : m_targetPath(), m_targetPose(
-		targetPose), m_goalEndState(goalEndVel, targetPose.Rotation()), m_constraints(
+		targetPose), m_goalEndState(goalEndVel, targetPose.Rotation(), true), m_constraints(
 		constraints), m_poseSupplier(poseSupplier), m_speedsSupplier(
 		speedsSupplier), m_output(output), m_controller(std::move(controller)), m_rotationDelayDistance(
 		rotationDelayDistance), m_replanningConfig(replanningConfig) {
@@ -105,7 +105,7 @@ void PathfindingCommand::Execute() {
 							m_currentPath->getPoint(0).position) <= 0.25_m
 							&& onHeading)) {
 				m_currentTrajectory = PathPlannerTrajectory(m_currentPath,
-						currentSpeeds);
+						currentSpeeds, currentPose.Rotation());
 
 				// Find the two closest states in front of and behind robot
 				size_t closestState1Idx = 0;
@@ -146,7 +146,7 @@ void PathfindingCommand::Execute() {
 				auto replanned = m_currentPath->replan(currentPose,
 						currentSpeeds);
 				m_currentTrajectory = PathPlannerTrajectory(replanned,
-						currentSpeeds);
+						currentSpeeds, currentPose.Rotation());
 
 				m_timeOffset = 0_s;
 
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/GoalEndState.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/GoalEndState.cpp
index ca6ff37f..772858b4 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/GoalEndState.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/GoalEndState.cpp
@@ -7,6 +7,10 @@ using namespace pathplanner;
 GoalEndState GoalEndState::fromJson(const wpi::json &json) {
 	auto vel = units::meters_per_second_t(json.at("velocity").get<double>());
 	auto rotationDeg = units::degree_t(json.at("rotation").get<double>());
+	bool rotateFast = false;
+	if (json.contains("rotateFast")) {
+		rotateFast = json.at("rotateFast").get<bool>();
+	}
 
-	return GoalEndState(vel, frc::Rotation2d(rotationDeg));
+	return GoalEndState(vel, frc::Rotation2d(rotationDeg), rotateFast);
 }
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
index 006defa6..39450f45 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -305,8 +305,9 @@ void PathPlannerPath::precalcValues() {
 			m.setMarkerPosition(m_allPoints[pointIndex].position);
 		}
 
-		m_allPoints[m_allPoints.size() - 1].holonomicRotation =
-				m_goalEndState.getRotation();
+		m_allPoints[m_allPoints.size() - 1].rotationTarget = RotationTarget(-1,
+				m_goalEndState.getRotation(),
+				m_goalEndState.shouldRotateFast());
 		m_allPoints[m_allPoints.size() - 1].maxV = m_goalEndState.getVelocity();
 	}
 }
@@ -436,7 +437,7 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::replan(
 					std::back_inserter(targets),
 					[](RotationTarget target) {
 						return RotationTarget(target.getPosition() + 1,
-								target.getTarget());
+								target.getTarget(), target.shouldRotateFast());
 					});
 			std::vector < ConstraintsZone > zones;
 			std::transform(m_constraintZones.begin(), m_constraintZones.end(),
@@ -573,10 +574,11 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::replan(
 	for (RotationTarget t : m_rotationTargets) {
 		if (t.getPosition() >= nextWaypointIdx) {
 			mappedTargets.emplace_back(t.getPosition() - nextWaypointIdx + 2,
-					t.getTarget());
+					t.getTarget(), t.shouldRotateFast());
 		} else if (t.getPosition() >= nextWaypointIdx - 1) {
 			double pct = t.getPosition() - (nextWaypointIdx - 1);
-			mappedTargets.emplace_back(mapPct(pct, segment1Pct), t.getTarget());
+			mappedTargets.emplace_back(mapPct(pct, segment1Pct), t.getTarget(),
+					t.shouldRotateFast());
 		}
 	}
 
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerTrajectory.cpp
index f242cd0b..07890d4a 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerTrajectory.cpp
@@ -36,7 +36,7 @@ size_t PathPlannerTrajectory::getNextRotationTargetIdx(
 	size_t idx = path->numPoints() - 1;
 
 	for (size_t i = startingIndex; i < path->numPoints() - 2; i++) {
-		if (path->getPoint(i).holonomicRotation) {
+		if (path->getPoint(i).rotationTarget) {
 			idx = i;
 			break;
 		}
@@ -47,13 +47,18 @@ size_t PathPlannerTrajectory::getNextRotationTargetIdx(
 
 std::vector<PathPlannerTrajectory::State> PathPlannerTrajectory::generateStates(
 		std::shared_ptr<PathPlannerPath> path,
-		const frc::ChassisSpeeds &startingSpeeds) {
+		const frc::ChassisSpeeds &startingSpeeds,
+		const frc::Rotation2d &startingRotation) {
 	std::vector < State > states;
 
 	units::meters_per_second_t startVel = units::math::hypot(startingSpeeds.vx,
 			startingSpeeds.vy);
 
