diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto
index 96ded74..ae18da3 100644
--- a/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto	
+++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto	
@@ -19,7 +19,7 @@
         {
           "type": "named",
           "data": {
-            "name": "place-coral-right-l4"
+            "name": "place-coral-left-l4"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto
index 79d3540..42d1639 100644
--- a/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto	
+++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto	
@@ -19,7 +19,7 @@
         {
           "type": "named",
           "data": {
-            "name": "place-coral-right-l4"
+            "name": "place-coral-left-l4"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto
index 87b23c1..72db1a3 100644
--- a/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto	
+++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto	
@@ -19,7 +19,7 @@
         {
           "type": "named",
           "data": {
-            "name": "place-coral-right-l4"
+            "name": "place-coral-left-l4"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 2.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 2.auto
index 366b60d..218687a 100644
--- a/src/main/deploy/pathplanner/autos/3 Coral Cage 2.auto	
+++ b/src/main/deploy/pathplanner/autos/3 Coral Cage 2.auto	
@@ -19,7 +19,7 @@
         {
           "type": "named",
           "data": {
-            "name": "place-coral-right-l4"
+            "name": "place-coral-left-l4"
           }
         },
         {
@@ -46,36 +46,6 @@
             "pathName": "Top Feed to Reef 6"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral-right-l4"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Reef 6 to Top Feed"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "feed-driveback"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "grab-coral"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Top Feed to Reef 6"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -94,6 +64,36 @@
             "name": "feed-driveback"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Top Feed to Reef 6"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-right-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 6 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path b/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path
index 1247110..77f25d6 100644
--- a/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path	
+++ b/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path	
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.4946546052631575,
-        "y": 5.9878289473684205
+        "x": 6.902067334527623,
+        "y": 5.78751784036735
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.593338815789473
       },
       "prevControl": {
-        "x": 6.331085526315788,
-        "y": 5.958963815789473
+        "x": 5.872115174798128,
+        "y": 6.170888760790882
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,7 +30,18 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "pointTowardsZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 5.15,
+        "y": 4.85
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 1.0,
+      "name": "Point Towards Zone"
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path b/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path
index 2301370..519045a 100644
--- a/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path	
+++ b/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.012253289473684,
-        "y": 5.958963815789473
+        "x": 4.4044191919191915,
+        "y": 5.9460227272727275
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.3951480263157894,
-        "y": 6.5747532894736835
+        "x": 1.5076388888888888,
+        "y": 6.484722222222222
       },
       "prevControl": {
-        "x": 2.5121050970228604,
-        "y": 5.12009735513025
+        "x": 3.184818220656944,
+        "y": 6.004734862812045
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path b/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path
index 04ae5d9..77ed74f 100644
--- a/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path	
+++ b/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.485625,
-        "y": 5.6459375
+        "x": 3.5099747474747476,
+        "y": 5.742739898989899
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.5593749999999997,
-        "y": 6.389374999999999
+        "x": 2.36577546257746,
+        "y": 6.2120596924932325
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 6.584375
       },
       "prevControl": {
-        "x": 2.0114274322169052,
-        "y": 5.580656565656565
+        "x": 2.7066049155713703,
+        "y": 6.056626627340928
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 5.5,
+    "maxAcceleration": 5.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": -58.96173664449721
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path b/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path
index a8d390c..74f69ec 100644
--- a/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path	
+++ b/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3225000000000002,
-        "y": 6.049627525252525
+        "x": 2.5451175614850996,
+        "y": 6.277541643530879
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.5465625,
-        "y": 5.706875
+        "x": 3.540467171717172,
+        "y": 5.7630681818181815
       },
       "prevControl": {
-        "x": 2.7661334714142374,
-        "y": 6.148077310585081
+        "x": 2.590802656557517,
+        "y": 6.105344244914677
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 5.0,
+    "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": -52.93323259086456
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file