diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 4d0d0b9..6747739 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -70,19 +70,6 @@ public class RobotContainer {
     private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
 
-    /* Autos */
-    public SendableChooser<Command> chooser = new SendableChooser<>();
-
-    // private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
-    
-    // private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt");
-    // private Command blue1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt").andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
-    
-    // private Command red1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1);
-    // private Command red1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1).andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
-
-    // private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
-
     private PlaybackChooser playbackChooser;
 
     /* Commands */
@@ -136,7 +123,7 @@ public class RobotContainer {
         new SequentialCommandGroup(
             new PivotCommand(m_robotArm, 60 + 135),
             new WaitCommand(0.3),
-            new TeleCommand(m_robotArm, 90000)
+            new TeleCommand(m_robotArm, 95000)
             // toggleClaw.asProxy(),
             // armToHome.asProxy()
         );
@@ -150,7 +137,7 @@ public class RobotContainer {
     );
 
     private SequentialCommandGroup placeCubeLow = new SequentialCommandGroup(
-        new TimedCommand(() -> new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.2), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 0.7),
+        new TimedCommand(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.2), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 0.7),
         new PivotCommand(m_robotArm, 70 + 135),
         new WaitCommand(0.3),
         new TeleCommand(m_robotArm, 28000)
@@ -182,6 +169,36 @@ public class RobotContainer {
         armToHome.asProxy()
     );
 
+    /* Autos */
+    public SendableChooser<Command> chooser = new SendableChooser<>();
+
+    // private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
+    
+    // private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt");
+    // private Command blue1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt").andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
+    
+    // private Command red1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1);
+    // private Command red1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1).andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
+
+    // private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
+
+    private Command wait3 = new WaitCommand(3);
+    private Command wait5 = new WaitCommand(5);
+
+    private SequentialCommandGroup taxiFar = new SequentialCommandGroup(
+        new TimedCommand(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.6), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 4.75)
+    );
+
+    private SequentialCommandGroup placeRed1Balance = new SequentialCommandGroup(
+        placeConeMid.asProxy(),
+        new WaitCommand(0.3),
+        toggleClaw.asProxy(),
+        new WaitCommand(0.3),
+        armToHome.asProxy(),
+        new JoystickPlayback(m_robotSwerveDrive, "idk", 1),
+        new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)
+    );
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -220,6 +237,11 @@ public class RobotContainer {
         // chooser.addOption("Red1PathWithBalance", red1PathWithBalance);
 
         playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
+            .addOption("PlaceRed1Balance", placeRed1Balance)
+            .addOption("Wait3", wait3.asProxy())
+            .addOption("Wait5", wait5.asProxy())
+            .addOption("TaxiFar", taxiFar.asProxy())
+            // .addOption("Red1Balance", new JoystickPlayback(m_robotSwerveDrive, "idk", 1))
             .addOption("Balance", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive))
             .buildDisplay();
     }
@@ -278,18 +300,18 @@ public class RobotContainer {
         new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
             .onTrue(interruptCommand.asProxy()); // final
 
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_TRIGGER_AXIS)
-        //     .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
-        //                                     () -> getDeadbandedDriverController().getLeftX(),
-        //                                     () -> getDeadbandedDriverController().getLeftY(),
-        //                                     () -> getDeadbandedDriverController().getRightX(),
-        //                                     () -> getDeadbandedDriverController().getRightY(),
-        //                                     "Red1Balance.txt"))
-        //     .onFalse(new InstantCommand());
+        new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_TRIGGER_AXIS)
+            .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
+                                            () -> getDeadbandedDriverController().getLeftX(),
+                                            () -> getDeadbandedDriverController().getLeftY(),
+                                            () -> getDeadbandedDriverController().getRightX(),
+                                            () -> getDeadbandedDriverController().getRightY(),
+                                            "Red1Balance.txt"))
+            .onFalse(new InstantCommand());
 
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
-        //     .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Red1Balance.txt"))
-        //     .onFalse(new InstantCommand()); 
+        new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Red1Balance.txt"))
+            .onFalse(new InstantCommand()); 
 