+	units::meter_t prevRotationTargetDist = 0.0_m;
+	frc::Rotation2d prevRotationTargetRot = startingRotation;
 	size_t nextRotationTargetIdx = getNextRotationTargetIdx(path, 0);
+	units::meter_t distanceBetweenTargets = path->getPoint(
+			nextRotationTargetIdx).distanceAlongPath;
 
 	// Initial pass. Creates all states and handles linear acceleration
 	for (size_t i = 0; i < path->numPoints(); i++) {
@@ -63,11 +68,32 @@ std::vector<PathPlannerTrajectory::State> PathPlannerTrajectory::generateStates(
 		state.constraints = constraints;
 
 		if (i > nextRotationTargetIdx) {
+			prevRotationTargetDist =
+					path->getPoint(nextRotationTargetIdx).distanceAlongPath;
+			prevRotationTargetRot =
+					path->getPoint(nextRotationTargetIdx).rotationTarget.value().getTarget();
 			nextRotationTargetIdx = getNextRotationTargetIdx(path, i);
+			distanceBetweenTargets =
+					path->getPoint(nextRotationTargetIdx).distanceAlongPath
+							- prevRotationTargetDist;
 		}
 
-		state.targetHolonomicRotation =
-				path->getPoint(nextRotationTargetIdx).holonomicRotation.value();
+		RotationTarget nextTarget =
+				path->getPoint(nextRotationTargetIdx).rotationTarget.value();
+
+		if (nextTarget.shouldRotateFast()) {
+			state.targetHolonomicRotation = nextTarget.getTarget();
+		} else {
+			double t = ((path->getPoint(i).distanceAlongPath
+					- prevRotationTargetDist) / distanceBetweenTargets)();
+			t = std::min(std::max(0.0, t), 1.0);
+			if (!std::isfinite(t)) {
+				t = 0.0;
+			}
+
+			state.targetHolonomicRotation = (prevRotationTargetRot
+					+ (nextTarget.getTarget() - prevRotationTargetRot)) * t;
+		}
 
 		state.position = path->getPoint(i).position;
 		units::meter_t curveRadius = path->getPoint(i).curveRadius;
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathSegment.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathSegment.cpp
index f1d76822..c29a66e5 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathSegment.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathSegment.cpp
@@ -9,7 +9,7 @@ PathSegment::PathSegment(frc::Translation2d p1, frc::Translation2d p2,
 		std::vector<ConstraintsZone> constraintZones, bool endSegment) : m_segmentPoints() {
 
 	for (double t = 0.0; t < 1.0; t += PathSegment::RESOLUTION) {
-		std::optional < frc::Rotation2d > holonomicRotation = std::nullopt;
+		std::optional < RotationTarget > holonomicRotation = std::nullopt;
 
 		if (!targetHolonomicRotations.empty()) {
 			if (std::abs(targetHolonomicRotations[0].getPosition() - t)
@@ -17,7 +17,7 @@ PathSegment::PathSegment(frc::Translation2d p1, frc::Translation2d p2,
 							targetHolonomicRotations[0].getPosition()
 									- std::min(t + PathSegment::RESOLUTION,
 											1.0))) {
-				holonomicRotation = targetHolonomicRotations[0].getTarget();
+				holonomicRotation = targetHolonomicRotations[0];
 				targetHolonomicRotations.erase(
 						targetHolonomicRotations.begin());
 			}
@@ -36,6 +36,17 @@ PathSegment::PathSegment(frc::Translation2d p1, frc::Translation2d p2,
 							holonomicRotation, std::nullopt));
 		}
 	}
+
+	if (endSegment) {
+		std::optional < RotationTarget > holonomicRotation = std::nullopt;
+		if (!targetHolonomicRotations.empty()) {
+			holonomicRotation = targetHolonomicRotations[0];
+		}
+
+		m_segmentPoints.push_back(
+				PathPoint(GeometryUtil::cubicLerp(p1, p2, p3, p4, 1.0),
+						holonomicRotation, std::nullopt));
+	}
 }
 
 std::optional<ConstraintsZone> PathSegment::findConstraintsZone(
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/RotationTarget.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/RotationTarget.cpp
index 57299301..f31dcf8f 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/RotationTarget.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/RotationTarget.cpp
@@ -6,6 +6,11 @@ using namespace pathplanner;
 RotationTarget RotationTarget::fromJson(const wpi::json &json) {
 	double pos = json.at("waypointRelativePos").get<double>();
 	auto targetDeg = units::degree_t(json.at("rotationDegrees").get<double>());
+	bool rotateFast = false;
 
