diff --git a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Ramp-Shoot-PlayerStation-Shoot.auto b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Ramp-Shoot-PlayerStation-Shoot.auto
new file mode 100644
index 0000000..37b39a2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Ramp-Shoot-PlayerStation-Shoot.auto	
@@ -0,0 +1,156 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Reference"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "RightTrench-Neutral-Shoot"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "RightRamp-Shoot"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "BumpOffsetBackward"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 4.35
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Robot Rev Up"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "parallel",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Robot Shoot Driving"
+                            }
+                          },
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Robot Shoot"
+                            }
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Labubu Growl"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ShotRightR-PlayerStation"
+          }
+        },
+        {
+          "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"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Shoot-PlayerStation-Shoot.auto b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Shoot-PlayerStation-Shoot.auto
deleted file mode 100644
index 99527fd..0000000
--- a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Shoot-PlayerStation-Shoot.auto	
+++ /dev/null
@@ -1,79 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Reference"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "RightTrench-Neutral-Trench-Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Rev Up"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ShotRight-PlayerStation"
-          }
-        },
-        {
-          "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"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto
new file mode 100644
index 0000000..abb7f22
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto	
@@ -0,0 +1,137 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Reference"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "RightTrench-Neutral-Trench-Shoot"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 13.1
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Robot Rev Up"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "parallel",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Robot Shoot Driving"
+                            }
+                          },
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Robot Shoot"
+                            }
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Labubu Growl"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ShotRightT-PlayerStation"
+          }
+        },
+        {
+          "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"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path b/src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path
index 3fbcef3..9091424 100644
--- a/src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path
@@ -115,13 +115,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 23.07
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -90.0
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/LeftBump.path b/src/main/deploy/pathplanner/paths/LeftBump.path
index 6a94781..7bf33e3 100644
--- a/src/main/deploy/pathplanner/paths/LeftBump.path
+++ b/src/main/deploy/pathplanner/paths/LeftBump.path
@@ -46,7 +46,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -91.24536426676825
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path b/src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path
index 2a51bc4..4eb860a 100644
--- a/src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path
@@ -135,13 +135,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 23.069999999999993
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 90.0
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/LeftBump2.path b/src/main/deploy/pathplanner/paths/LeftBump2.path
index 5711e45..cc0f95c 100644
--- a/src/main/deploy/pathplanner/paths/LeftBump2.path
+++ b/src/main/deploy/pathplanner/paths/LeftBump2.path
@@ -46,13 +46,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 91.245
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 117.25532837494306
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path b/src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path
index 4f646fc..213112a 100644
--- a/src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path
@@ -58,7 +58,7 @@
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 113.07
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Shoot.path b/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Shoot.path
index e542fc6..ef47089 100644
--- a/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Shoot.path
@@ -139,13 +139,13 @@
     "unlimited": true
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 11.706999999999994
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 0.0
   },
   "useDefaultConstraints": false
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
deleted file mode 100644
index c93706b..0000000
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ /dev/null
@@ -1,155 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 2.61204761904762,
-        "y": 1.918666666666668
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.5040714285714296,
-        "y": 1.4003809523809525
-      },
-      "isLocked": false,
-      "linkedName": "end of RIght trench first swipe"
-    },
-    {
-      "anchor": {
-        "x": 3.648619047619049,
-        "y": 0.6121547619047625
-      },
-      "prevControl": {
-        "x": 3.4190610119047635,
-        "y": 0.7741190476190478