         // * Operator Buttons
         
diff --git a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
index 95489e7..afaa702 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
@@ -25,6 +25,553 @@ public class JoystickPlayback extends CommandBase {
   private       int                    lastIndex;
   private       boolean                m_finished   = false; // ! find a better way
 
+
+  private String path = 
+ "0.000000,0.000000,0.000000,0.000000,0\n"
++"-0.022108,-0.999756,0.000000,0.000000,16\n"
++"-0.022043,-0.999757,0.000000,0.000000,32\n"
++"-0.021977,-0.999758,0.000000,0.000000,48\n"
++"-0.021911,-0.999760,0.000000,0.000000,64\n"
++"-0.021845,-0.999761,0.000000,0.000000,80\n"
++"-0.021778,-0.999763,0.000000,0.000000,96\n"
++"-0.021711,-0.999764,0.000000,0.000000,112\n"
++"-0.021644,-0.999766,0.000000,0.000000,128\n"
++"-0.021577,-0.999767,0.000000,0.000000,144\n"
++"-0.021509,-0.999769,0.000000,0.000000,160\n"
++"-0.021441,-0.999770,0.000000,0.000000,176\n"
++"-0.021373,-0.999772,0.000000,0.000000,192\n"
++"-0.021304,-0.999773,0.000000,0.000000,208\n"
++"-0.021235,-0.999775,0.000000,0.000000,224\n"
++"-0.021166,-0.999776,0.000000,0.000000,239\n"
++"-0.021097,-0.999777,0.000000,0.000000,254\n"
++"-0.021027,-0.999779,0.000000,0.000000,269\n"
++"-0.020957,-0.999780,0.000000,0.000000,284\n"
++"-0.020886,-0.999782,0.000000,0.000000,299\n"
++"-0.020816,-0.999783,0.000000,0.000000,314\n"
++"-0.020745,-0.999785,0.000000,0.000000,329\n"
++"-0.020674,-0.999786,0.000000,0.000000,344\n"
++"-0.020602,-0.999788,0.000000,0.000000,359\n"
++"-0.020530,-0.999789,0.000000,0.000000,374\n"
++"-0.020458,-0.999791,0.000000,0.000000,389\n"
++"-0.020386,-0.999792,0.000000,0.000000,404\n"
++"-0.020313,-0.999794,0.000000,0.000000,419\n"
++"-0.020240,-0.999795,0.000000,0.000000,434\n"
++"-0.020166,-0.999797,0.000000,0.000000,449\n"
++"-0.020093,-0.999798,0.000000,0.000000,464\n"
++"-0.020018,-0.999800,0.000000,0.000000,479\n"
++"-0.019944,-0.999801,0.000000,0.000000,494\n"
++"-0.019869,-0.999803,0.000000,0.000000,509\n"
++"-0.019794,-0.999804,0.000000,0.000000,524\n"
++"-0.019719,-0.999806,0.000000,0.000000,539\n"
++"-0.019643,-0.999807,0.000000,0.000000,554\n"
++"-0.019567,-0.999809,0.000000,0.000000,569\n"
++"-0.019491,-0.999810,0.000000,0.000000,584\n"
++"-0.019414,-0.999812,0.000000,0.000000,599\n"
++"-0.019337,-0.999813,0.000000,0.000000,614\n"
++"-0.019259,-0.999815,0.000000,0.000000,629\n"
++"-0.019182,-0.999816,0.000000,0.000000,644\n"
++"-0.019104,-0.999818,0.000000,0.000000,659\n"
++"-0.019025,-0.999819,0.000000,0.000000,673\n"
++"-0.018946,-0.999821,0.000000,0.000000,687\n"
++"-0.018867,-0.999822,0.000000,0.000000,701\n"