-	return RotationTarget(pos, frc::Rotation2d(targetDeg));
+	if (json.contains("rotateFast")) {
+		rotateFast = json.at("rotateFast").get<bool>();
+	}
+
+	return RotationTarget(pos, frc::Rotation2d(targetDeg), rotateFast);
 }
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp
index f3e8c353..c09c4ddc 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp
@@ -297,8 +297,7 @@ std::vector<PathPoint> LocalADStar::extractPath(const GridPosition &sStart,
 		const frc::Translation2d &realGoalPos,
 		const std::unordered_set<GridPosition> &obstacles) {
 	if (sGoal == sStart) {
-		return std::vector<PathPoint> { PathPoint(realGoalPos, std::nullopt,
-				std::nullopt) };
+		return std::vector<PathPoint>();
 	}
 
 	std::vector < GridPosition > path;
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h
index 2687bb60..7ea16808 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h
@@ -63,7 +63,8 @@ class FollowPathCommand: public frc2::CommandHelper<frc2::Command,
 	inline void replanPath(const frc::Pose2d &currentPose,
 			const frc::ChassisSpeeds &currentSpeeds) {
 		auto replanned = m_path->replan(currentPose, currentSpeeds);
-		m_generatedTrajectory = PathPlannerTrajectory(replanned, currentSpeeds);
+		m_generatedTrajectory = PathPlannerTrajectory(replanned, currentSpeeds,
+				currentPose.Rotation());
 		PathPlannerLogging::logActivePath(replanned);
 		PPLibTelemetry::setCurrentPath(replanned);
 	}
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindingCommand.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindingCommand.h
index 18eb02a8..78064c55 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindingCommand.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindingCommand.h
@@ -100,7 +100,8 @@ class PathfindingCommand: public frc2::CommandHelper<frc2::Command,
 	inline void replanPath(const frc::Pose2d &currentPose,
 			const frc::ChassisSpeeds &currentSpeeds) {
 		auto replanned = m_currentPath->replan(currentPose, currentSpeeds);
-		m_currentTrajectory = PathPlannerTrajectory(replanned, currentSpeeds);
+		m_currentTrajectory = PathPlannerTrajectory(replanned, currentSpeeds,
+				currentPose.Rotation());
 		PathPlannerLogging::logActivePath(replanned);
 		PPLibTelemetry::setCurrentPath(replanned);
 	}
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/GoalEndState.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/GoalEndState.h
index 33764622..d53d9991 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/GoalEndState.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/GoalEndState.h
@@ -13,10 +13,11 @@ class GoalEndState {
 	 *
 	 * @param velocity The goal end velocity (M/S)
 	 * @param rotation The goal rotation
+	 * @param rotateFast Should the robot reach the rotation as fast as possible
 	 */
 	constexpr GoalEndState(units::meters_per_second_t velocity,
-			frc::Rotation2d rotation) : m_velocity(velocity), m_rotation(
-			rotation) {
+			frc::Rotation2d rotation, bool rotateFast) : m_velocity(velocity), m_rotation(
+			rotation), m_rotateFast(rotateFast) {
 	}
 
 	/**
@@ -45,13 +46,24 @@ class GoalEndState {
 		return m_rotation;
 	}
 
+	/**
+	 * Get if the robot should reach the rotation as fast as possible
+	 *
+	 * @return True if the robot should reach the rotation as fast as possible
+	 */
+	constexpr bool shouldRotateFast() const {
+		return m_rotateFast;
+	}
+
 	inline bool operator==(const GoalEndState &other) const {
 		return std::abs(m_velocity() - other.m_velocity()) < 1E-9
-				&& m_rotation == other.m_rotation;
+				&& m_rotation == other.m_rotation
+				&& m_rotateFast == other.m_rotateFast;
 	}
 