-      },
-      "nextControl": {
-        "x": 3.878177083333335,
-        "y": 0.45019047619047714
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.333047619047619,
-        "y": 0.6121547619047625
-      },
-      "prevControl": {
-        "x": 4.4368452380952395,
-        "y": 0.6229523809523821
-      },
-      "nextControl": {
-        "x": 6.519422842432679,
-        "y": 0.5978610845145801
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.391214285714287,
-        "y": 3.7434642857142855
-      },
-      "prevControl": {
-        "x": 5.376238095238096,
-        "y": 2.7932738095238094
-      },
-      "nextControl": {
-        "x": 6.987633102739957,
-        "y": 4.301813816546828
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.589750000000002,
-        "y": 1.2492142857142858
-      },
-      "prevControl": {
-        "x": 7.488215383486641,
-        "y": 1.4776671728693485
-      },
-      "nextControl": {
-        "x": 7.8057023809523844,
-        "y": 0.7633214285714278
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.648619047619049,
-        "y": 0.4717857142857145
-      },
-      "prevControl": {
-        "x": 4.501280949513,
-        "y": 0.5293980049542248
-      },
-      "nextControl": {
-        "x": 2.8495952380952403,
-        "y": 0.41779761904761914
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.7374404761904771,
-        "y": 0.9792738095238098
-      },
-      "prevControl": {
-        "x": 2.4068928571428576,
-        "y": 1.3032023809523823
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.5,
-      "rotationDegrees": 0.0
-    },
-    {
-      "waypointRelativePos": 0.7377593360995809,
-      "rotationDegrees": -1.8097734110142742
-    },
-    {
-      "waypointRelativePos": 1.8273858921161648,
-      "rotationDegrees": 0.0
-    },
-    {
-      "waypointRelativePos": 2.364315352697095,
-      "rotationDegrees": 87.9267492938311
-    },
-    {
-      "waypointRelativePos": 3.5701244813277846,
-      "rotationDegrees": -59.49633403888164
-    }
-  ],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": -132.7688253919687
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -133.33166255170664
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
index 9e7dc2d..98ff3b0 100644
--- a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
@@ -62,7 +62,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 0.0,
     "rotation": -142.9
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path b/src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path
index eaedae9..abddcef 100644
--- a/src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path
@@ -115,13 +115,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -23.069999999999993
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0.3,
+    "velocity": 0.0,
     "rotation": 88.32335186314447
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/RightBump.path b/src/main/deploy/pathplanner/paths/RightBump.path
index 45b7bc3..1c00f4b 100644
--- a/src/main/deploy/pathplanner/paths/RightBump.path
+++ b/src/main/deploy/pathplanner/paths/RightBump.path
@@ -46,7 +46,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": 91.245
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path b/src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path
index 9ec72f2..2f71f5d 100644
--- a/src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path
@@ -129,13 +129,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -23.069999999999993
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -90.0
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/RightBump2.path b/src/main/deploy/pathplanner/paths/RightBump2.path
index b17b2ba..561c39a 100644
--- a/src/main/deploy/pathplanner/paths/RightBump2.path
+++ b/src/main/deploy/pathplanner/paths/RightBump2.path
@@ -46,13 +46,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -91.245
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -108.98741511036879
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/RightRamp-Shoot.path b/src/main/deploy/pathplanner/paths/RightRamp-Shoot.path
index 3f9f9f2..1515e1e 100644
--- a/src/main/deploy/pathplanner/paths/RightRamp-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/RightRamp-Shoot.path
@@ -44,11 +44,11 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 0.1,
+    "maxAngularAcceleration": 0.1,
+    "nominalVoltage": 6.0,
     "unlimited": false
   },
   "goalEndState": {
@@ -58,8 +58,8 @@
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 3.0,
-    "rotation": -113.07
+    "velocity": 0.0,
+    "rotation": -23.07
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path b/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
index bbd40df..86dad1d 100644
--- a/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
+++ b/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
@@ -102,7 +102,7 @@
       "rotationDegrees": 0.0
     },
     {
-      "waypointRelativePos": 3.9339019189765208,
+      "waypointRelativePos": 3.991228070175485,
       "rotationDegrees": 0.0
     }
   ],
@@ -110,7 +110,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
diff --git a/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Shoot.path b/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Shoot.path
index 11468c2..a4d89f8 100644
--- a/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Shoot.path
@@ -68,8 +68,8 @@
         "y": 2.512
       },
       "prevControl": {
-        "x": 3.841498071206661,
-        "y": 2.6514755211571583
+        "x": 3.7815128205128214,
+        "y": 2.5582179487179486
       },
       "nextControl": null,
       "isLocked": false,
@@ -95,19 +95,6 @@
         "nominalVoltage": 10.0,
         "unlimited": false
       }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 1.771871539313429,
-      "maxWaypointRelativePos": 2.542635658914713,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 600.0,
