diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 56230c6..6ef4e27 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -58,7 +58,9 @@ public class RobotContainer {
 
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
-    private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
+    private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
+    private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
+
 
     /* Virtual Controllers */
     private final VirtualController m_virtualDriver = new VirtualController(0);
@@ -119,7 +121,9 @@ public class RobotContainer {
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
-        configureButtonBindings();
+        configureButtonBindings();        
+        configureVirtualButtonBindings();
+
 
         DriverStation.silenceJoystickConnectionWarning(true);
 
@@ -144,17 +148,9 @@ public class RobotContainer {
      */
     private void configureButtonBindings() {
         /* Driver Buttons */
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
+        new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
         
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
-        //     .onTrue(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, true)))
-        //     .onFalse(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, false)));
-        
-        // new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
-        //     //.onTrue(new InstantCommand(() -> System.out.println("Hello")));
-        //     .onTrue(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 1.0)))
-        //     .onFalse(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 0.0)));
         /* Auto Recording */
         // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
         //    .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
@@ -168,78 +164,119 @@ public class RobotContainer {
         // new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
         //    .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
         //    .onFalse(new InstantCommand()); 
-        new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
+        new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
            .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
                         new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
-                                           "sample.auto"))
+                                           "2note.auto"))
            .onFalse(new InstantCommand());
         
-        new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
+        new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
            .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
-           "sample.auto",
+           "2note.auto",
            new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
            true, false))
            .onFalse(new InstantCommand());
 
-        new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> System.out.println("Pressed A")))
-            .onFalse(new InstantCommand(() -> System.out.println("Released A")));
-
-        new JoystickButton(getVirtualDriverController(), XboxController.B_BUTTON)
-            .onTrue(new InstantCommand(() -> System.out.println("Pressed B")))
-            .onFalse(new InstantCommand(() -> System.out.println("Released B")));
-
-        new JoystickButton(getVirtualDriverController(), XboxController.X_BUTTON)
-            .onTrue(new InstantCommand(() -> System.out.println("Pressed X")))
-            .onFalse(new InstantCommand(() -> System.out.println("Released X")));
-
-        new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> System.out.println("Pressed Y")))
-            .onFalse(new InstantCommand(() -> System.out.println("Released Y")));
         /* Speed */
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
-        //     .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
-        //  //   .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
+        new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
+            .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
+         //   .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
         
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
-        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
+        new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
         
         
         
         /* Operator Buttons */
 
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
-        //     .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
 
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
-        //     .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
 
 
-        // // Override Intake Position encoder: out
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
+        // Override Intake Position encoder: out
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
 
-        // // Override Intake Position encoder: in
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
+        // Override Intake Position encoder: in
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
 
-        // //Spin Shooter Motors
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
-        //      .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
-        //      .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
+        //Spin Shooter Motors
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
+             .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
+             .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
 
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
-        //     .onTrue(ejectToShoot)
-        //     .onFalse(turnOffShoot);
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(ejectToShoot)
+            .onFalse(turnOffShoot);
 
 
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
-        //     .onTrue(i)
-        //     .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
+            .onTrue(i)
+            .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
+        
+        //spins up shooter, no wind down
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
+        
+    }
+
+    private void configureVirtualButtonBindings() {
+        /* Driver Buttons */
+        new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
+        
+        /* Speed */
+        new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
+            .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
+         //   .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
+        
+        new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
         
         
+        
+        /* Operator Buttons */
+
+        new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
+
+        new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
+
+
+        // Override Intake Position encoder: out
+        new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
+
+        // Override Intake Position encoder: in
+        new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
+
+        //Spin Shooter Motors
+        new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
+             .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
+             .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
+
+        new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(ejectToShoot)
+            .onFalse(turnOffShoot);
+
+
+        new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
+            .onTrue(i)
+            .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
+        
+        
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
     }
 
