diff --git a/src/main/deploy/pathplanner/autos/HubLeft-Score-Tower.auto b/src/main/deploy/pathplanner/autos/HubLeft-Score-Tower ❌.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/HubLeft-Score-Tower.auto
rename to src/main/deploy/pathplanner/autos/HubLeft-Score-Tower ❌.auto
diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower (Matt Idea).auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower (Matt Idea).auto
deleted file mode 100644
index 7108713..0000000
--- a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower (Matt Idea).auto	
+++ /dev/null
@@ -1,62 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "HubRight-PlayerStation"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake Extended"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 2.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Rev Up"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "PlayerStation-Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "RShoot-Tower (Matt)"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "HubRight",
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower ❌.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower.auto
rename to src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower ❌.auto
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 307aabf..e37f831 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.889,
+  "robotLength": 0.889,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8733949..052c17d 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -18,6 +18,7 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 // Commands
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index ab397c2..da11284 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,13 +7,13 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 131;
-  public static final String GIT_SHA = "8cca0f81d1e8b1c74308269bacdcbf0ee6c37d75";
-  public static final String GIT_DATE = "2026-03-03 00:05:21 MST";
-  public static final String GIT_BRANCH = "shikhar-op-controls";
-  public static final String BUILD_DATE = "2026-03-03 00:06:32 MST";
-  public static final long BUILD_UNIX_TIME = 1772521592376L;
-  public static final int DIRTY = 0;
+  public static final int GIT_REVISION = 141;
+  public static final String GIT_SHA = "5b467df2cab912af2e96e94d2d51490e7da2f0bb";
+  public static final String GIT_DATE = "2026-03-04 19:33:17 MST";
+  public static final String GIT_BRANCH = "Autos-for-pike";
+  public static final String BUILD_DATE = "2026-03-04 20:10:01 MST";
+  public static final long BUILD_UNIX_TIME = 1772680201068L;
+  public static final int DIRTY = 1;
 
   private BuildConstants(){}
 }
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index f60da2a..9cb77d1 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -23,6 +23,7 @@ import edu.wpi.first.math.geometry.Pose2d;
 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.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -55,7 +56,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
     public double lastOdomSpeed;
 
     public Pose2d initalPose2d = new Pose2d();
-    
+
 
 
     public double rotTarget = 0.0;