++"-0.018787,-0.999823,0.000000,0.000000,715\n"
++"-0.018708,-0.999825,0.000000,0.000000,729\n"
++"-0.018627,-0.999826,0.000000,0.000000,743\n"
++"-0.018547,-0.999828,0.000000,0.000000,757\n"
++"-0.018466,-0.999829,0.000000,0.000000,771\n"
++"-0.018384,-0.999831,0.000000,0.000000,785\n"
++"-0.018302,-0.999832,0.000000,0.000000,799\n"
++"-0.018220,-0.999834,0.000000,0.000000,813\n"
++"-0.018138,-0.999835,0.000000,0.000000,827\n"
++"-0.018055,-0.999837,0.000000,0.000000,841\n"
++"-0.017972,-0.999838,0.000000,0.000000,855\n"
++"-0.017888,-0.999840,0.000000,0.000000,869\n"
++"-0.017804,-0.999841,0.000000,0.000000,883\n"
++"-0.017719,-0.999843,0.000000,0.000000,897\n"
++"-0.017635,-0.999844,0.000000,0.000000,911\n"
++"-0.017549,-0.999846,0.000000,0.000000,925\n"
++"-0.017464,-0.999847,0.000000,0.000000,939\n"
++"-0.017378,-0.999849,0.000000,0.000000,953\n"
++"-0.017291,-0.999850,0.000000,0.000000,967\n"
++"-0.017204,-0.999852,0.000000,0.000000,981\n"
++"-0.017117,-0.999853,0.000000,0.000000,995\n"
++"-0.017029,-0.999855,0.000000,0.000000,1009\n"
++"-0.016941,-0.999856,0.000000,0.000000,1023\n"
++"-0.016853,-0.999858,0.000000,0.000000,1037\n"
++"-0.016764,-0.999859,0.000000,0.000000,1051\n"
++"-0.016674,-0.999861,0.000000,0.000000,1065\n"
++"-0.016584,-0.999862,0.000000,0.000000,1079\n"
++"-0.016494,-0.999864,0.000000,0.000000,1092\n"
++"-0.016403,-0.999865,0.000000,0.000000,1105\n"
++"-0.016312,-0.999867,0.000000,0.000000,1118\n"
++"-0.016221,-0.999868,0.000000,0.000000,1131\n"
++"-0.016129,-0.999870,0.000000,0.000000,1144\n"
++"-0.016036,-0.999871,0.000000,0.000000,1157\n"
++"-0.015943,-0.999873,0.000000,0.000000,1170\n"
++"-0.015850,-0.999874,0.000000,0.000000,1183\n"
++"-0.015756,-0.999876,0.000000,0.000000,1196\n"
++"-0.015661,-0.999877,0.000000,0.000000,1209\n"
++"-0.015567,-0.999879,0.000000,0.000000,1222\n"
++"-0.015471,-0.999880,0.000000,0.000000,1235\n"
++"-0.015376,-0.999882,0.000000,0.000000,1248\n"
++"-0.015279,-0.999883,0.000000,0.000000,1261\n"
++"-0.015183,-0.999885,0.000000,0.000000,1274\n"
++"-0.015086,-0.999886,0.000000,0.000000,1287\n"
++"-0.014988,-0.999888,0.000000,0.000000,1300\n"
++"-0.014890,-0.999889,0.000000,0.000000,1313\n"
++"-0.014791,-0.999891,0.000000,0.000000,1326\n"
++"-0.014692,-0.999892,0.000000,0.000000,1339\n"
++"-0.014592,-0.999894,0.000000,0.000000,1352\n"
++"-0.014492,-0.999895,0.000000,0.000000,1365\n"
++"-0.014391,-0.999896,0.000000,0.000000,1378\n"
++"-0.014290,-0.999898,0.000000,0.000000,1391\n"
++"-0.014188,-0.999899,0.000000,0.000000,1404\n"
++"-0.014086,-0.999901,0.000000,0.000000,1417\n"
++"-0.013983,-0.999902,0.000000,0.000000,1430\n"
++"-0.013880,-0.999904,0.000000,0.000000,1443\n"