 private:
 	units::meters_per_second_t m_velocity;
 	frc::Rotation2d m_rotation;
+	bool m_rotateFast;
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerTrajectory.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerTrajectory.h
index 3f1e8edb..5645ca5b 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerTrajectory.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerTrajectory.h
@@ -128,10 +128,12 @@ class PathPlannerTrajectory {
 	 *
 	 * @param path PathPlannerPath to generate the trajectory for
 	 * @param startingSpeeds Starting speeds of the robot when starting the trajectory
+	 * @param startingRotation Starting rotation of the robot when starting the trajectory
 	 */
 	PathPlannerTrajectory(std::shared_ptr<PathPlannerPath> path,
-			const frc::ChassisSpeeds &startingSpeeds) : m_states(
-			generateStates(path, startingSpeeds)) {
+			const frc::ChassisSpeeds &startingSpeeds,
+			const frc::Rotation2d &startingRotation) : m_states(
+			generateStates(path, startingSpeeds, startingRotation)) {
 	}
 
 	/**
@@ -216,6 +218,7 @@ class PathPlannerTrajectory {
 
 	static std::vector<State> generateStates(
 			std::shared_ptr<PathPlannerPath> path,
-			const frc::ChassisSpeeds &startingSpeeds);
+			const frc::ChassisSpeeds &startingSpeeds,
+			const frc::Rotation2d &startingRotation);
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPoint.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPoint.h
index 04eb89de..34808ed7 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPoint.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPoint.h
@@ -1,12 +1,12 @@
 #pragma once
 
 #include <frc/geometry/Translation2d.h>
-#include <frc/geometry/Rotation2d.h>
 #include <limits>
 #include <optional>
 #include <units/length.h>
 #include <units/velocity.h>
 #include "pathplanner/lib/path/PathConstraints.h"
+#include "pathplanner/lib/path/RotationTarget.h"
 
 namespace pathplanner {
 class PathPoint {
@@ -16,12 +16,12 @@ class PathPoint {
 	units::meter_t curveRadius = 0_m;
 	units::meters_per_second_t maxV = units::meters_per_second_t {
 			std::numeric_limits<double>::infinity() };
-	std::optional<frc::Rotation2d> holonomicRotation = std::nullopt;
+	std::optional<RotationTarget> rotationTarget = std::nullopt;
 	std::optional<PathConstraints> constraints = std::nullopt;
 
 	constexpr PathPoint(frc::Translation2d pos,
-			std::optional<frc::Rotation2d> rot,
-			std::optional<PathConstraints> pathCostriaints) : position(pos), holonomicRotation(
+			std::optional<RotationTarget> rot,
+			std::optional<PathConstraints> pathCostriaints) : position(pos), rotationTarget(
 			rot), constraints(pathCostriaints) {
 	}
 };
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/RotationTarget.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/RotationTarget.h
index c036f0fc..f8abffdf 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/RotationTarget.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/RotationTarget.h
@@ -11,10 +11,12 @@ class RotationTarget {
 	 *
 	 * @param waypointRelativePosition Waypoint relative position of this target
 	 * @param target Target rotation
+	 * @param rotateFast Should the robot reach the rotation as fast as possible
 	 */
 	constexpr RotationTarget(double waypointRelativePosition,
-			frc::Rotation2d target) : m_position(waypointRelativePosition), m_target(
-			target) {
+			frc::Rotation2d target, bool rotateFast) : m_position(
+			waypointRelativePosition), m_target(target), m_rotateFast(
+			rotateFast) {
 	}
 
 	/**
@@ -43,6 +45,15 @@ class RotationTarget {
 		return m_target;
 	}
 
+	/**
+	 * Get if the robot should reach the rotation as fast as possible
+	 *
+	 * @return True if the robot should reach the rotation as fast as possible
+	 */
+	constexpr bool shouldRotateFast() const {
+		return m_rotateFast;
+	}
+
 	/**
 	 * Transform the position of this target for a given segment number.
 	 *
@@ -52,16 +63,18 @@ class RotationTarget {
 	 * @return The transformed target
 	 */
 	constexpr RotationTarget forSegmentIndex(int segmentIndex) const {
-		return RotationTarget(m_position - segmentIndex, m_target);
+		return RotationTarget(m_position - segmentIndex, m_target, m_rotateFast);
 	}
 
 	inline bool operator==(const RotationTarget &other) const {
 		return std::abs(m_position - other.m_position) < 1E-9
-				&& m_target == other.m_target;
+				&& m_target == other.m_target
+				&& m_rotateFast == other.m_rotateFast;
 	}
 