     /**
@@ -249,8 +286,11 @@ public class RobotContainer {
      */
     public Command getAutonomousCommand() {
         //no auto
-        
-        return playbackChooser.getCommand();
+        return new neoJoystickPlayback(m_robotSwerveDrive,
+           "2note.auto",
+           new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
+           true, false);
+        //return playbackChooser.getCommand();
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
index a270d7b..4fdf02a 100644
--- a/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
+++ b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
@@ -68,13 +68,13 @@ public class PlaybackChooser {
 
         String[] dirs = m_dir.list();
 
-        if(dirs == null){ // Fix funny error
-            return;
+        if(dirs != null){ // Fix funny error
+            for (String auto : dirs) {
+                chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
+            }
         }
 
-        for (String auto : dirs) {
-            chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
-        }
+        
         for (var cmd_name : m_commandPool.keySet()) {
             chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
         }
diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
index 529bd34..206a2b5 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
@@ -16,11 +16,11 @@ public class neoJoystickPlayback extends Command {
     private final String                        filename;
     private final VirtualController[]           controllers;
     private final ArrayList<AutoRecordingFrame> frames         = new ArrayList<>();
-    private int                                 frame_index    = 0;
-    private long                                startTime      = 0;
-    private long                                playbackTime   = 0;
-    private boolean                             m_finished     = false; // ! There is no better way.
-    private boolean                             m_shouldfree   = false; // should free memory on ending
+    private       int                           frame_index    = 0;
+    private       long                          startTime      = 0;
+    private       long                          playbackTime   = 0;
+    private       boolean                       m_finished     = false; // ! There is no better way.
+    private       boolean                       m_shouldfree   = false; // should free memory on ending
 
     private byte  m_numAxes = 0;
     private byte  m_numPOVs = 0;
@@ -42,7 +42,7 @@ public class neoJoystickPlayback extends Command {
     }
     
     public boolean loadAuto() {
-        try (FileInputStream stream = new FileInputStream("./" + filename)) {
+        try (FileInputStream stream = new FileInputStream("/home/lvuser/autos/" + filename)) {
             if (m_numFrames != -1 && m_numFrames == frames.size()) {
                 System.out.println("AUTOPLAYBACK: Auto Already loaded.");
                 return true;
diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
index 7cae811..0ad4100 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
@@ -69,7 +69,7 @@ public class neoJoystickRecorder extends Command {
     }
     @Override
     public void end(boolean interrupted) {
-        try (FileOutputStream stream = new FileOutputStream("./" + filename)) {
+        try (FileOutputStream stream = new FileOutputStream("/home/lvuser/autos/" + filename)) {
             // header: size of 0x5
             // byte Number of axes per controller
             // byte Number of POVs per controller
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 8cb65d9..7554671 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -4,6 +4,7 @@
 
 package frc4388.robot.subsystems;
 
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
@@ -35,6 +36,7 @@ public class  SwerveDrive extends SubsystemBase {
   public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
   
   public double rotTarget = 0.0;
+  public Rotation2d orientRotTarget = new Rotation2d();
   public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
 
   /** Creates a new SwerveDrive. */
@@ -55,6 +57,7 @@ public class  SwerveDrive extends SubsystemBase {
 
       double rot = 0;
       
+      // ! drift correction
       if (rightStick.getNorm() > 0.05) {
         rotTarget = gyro.getAngle();
         rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
@@ -84,6 +87,24 @@ public class  SwerveDrive extends SubsystemBase {
     setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
   }
 
+  public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
+
+    if(fieldRelative) {
+      double rot = 0;
+      if(rightStick.getNorm() > 0.5) {
+        orientRotTarget = rightStick.getAngle().minus(new Rotation2d(0, 1));
+        rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians();
+      }
+
+    Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
+
+    chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
+    } else {      // Create robot-relative speeds.
+      chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
+    }
+    setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));  
+    }
+
   /**
    * Set each module of the swerve drive to the corresponding desired state.
    * @param desiredStates Array of module states to set.