++"-0.013776,-0.999905,0.000000,0.000000,1456\n"
++"-0.013672,-0.999907,0.000000,0.000000,1468\n"
++"-0.013567,-0.999908,0.000000,0.000000,1480\n"
++"-0.013461,-0.999909,0.000000,0.000000,1492\n"
++"-0.013355,-0.999911,0.000000,0.000000,1504\n"
++"-0.013249,-0.999912,0.000000,0.000000,1516\n"
++"-0.013142,-0.999914,0.000000,0.000000,1528\n"
++"-0.013034,-0.999915,0.000000,0.000000,1540\n"
++"-0.012926,-0.999916,0.000000,0.000000,1552\n"
++"-0.012817,-0.999918,0.000000,0.000000,1564\n"
++"-0.012707,-0.999919,0.000000,0.000000,1576\n"
++"-0.012597,-0.999921,0.000000,0.000000,1588\n"
++"-0.012487,-0.999922,0.000000,0.000000,1600\n"
++"-0.012375,-0.999923,0.000000,0.000000,1612\n"
++"-0.012264,-0.999925,0.000000,0.000000,1624\n"
++"-0.012151,-0.999926,0.000000,0.000000,1636\n"
++"-0.012019,-0.999928,0.000000,0.000000,1652\n"
++"-0.011867,-0.999930,0.000000,0.000000,1668\n"
++"-0.011715,-0.999931,0.000000,0.000000,1684\n"
++"-0.011560,-0.999933,0.000000,0.000000,1700\n"
++"-0.011405,-0.999935,0.000000,0.000000,1716\n"
++"-0.011249,-0.999937,0.000000,0.000000,1732\n"
++"-0.011092,-0.999938,0.000000,0.000000,1748\n"
++"-0.010933,-0.999940,0.000000,0.000000,1764\n"
++"-0.010773,-0.999942,0.000000,0.000000,1780\n"
++"-0.010612,-0.999944,0.000000,0.000000,1796\n"
++"-0.010450,-0.999945,0.000000,0.000000,1812\n"
++"-0.010287,-0.999947,0.000000,0.000000,1827\n"
++"-0.010122,-0.999949,0.000000,0.000000,1842\n"
++"-0.009956,-0.999950,0.000000,0.000000,1857\n"
++"-0.009789,-0.999952,0.000000,0.000000,1872\n"
++"-0.009621,-0.999954,0.000000,0.000000,1887\n"
++"-0.009451,-0.999955,0.000000,0.000000,1902\n"
++"-0.009280,-0.999957,0.000000,0.000000,1917\n"
++"-0.009107,-0.999959,0.000000,0.000000,1932\n"
++"-0.008934,-0.999960,0.000000,0.000000,1947\n"
++"-0.008759,-0.999962,0.000000,0.000000,1962\n"
++"-0.008582,-0.999963,0.000000,0.000000,1977\n"
++"-0.008405,-0.999965,0.000000,0.000000,1992\n"
++"-0.008225,-0.999966,0.000000,0.000000,2007\n"
++"-0.008045,-0.999968,0.000000,0.000000,2022\n"
++"-0.007863,-0.999969,0.000000,0.000000,2037\n"
++"-0.007679,-0.999971,0.000000,0.000000,2052\n"
++"-0.007494,-0.999972,0.000000,0.000000,2067\n"
++"-0.007308,-0.999973,0.000000,0.000000,2081\n"
++"-0.007120,-0.999975,0.000000,0.000000,2095\n"
++"-0.006931,-0.999976,0.000000,0.000000,2109\n"
++"-0.006740,-0.999977,0.000000,0.000000,2123\n"
++"-0.006547,-0.999979,0.000000,0.000000,2137\n"
++"-0.006353,-0.999980,0.000000,0.000000,2151\n"
++"-0.006157,-0.999981,0.000000,0.000000,2165\n"
++"-0.005960,-0.999982,0.000000,0.000000,2179\n"
++"-0.005761,-0.999983,0.000000,0.000000,2193\n"
++"-0.005560,-0.999985,0.000000,0.000000,2207\n"