 private:
 	double m_position;
 	frc::Rotation2d m_target;
+	bool m_rotateFast;
 };
 }
diff --git a/pathplannerlib/src/test/java/com/pathplanner/lib/path/PathPlannerPathTest.java b/pathplannerlib/src/test/java/com/pathplanner/lib/path/PathPlannerPathTest.java
index f8b28348..0bf4e9f3 100644
--- a/pathplannerlib/src/test/java/com/pathplanner/lib/path/PathPlannerPathTest.java
+++ b/pathplannerlib/src/test/java/com/pathplanner/lib/path/PathPlannerPathTest.java
@@ -26,7 +26,7 @@ public void testDifferentialStartingPose() {
             new ArrayList<>(),
             new ArrayList<>(),
             new PathConstraints(1, 2, 3, 4),
-            new GoalEndState(0, Rotation2d.fromDegrees(0)),
+            new GoalEndState(0, Rotation2d.fromDegrees(0), false),
             true,
             null);
 
@@ -50,7 +50,7 @@ public void testHolomonicStartingPoseSet() {
             new ArrayList<>(),
             new ArrayList<>(),
             new PathConstraints(1, 2, 3, 4),
-            new GoalEndState(0, Rotation2d.fromDegrees(0)),
+            new GoalEndState(0, Rotation2d.fromDegrees(0), false),
             true,
             Rotation2d.fromDegrees(90));
     Pose2d initialPose = path.getPreviewStartingHolonomicPose();
@@ -73,7 +73,7 @@ public void testHolomonicStartingPoseNotSet() {
             new ArrayList<>(),
             new ArrayList<>(),
             new PathConstraints(1, 2, 3, 4),
-            new GoalEndState(0, Rotation2d.fromDegrees(0)),
+            new GoalEndState(0, Rotation2d.fromDegrees(0), false),
             true,
             null);
     Pose2d initialPose = path.getPreviewStartingHolonomicPose();
diff --git a/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/GoalEndStateTest.cpp b/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/GoalEndStateTest.cpp
index a59094e6..f78a3a55 100644
--- a/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/GoalEndStateTest.cpp
+++ b/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/GoalEndStateTest.cpp
@@ -4,7 +4,7 @@
 using namespace pathplanner;
 
 TEST(GoalEndStateTest, TestGetters) {
-	GoalEndState endState(2_mps, frc::Rotation2d(35_deg));
+	GoalEndState endState(2_mps, frc::Rotation2d(35_deg), false);
 
 	EXPECT_DOUBLE_EQ(2.0, endState.getVelocity()());
 	EXPECT_EQ(frc::Rotation2d(35_deg), endState.getRotation());
@@ -14,6 +14,7 @@ TEST(GoalEndStateTest, TestFromJson) {
 	wpi::json json;
 	json.emplace("velocity", 1.25);
 	json.emplace("rotation", -15.5);
+	json.emplace("rotateFast", true);
 
-	EXPECT_EQ(GoalEndState(1.25_mps, frc::Rotation2d(-15.5_deg)), GoalEndState::fromJson(json));
+	EXPECT_EQ(GoalEndState(1.25_mps, frc::Rotation2d(-15.5_deg), true), GoalEndState::fromJson(json));
 }
\ No newline at end of file
diff --git a/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/PathPlannerPathTest.cpp b/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/PathPlannerPathTest.cpp
index d3950d33..bbc74184 100644
--- a/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/PathPlannerPathTest.cpp
+++ b/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/PathPlannerPathTest.cpp
@@ -10,7 +10,7 @@ TEST(PathPlannerPathTest, DifferentialStartingPose) {
 			std::vector<ConstraintsZone>(),
 			std::vector<EventMarker>(),
 			PathConstraints {1_mps, 2_mps_sq, 3_rad_per_s, 4_rad_per_s_sq},
-			GoalEndState(0_mps, 0_deg),
+			GoalEndState(0_mps, 0_deg, false),
 			true);
 
 	frc::Pose2d initialPose = path.getStartingDifferentialPose();
@@ -27,7 +27,7 @@ TEST(PathPlannerPathTest, HolomonicStartingPoseSet)
 			std::vector<ConstraintsZone>(),
 			std::vector<EventMarker>(),
 			PathConstraints {1_mps, 2_mps_sq, 3_rad_per_s, 4_rad_per_s_sq},
-			GoalEndState(0_mps, 0_deg),
+			GoalEndState(0_mps, 0_deg, false),
 			true,
 			frc::Rotation2d {90_deg});
 
