diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 1b94ed1..e063825 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -57,8 +57,8 @@ public final class Constants {
         new TrapezoidProfile.Constraints(0.0, 0.0)
       );
 
-      public static final double PATH_MAX_VEL = -1; // TODO: find the actual value
-      public static final double PATH_MAX_ACC = -1; // TODO: find the actual value
+      public static final double PATH_MAX_VEL = SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND / 4; // TODO: find the actual value
+      public static final double PATH_MAX_ACC = 3; // TODO: find the actual value
     }
 
     public static final class Conversions {
@@ -106,6 +106,7 @@ public final class Constants {
     }
 
     public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
+    public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
 
     // dimensions
     public static final double WIDTH = 18.5; // TODO: find the actual value
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 97f5db1..c6e01c8 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -7,6 +7,7 @@
 
 package frc4388.robot;
 
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -91,6 +92,7 @@ public class RobotContainer {
      * @return the command to run in autonomous
      */
     public Command getAutonomousCommand() {
+        TrajectoryConfig trajectoryConfig = new TrajectoryConfig(SwerveDriveConstants.AutoConstants.PATH_MAX_VEL, SwerveDriveConstants.AutoConstants.PATH_MAX_ACC).setKinematics(m_robotSwerveDrive.getKinematics());
 
         return new InstantCommand();
     }
diff --git a/src/main/java/frc4388/utility/AprilTag.java b/src/main/java/frc4388/utility/AprilTag.java
new file mode 100644
index 0000000..c2ad269
--- /dev/null
+++ b/src/main/java/frc4388/utility/AprilTag.java
@@ -0,0 +1,13 @@
+package frc4388.utility;
+
+// This is a seperate class in case I want to encode rotation or other
+// information about the tag
+public class AprilTag {
+    public final double x, y, z;
+
+    public AprilTag(double _x, double _y, double _z) {
+        x = _x;
+        y = _y;
+        z = _z;
+    }
+}