++"-0.005358,-0.999986,0.000000,0.000000,2221\n"
++"-0.005154,-0.999987,0.000000,0.000000,2235\n"
++"-0.004948,-0.999988,0.000000,0.000000,2249\n"
++"-0.004741,-0.999989,0.000000,0.000000,2263\n"
++"-0.004531,-0.999990,0.000000,0.000000,2277\n"
++"-0.004320,-0.999991,0.000000,0.000000,2291\n"
++"-0.004107,-0.999992,0.000000,0.000000,2305\n"
++"-0.003893,-0.999992,0.000000,0.000000,2318\n"
++"-0.003676,-0.999993,0.000000,0.000000,2331\n"
++"-0.003458,-0.999994,0.000000,0.000000,2344\n"
++"-0.003237,-0.999995,0.000000,0.000000,2357\n"
++"-0.003015,-0.999995,0.000000,0.000000,2370\n"
++"-0.002791,-0.999996,0.000000,0.000000,2383\n"
++"-0.002565,-0.999997,0.000000,0.000000,2396\n"
++"-0.002336,-0.999997,0.000000,0.000000,2409\n"
++"-0.002106,-0.999998,0.000000,0.000000,2422\n"
++"-0.001874,-0.999998,0.000000,0.000000,2435\n"
++"-0.001639,-0.999999,0.000000,0.000000,2448\n"
++"-0.001403,-0.999999,0.000000,0.000000,2461\n"
++"-0.001164,-0.999999,0.000000,0.000000,2474\n"
++"-0.000923,-1.000000,0.000000,0.000000,2487\n"
++"-0.000680,-1.000000,0.000000,0.000000,2500\n"
++"-0.000435,-1.000000,0.000000,0.000000,2513\n"
++"-0.000187,-1.000000,0.000000,0.000000,2525\n"
++"0.000062,-1.000000,0.000000,0.000000,2537\n"
++"0.000315,-1.000000,0.000000,0.000000,2549\n"
++"0.000569,-1.000000,0.000000,0.000000,2561\n"
++"0.000826,-1.000000,0.000000,0.000000,2573\n"
++"0.001086,-0.999999,0.000000,0.000000,2585\n"
++"0.001347,-0.999999,0.000000,0.000000,2597\n"
++"0.001612,-0.999999,0.000000,0.000000,2609\n"
++"0.001879,-0.999998,0.000000,0.000000,2621\n"
++"0.002182,-0.999998,0.000000,0.000000,2636\n"
++"0.002523,-0.999997,0.000000,0.000000,2651\n"
++"0.002868,-0.999996,0.000000,0.000000,2666\n"
++"0.003218,-0.999995,0.000000,0.000000,2681\n"
++"0.003571,-0.999994,0.000000,0.000000,2696\n"
++"0.003929,-0.999992,0.000000,0.000000,2711\n"
++"0.004292,-0.999991,0.000000,0.000000,2725\n"
++"0.004659,-0.999989,0.000000,0.000000,2739\n"
++"0.005031,-0.999987,0.000000,0.000000,2753\n"
++"0.005408,-0.999985,0.000000,0.000000,2767\n"
++"0.005789,-0.999983,0.000000,0.000000,2781\n"
++"0.006175,-0.999981,0.000000,0.000000,2795\n"
++"0.006567,-0.999978,0.000000,0.000000,2809\n"
++"0.006963,-0.999976,0.000000,0.000000,2823\n"
++"0.007365,-0.999973,0.000000,0.000000,2837\n"
++"0.007772,-0.999970,0.000000,0.000000,2851\n"
++"0.008185,-0.999967,0.000000,0.000000,2865\n"
++"0.008603,-0.999963,0.000000,0.000000,2878\n"
++"0.009026,-0.999959,0.000000,0.000000,2891\n"
++"0.009456,-0.999955,0.000000,0.000000,2904\n"
++"0.009891,-0.999951,0.000000,0.000000,2917\n"
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++"-0.009276,0.999957,0.000000,0.000000,6659\n"