@@ -45,7 +45,7 @@ TEST(PathPlannerPathTest, HolomonicStartingPoseNotSet)
 			std::vector<ConstraintsZone>(),
 			std::vector<EventMarker>(),
 			PathConstraints {1_mps, 2_mps_sq, 3_rad_per_s, 4_rad_per_s_sq},
-			GoalEndState(0_mps, 0_deg),
+			GoalEndState(0_mps, 0_deg, false),
 			true);
 
 	frc::Pose2d initialPose = path.getPreviewStartingHolonomicPose();
diff --git a/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/RotationTargetTest.cpp b/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/RotationTargetTest.cpp
index 829807fd..9e57c952 100644
--- a/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/RotationTargetTest.cpp
+++ b/pathplannerlib/src/test/native/cpp/pathplanner/lib/path/RotationTargetTest.cpp
@@ -4,14 +4,14 @@
 using namespace pathplanner;
 
 TEST(RotationTargetTest, TestGetters) {
-	RotationTarget target(1.5, frc::Rotation2d(90_deg));
+	RotationTarget target(1.5, frc::Rotation2d(90_deg), false);
 
 	EXPECT_DOUBLE_EQ(1.5, target.getPosition());
 	EXPECT_EQ(frc::Rotation2d(90_deg), target.getTarget());
 }
 
 TEST(RotationTargetTest, TestForSegmentIndex) {
-	RotationTarget target(1.5, frc::Rotation2d(90_deg));
+	RotationTarget target(1.5, frc::Rotation2d(90_deg), false);
 	RotationTarget forSegment = target.forSegmentIndex(1);
 
 	EXPECT_DOUBLE_EQ(0.5, forSegment.getPosition());
@@ -22,6 +22,7 @@ TEST(RotationTargetTest, TestFromJson) {
 	wpi::json json;
 	json.emplace("waypointRelativePos", 2.1);
 	json.emplace("rotationDegrees", -45);
+	json.emplace("rotateFast", true);
 
-	EXPECT_EQ(RotationTarget(2.1, frc::Rotation2d(-45_deg)), RotationTarget::fromJson(json));
+	EXPECT_EQ(RotationTarget(2.1, frc::Rotation2d(-45_deg), true), RotationTarget::fromJson(json));
 }
\ No newline at end of file
diff --git a/pubspec.lock b/pubspec.lock
index eb463df5..32a4b101 100644
--- a/pubspec.lock
+++ b/pubspec.lock
@@ -173,10 +173,10 @@ packages:
     dependency: "direct main"
     description:
       name: collection
-      sha256: f092b211a4319e98e5ff58223576de6c2803db36221657b46c82574721240687
+      sha256: ee67cb0715911d28db6bf4af1026078bd6f0128b07a5f66fb2ed94ec6783c09a
       url: "https://pub.dev"
     source: hosted
-    version: "1.17.2"
+    version: "1.18.0"
   console:
     dependency: transitive
     description:
@@ -604,10 +604,10 @@ packages:
     dependency: transitive
     description:
       name: meta
-      sha256: "3c74dbf8763d36539f114c799d8a2d87343b5067e9d796ca22b5eb8437090ee3"
+      sha256: a6e590c838b18133bb482a2745ad77c5bb7715fb0451209e1a7567d416678b8e
       url: "https://pub.dev"
     source: hosted
-    version: "1.9.1"
+    version: "1.10.0"
   mime:
     dependency: transitive
     description:
@@ -905,18 +905,18 @@ packages:
     dependency: transitive
     description:
       name: stack_trace
-      sha256: c3c7d8edb15bee7f0f74debd4b9c5f3c2ea86766fe4178eb2a18eb30a0bdaed5
+      sha256: "73713990125a6d93122541237550ee3352a2d84baad52d375a4cad2eb9b7ce0b"
       url: "https://pub.dev"
     source: hosted
-    version: "1.11.0"
+    version: "1.11.1"
   stream_channel:
     dependency: transitive
     description:
       name: stream_channel
-      sha256: "83615bee9045c1d322bbbd1ba209b7a749c2cbcdcb3fdd1df8eb488b3279c1c8"
+      sha256: ba2aa5d8cc609d96bbb2899c28934f9e1af5cddbd60a827822ea467161eb54e7
       url: "https://pub.dev"
     source: hosted
-    version: "2.1.1"
+    version: "2.1.2"
   stream_transform:
     dependency: transitive
     description:
@@ -945,10 +945,10 @@ packages:
     dependency: transitive
     description:
       name: test_api
-      sha256: "75760ffd7786fffdfb9597c35c5b27eaeec82be8edfb6d71d32651128ed7aab8"
+      sha256: "5c2f730018264d276c20e4f1503fd1308dfbbae39ec8ee63c5236311ac06954b"
       url: "https://pub.dev"
     source: hosted
-    version: "0.6.0"
+    version: "0.6.1"
   timing:
     dependency: transitive
     description:
@@ -1089,10 +1089,10 @@ packages:
     dependency: transitive
     description:
       name: web
-      sha256: dc8ccd225a2005c1be616fe02951e2e342092edf968cf0844220383757ef8f10
+      sha256: afe077240a270dcfd2aafe77602b4113645af95d0ad31128cc02bce5ac5d5152
       url: "https://pub.dev"
     source: hosted
-    version: "0.1.4-beta"
+    version: "0.3.0"
   web_socket_channel:
     dependency: transitive
     description:
@@ -1142,5 +1142,5 @@ packages:
     source: hosted
     version: "3.1.2"
 sdks:
-  dart: ">=3.1.0 <4.0.0"
+  dart: ">=3.2.0-194.0.dev <4.0.0"
   flutter: ">=3.13.0"
diff --git a/resources/default_navgrid.json b/resources/default_navgrid.json
index 93cd467d..1da30af4 100644
--- a/resources/default_navgrid.json
+++ b/resources/default_navgrid.json
@@ -1 +1 @@
-{"field_size":{"x":16.54,"y":8.02},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
+{"field_size":{"x":16.54,"y":8.02},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/test/path/goal_end_state_test.dart b/test/path/goal_end_state_test.dart
index 28153ee0..22d5a8e1 100644
--- a/test/path/goal_end_state_test.dart
+++ b/test/path/goal_end_state_test.dart
@@ -6,16 +6,19 @@ void main() {
     GoalEndState g = GoalEndState(
       velocity: 1.0,
       rotation: 2.0,
+      rotateFast: true,
     );
 
