diff --git a/src/main/deploy/pathplanner/autos/Test Auto.auto b/src/main/deploy/pathplanner/autos/Test Auto.auto
new file mode 100644
index 0000000..2e09e4c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Test Auto.auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Stupid auto 1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Taxi.path b/src/main/deploy/pathplanner/paths/Taxi.path
index 325abd3..7b32a44 100644
--- a/src/main/deploy/pathplanner/paths/Taxi.path
+++ b/src/main/deploy/pathplanner/paths/Taxi.path
@@ -23,6 +23,22 @@
         "x": 5.928529040722133,
         "y": 7.353679406601922
       },
+      "nextControl": {
+        "x": 6.681698232005139,
+        "y": 7.343669078246562
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.8889204545454543,
+        "y": 7.348674242424242
+      },
+      "prevControl": {
+        "x": 4.138853417354843,
+        "y": 7.3544633789160185
+      },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index f3e6372..5bf438c 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -9,14 +9,14 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 22.6796,
+  "robotMass": 74.088,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 40.0,
+  "driveCurrentLimit": 60.0,
   "wheelCOF": 1.2,
   "flModuleX": 0.273,
   "flModuleY": 0.273,
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 4b09b12..b85592d 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -282,7 +282,7 @@ public final class Constants {
                     //     new ClosedLoopRampsConfigs()
                     //         .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
             );
-            private static final double SLIP_CURRENT = 20; // TODO: Tune??? 
+            private static final double SLIP_CURRENT = 100; // TODO: Tune??? 
         }
 
         // No mans land
@@ -343,7 +343,7 @@ public final class Constants {
 
         public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI));
         
-        public static final double MIN_ESTIMATION_DISTANCE = 0; // Meters
+        public static final double MIN_ESTIMATION_DISTANCE = 1; // Meters
 
         // Photonvision thing
         // The standard deviations of our vision estimated poses, which affect correction rate
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 2181062..828ed46 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -17,6 +17,7 @@ import com.ctre.phoenix6.CANBus.CANBusStatus;
 
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -85,6 +86,7 @@ public class Robot extends TimedRobot {
   @Override
   public void robotPeriodic() {   
     m_robotTime.updateTimes();
+    SmartDashboard.putNumber("Time", System.currentTimeMillis());
     //System.out.println(m_robotContainer.limelight.isNearSpeaker());
     //mled.updateLED();
     // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 98e92e6..ea43541 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -131,7 +131,7 @@ public class RobotContainer {
     public RobotContainer() {
         
         NamedCommands.registerCommand("AutoGotoPosition", AutoGotoPosition);
-        NamedCommands.registerCommand("april-allign", aprilAlign);
+        NamedCommands.registerCommand("april-allign", AutoGotoPosition);
         NamedCommands.registerCommand("place-coral", placeCoral);
         NamedCommands.registerCommand("grab-coral", grabCoral);
 
@@ -307,10 +307,10 @@ public class RobotContainer {
 
         //return autoPlayback;
         //return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
-        return autoChooser.getSelected().andThen(new InstantCommand(() -> System.err.println("Auto Ded!")));
+        //return autoChooser.getSelected();
 	// try{
 	//     // Load the path you want to follow using its name in the GUI
-	    // return new PathPlannerAuto("New Auto");
+	    return new PathPlannerAuto("Red Center Cage");
 	// } catch (Exception e) {
 	//     DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
 	//     return Commands.none();