++"-0.011337,0.999936,0.000000,0.000000,6672\n"
++"-0.013379,0.999911,0.000000,0.000000,6685\n"
++"-0.015400,0.999881,0.000000,0.000000,6698\n"
++"-0.017403,0.999849,0.000000,0.000000,6711\n"
++"-0.019386,0.999812,0.000000,0.000000,6724\n"
++"-0.021351,0.999772,0.000000,0.000000,6737\n"
++"-0.023298,0.999729,0.000000,0.000000,6750\n"
++"-0.025226,0.999682,0.000000,0.000000,6763\n"
++"-0.027136,0.999632,0.000000,0.000000,6777\n"
++"-0.029028,0.999579,0.000000,0.000000,6791\n"
++"-0.030903,0.999522,0.000000,0.000000,6805\n"
++"-0.032760,0.999463,0.000000,0.000000,6819\n"
++"-0.034600,0.999401,0.000000,0.000000,6833\n"
++"-0.036424,0.999336,0.000000,0.000000,6847\n"
++"-0.038230,0.999269,0.000000,0.000000,6861\n"
++"-0.040020,0.999199,0.000000,0.000000,6875\n"
++"-0.041794,0.999126,0.000000,0.000000,6889\n"
++"-0.043552,0.999051,0.000000,0.000000,6903\n"
++"-0.045294,0.998974,0.000000,0.000000,6917\n"
++"-0.047021,0.998894,0.000000,0.000000,6931\n"
++"-0.048731,0.998812,0.000000,0.000000,6945\n"
++"-0.050427,0.998728,0.000000,0.000000,6959\n"
++"-0.052107,0.998641,0.000000,0.000000,6973\n"
++"-0.053773,0.998553,0.000000,0.000000,6988\n"
++"-0.055424,0.998463,0.000000,0.000000,7003\n"
++"-0.057060,0.998371,0.000000,0.000000,7018\n"
++"-0.058682,0.998277,0.000000,0.000000,7033\n"
++"-0.060290,0.998181,0.000000,0.000000,7048\n"
++"-0.061884,0.998083,0.000000,0.000000,7063\n"
++"-0.063464,0.997984,0.000000,0.000000,7078\n"
++"-0.065030,0.997883,0.000000,0.000000,7093\n"
++"-0.066583,0.997781,0.000000,0.000000,7108\n"
++"-0.068122,0.997677,0.000000,0.000000,7123\n"
++"-0.069648,0.997572,0.000000,0.000000,7138\n"
++"-0.071162,0.997465,0.000000,0.000000,7153\n"
++"-0.072662,0.997357,0.000000,0.000000,7168\n"
++"-0.074150,0.997247,0.000000,0.000000,7183\n"
++"-0.075625,0.997136,0.000000,0.000000,7198\n"
++"-0.077087,0.997024,0.000000,0.000000,7214\n"
++"-0.078538,0.996911,0.000000,0.000000,7230\n"
++"-0.079976,0.996797,0.000000,0.000000,7246\n"
++"-0.081402,0.996681,0.000000,0.000000,7262\n"
++"-0.082817,0.996565,0.000000,0.000000,7278\n"
++"-0.084219,0.996447,0.000000,0.000000,7294\n"
++"-0.085610,0.996329,0.000000,0.000000,7310\n"
++"-0.086990,0.996209,0.000000,0.000000,7326";
+
   /** Creates a new JoystickPlayback. */
   public JoystickPlayback(SwerveDrive swerve, String filename, int mult) {
     this.swerve = swerve;
@@ -48,34 +595,50 @@ public class JoystickPlayback extends CommandBase {
     startTime = System.currentTimeMillis();
     playbackTime = 0;
     lastIndex    = 0;
-    try {
-      input = new Scanner(new File("/home/lvuser/autos/" + filename));
+    // try {
+    //   input = new Scanner(new File("/home/lvuser/autos/" + filename));
 