     expect(g.velocity, 1.0);
     expect(g.rotation, 2.0);
+    expect(g.rotateFast, true);
   });
 
   test('toJson/fromJson interoperability', () {
     GoalEndState g = GoalEndState(
       velocity: 1.0,
       rotation: 2.0,
+      rotateFast: true,
     );
 
     Map<String, dynamic> json = g.toJson();
diff --git a/test/path/rotation_target_test.dart b/test/path/rotation_target_test.dart
index ddf3730f..ff6498c0 100644
--- a/test/path/rotation_target_test.dart
+++ b/test/path/rotation_target_test.dart
@@ -3,11 +3,12 @@ import 'package:pathplanner/path/rotation_target.dart';
 
 void main() {
   test('Constructor functions', () {
-    RotationTarget t =
-        RotationTarget(waypointRelativePos: 1.0, rotationDegrees: 5.0);
+    RotationTarget t = RotationTarget(
+        waypointRelativePos: 1.0, rotationDegrees: 5.0, rotateFast: true);
 
     expect(t.waypointRelativePos, 1.0);
     expect(t.rotationDegrees, 5.0);
+    expect(t.rotateFast, true);
   });
 
   test('toJson/fromJson interoperability', () {
diff --git a/test/services/simulator/trajectory_generator_test.dart b/test/services/simulator/trajectory_generator_test.dart
index 50b2fe4a..7d09b8be 100644
--- a/test/services/simulator/trajectory_generator_test.dart
+++ b/test/services/simulator/trajectory_generator_test.dart
@@ -29,7 +29,11 @@ void main() {
       goalEndState: GoalEndState(),
       constraintZones: [],
       rotationTargets: [
-        RotationTarget(waypointRelativePos: 0.5, rotationDegrees: 45),
+        RotationTarget(
+          waypointRelativePos: 0.5,
+          rotationDegrees: 45,
+          rotateFast: true,
+        ),
       ],
       eventMarkers: [],
       pathDir: '',
diff --git a/test/widgets/editor/tree_widgets/goal_end_state_tree_test.dart b/test/widgets/editor/tree_widgets/goal_end_state_tree_test.dart
index 3a1ef42e..2b3d94c0 100644
--- a/test/widgets/editor/tree_widgets/goal_end_state_tree_test.dart
+++ b/test/widgets/editor/tree_widgets/goal_end_state_tree_test.dart
@@ -19,7 +19,11 @@ void main() {
       fs: MemoryFileSystem(),
     );
     path.goalEndStateExpanded = true;
-    path.goalEndState = GoalEndState(velocity: 1.0, rotation: 1.0);
+    path.goalEndState = GoalEndState(
+      velocity: 1.0,
+      rotation: 1.0,
+      rotateFast: false,
+    );
     pathChanged = false;
   });
 