-      String line = "";
-      while (input.hasNextLine()) {
-        line = input.nextLine();
+    //   String line = "";
+    //   while (input.hasNextLine()) {
+    //     line = input.nextLine();
 
-        if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
-          continue;
-        }
+    //     if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
+    //       continue;
+    //     }
       
+    //     String[] values = line.split(",");
+
+    //     var out = new TimedOutput();
+    //     out.leftX  = Double.parseDouble(values[0]) * mult;
+    //     out.leftY  = Double.parseDouble(values[1]);
+    //     out.rightX = Double.parseDouble(values[2]);
+    //     out.rightY = Double.parseDouble(values[3]);
+
+    //     out.timedOffset = Long.parseLong(values[4]);
+
+    //     outputs.add(out);
+    //   }
+
+    //   input.close();
+    // } catch (FileNotFoundException e) {
+    //   e.printStackTrace();
+    // }
+
+    String[] inputs = path.split("\n");
+    for (String line : inputs) {
         String[] values = line.split(",");
 
         var out = new TimedOutput();
-        out.leftX  = Double.parseDouble(values[0]) * mult;
-        out.leftY  = Double.parseDouble(values[1]);
+        out.leftX  = Double.parseDouble(values[0]) * mult / 1.75;
+        out.leftY  = Double.parseDouble(values[1]) / -1.75;
         out.rightX = Double.parseDouble(values[2]);
         out.rightY = Double.parseDouble(values[3]);
 
         out.timedOffset = Long.parseLong(values[4]);
 
         outputs.add(out);
-      }
-
-      input.close();
-    } catch (FileNotFoundException e) {
-      e.printStackTrace();
     }
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc4388/robot/commands/TimedCommand.java b/src/main/java/frc4388/robot/commands/TimedCommand.java
index 770ba6a..242be35 100644
--- a/src/main/java/frc4388/robot/commands/TimedCommand.java
+++ b/src/main/java/frc4388/robot/commands/TimedCommand.java
@@ -13,19 +13,19 @@ import frc4388.utility.RobotTime;
 
 public class TimedCommand extends CommandBase {
 
-  Supplier<Command> cs;
+  Command command;
   double duration;
 
   long startTime;
   long deltaTime;
 
   /** Creates a new TimedCommand. Duration is in seconds. */
-  public TimedCommand(Supplier<Command> cs, double duration) {
-    this.cs = cs;
+  public TimedCommand(Command command, double duration) {
+    this.command = command;
     this.duration = duration;
 
 
-    Object[] reqs_obj = cs.get().getRequirements().toArray();
+    Object[] reqs_obj = command.getRequirements().toArray();
     Subsystem[] reqs = new Subsystem[reqs_obj.length];
     for (int i = 0; i < reqs.length; i++)
       reqs[i] = (Subsystem) reqs_obj[i];
@@ -36,7 +36,7 @@ public class TimedCommand extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    cs.get().initialize();
+    command.initialize();
 
     startTime = System.currentTimeMillis();
   }
@@ -44,7 +44,7 @@ public class TimedCommand extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    cs.get().execute();
+    command.execute();
 
     deltaTime = System.currentTimeMillis() - startTime;
   }
diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java
index 49e04f2..cc17eae 100644
--- a/src/main/java/frc4388/robot/subsystems/Claw.java
+++ b/src/main/java/frc4388/robot/subsystems/Claw.java
@@ -45,12 +45,12 @@ public class Claw extends SubsystemBase {
 		m_open = open;
 
 		// ! THIS IS FOR CONE
-		// m_leftMotor.setAngle(m_open ? 0 : 180);
-		// m_rightMotor.setAngle(m_open ? 180 : 0);
+		m_leftMotor.setAngle(m_open ? 0 : 180);
+		m_rightMotor.setAngle(m_open ? 180 : 0);
 
 		// ! THIS IS FOR CUBE
-		m_leftMotor.setAngle(m_open ? 90 : 180);
-		m_rightMotor.setAngle(m_open ? 90 : 0);
+		// m_leftMotor.setAngle(m_open ? 90 : 180);
+		// m_rightMotor.setAngle(m_open ? 90 : 0);
 
 		// if (m_open)
 		// 	m_spinnyspin.set(0.2);