@@ -105,4 +109,31 @@ void main() {
     await widgetTester.pump();
     expect(path.goalEndState.rotation, 1.0);
   });
+
+  testWidgets('rotate fast', (widgetTester) async {
+    await widgetTester.pumpWidget(MaterialApp(
+      home: Scaffold(
+        body: GoalEndStateTree(
+          path: path,
+          onPathChanged: () => pathChanged = true,
+          undoStack: undoStack,
+          holonomicMode: true,
+        ),
+      ),
+    ));
+
+    final checkbox = find.byType(Checkbox);
+
+    expect(checkbox, findsOneWidget);
+
+    await widgetTester.tap(checkbox);
+    await widgetTester.pump();
+
+    expect(pathChanged, true);
+    expect(path.goalEndState.rotateFast, true);
+
+    undoStack.undo();
+    await widgetTester.pump();
+    expect(path.goalEndState.rotateFast, false);
+  });
 }
diff --git a/test/widgets/editor/tree_widgets/rotation_targets_tree_test.dart b/test/widgets/editor/tree_widgets/rotation_targets_tree_test.dart
index dffe45cd..f328f219 100644
--- a/test/widgets/editor/tree_widgets/rotation_targets_tree_test.dart
+++ b/test/widgets/editor/tree_widgets/rotation_targets_tree_test.dart
@@ -23,8 +23,16 @@ void main() {
       fs: MemoryFileSystem(),
     );
     path.rotationTargets = [
-      RotationTarget(waypointRelativePos: 0.5, rotationDegrees: 0.0),
-      RotationTarget(waypointRelativePos: 1.5, rotationDegrees: 0.0),
+      RotationTarget(
+        waypointRelativePos: 0.5,
+        rotationDegrees: 0.0,
+        rotateFast: false,
+      ),
+      RotationTarget(
+        waypointRelativePos: 1.5,
+        rotationDegrees: 0.0,
+        rotateFast: false,
+      ),
     ];
     path.rotationTargetsExpanded = true;
     pathChanged = false;
@@ -281,4 +289,34 @@ void main() {
     await widgetTester.pump();
     expect(path.rotationTargets.length, 2);
   });
+
+  testWidgets('rotate fast', (widgetTester) async {
+    await widgetTester.pumpWidget(MaterialApp(
+      home: Scaffold(
+        body: RotationTargetsTree(
+          path: path,
+          onPathChanged: () => pathChanged = true,
+          onTargetHovered: (value) => hoveredTarget = value,
+          onTargetSelected: (value) => selectedTarget = value,
+          undoStack: undoStack,
+          initiallySelectedTarget: 0,
+        ),
+      ),
+    ));
+
+    var checkbox = find.byType(Checkbox);
+
+    expect(checkbox, findsOneWidget);
+
+    await widgetTester.tap(checkbox);
+    await widgetTester.pump();
+
+    expect(pathChanged, true);
+    expect(path.rotationTargets[0].rotateFast, true);
+
+    undoStack.undo();
+    await widgetTester.pump();
+
+    expect(path.rotationTargets[0].rotateFast, false);
+  });
 }
diff --git a/windows/flutter/CMakeLists.txt b/windows/flutter/CMakeLists.txt
index b02c5485..86edc67b 100644
--- a/windows/flutter/CMakeLists.txt
+++ b/windows/flutter/CMakeLists.txt
@@ -9,6 +9,11 @@ include(${EPHEMERAL_DIR}/generated_config.cmake)
 # https://github.com/flutter/flutter/issues/57146.
 set(WRAPPER_ROOT "${EPHEMERAL_DIR}/cpp_client_wrapper")
 
+# Set fallback configurations for older versions of the flutter tool.
+if (NOT DEFINED FLUTTER_TARGET_PLATFORM)
+  set(FLUTTER_TARGET_PLATFORM "windows-x64")
+endif()
+
 # === Flutter Library ===
 set(FLUTTER_LIBRARY "${EPHEMERAL_DIR}/flutter_windows.dll")
 
@@ -91,7 +96,7 @@ add_custom_command(
   COMMAND ${CMAKE_COMMAND} -E env
     ${FLUTTER_TOOL_ENVIRONMENT}
     "${FLUTTER_ROOT}/packages/flutter_tools/bin/tool_backend.bat"
-      windows-x64 $<CONFIG>
+      ${FLUTTER_TARGET_PLATFORM} $<CONFIG>
   VERBATIM
 )
 add_custom_target(flutter_assemble DEPENDS