-        "maxAngularAcceleration": 750.0,
-        "nominalVoltage": 6.0,
-        "unlimited": false
-      }
     }
   ],
   "pointTowardsZones": [
@@ -152,13 +139,13 @@
     "unlimited": true
   },
   "goalEndState": {
-    "velocity": 3.0,
+    "velocity": 0.0,
     "rotation": -23.07
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0.3,
+    "velocity": 0.0,
     "rotation": 0.0
   },
   "useDefaultConstraints": false
diff --git a/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path b/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
index 6caa935..33f2f12 100644
--- a/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
@@ -64,16 +64,16 @@
     },
     {
       "anchor": {
-        "x": 3.3990740740740737,
-        "y": 0.7403418803418822
+        "x": 3.711743589743591,
+        "y": 0.6046794871794885
       },
       "prevControl": {
-        "x": 3.7877883597883595,
-        "y": 0.6506385836385846
+        "x": 3.9948825305696225,
+        "y": 0.5642310670614844
       },
       "nextControl": {
-        "x": 2.947066329127951,
-        "y": 0.8446513599448344
+        "x": 3.3861538461538476,
+        "y": 0.6511923076923085
       },
       "isLocked": false,
       "linkedName": null
@@ -84,12 +84,12 @@
         "y": 1.302
       },
       "prevControl": {
-        "x": 2.7301802034615954,
-        "y": 1.1693945129031929
+        "x": 3.3396410256410265,
+        "y": 1.1395769230769235
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "end of RightTrench-Neutral-Trench-Shoot"
+      "linkedName": "END-RightTrnech-Neutral-Trench-Shoot"
     }
   ],
   "rotationTargets": [],
@@ -99,7 +99,7 @@
       "minWaypointRelativePos": 0,
       "maxWaypointRelativePos": 5.0,
       "constraints": {
-        "maxVelocity": 1.5,
+        "maxVelocity": 1.0,
         "maxAcceleration": 3.0,
         "maxAngularVelocity": 600.0,
         "maxAngularAcceleration": 750.0,
@@ -121,22 +121,22 @@
     },
     {
       "fieldPosition": {
-        "x": 180.0,
+        "x": 0.0,
         "y": 0.6
       },
-      "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.15384615384614939,
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
       "maxWaypointRelativePos": 0.6910299003322272,
       "name": "Point Towards Zone"
     },
     {
       "fieldPosition": {
-        "x": 180.0,
+        "x": 0.0,
         "y": 0.7
       },
       "rotationOffset": 180.0,
-      "minWaypointRelativePos": 2.952853598014871,
-      "maxWaypointRelativePos": 4.105334233625949,
+      "minWaypointRelativePos": 2.5913621262458837,
+      "maxWaypointRelativePos": 4.28,
       "name": "Point Towards Zone"
     },
     {
@@ -145,7 +145,7 @@
         "y": 4.021
       },
       "rotationOffset": 180.0,
-      "minWaypointRelativePos": 4.280891289669132,
+      "minWaypointRelativePos": 4.529346622369888,
       "maxWaypointRelativePos": 5.0,
       "name": "Point Towards Zone"
     }
@@ -157,16 +157,16 @@
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
     "nominalVoltage": 12.0,
-    "unlimited": false
+    "unlimited": true
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": -136.00851404351897
+    "rotation": -130.0
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0.6,
+    "velocity": 0.0,
     "rotation": 0.0
   },
   "useDefaultConstraints": false
diff --git a/src/main/deploy/pathplanner/paths/ShotRightR-PlayerStation.path b/src/main/deploy/pathplanner/paths/ShotRightR-PlayerStation.path
new file mode 100644
index 0000000..904a9bb
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/ShotRightR-PlayerStation.path
@@ -0,0 +1,95 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.398,
+        "y": 2.512
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.2508028935074877,
+        "y": 2.309928201274319
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5754761904761914,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 2.2272563574654534,
+        "y": 0.9727386663284083
+      },
+      "nextControl": {
+        "x": 0.9236960234869294,
+        "y": 1.0272613336715914
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.325,
+        "y": 0.95
+      },
+      "prevControl": {
+        "x": 0.5747421350529089,
+        "y": 0.9386480847776856
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 10.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.6,
+      "maxWaypointRelativePos": 1.0956834532374118,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 10.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -95.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -106.71386741074436
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path b/src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path
similarity index 57%
rename from src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path
rename to src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path
index 1d97cf3..7af0028 100644
--- a/src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path
+++ b/src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path
@@ -8,11 +8,27 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7698333333333336,
-        "y": 1.1628333333333343
+        "x": 2.29707212427672,
+        "y": 1.0999282012743195
       },
       "isLocked": false,
-      "linkedName": "end of RightTrench-Neutral-Trench-Shoot"
+      "linkedName": "END-RightTrnech-Neutral-Trench-Shoot"
+    },
+    {
+      "anchor": {
+        "x": 1.5754761904761914,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 2.2272563574654534,
+        "y": 0.9727386663284083
+      },
+      "nextControl": {
+        "x": 0.9236960234869294,
+        "y": 1.0272613336715914
+      },
+      "isLocked": false,
+      "linkedName": null
     },
     {
       "anchor": {
@@ -25,7 +41,7 @@
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Playerstation"
     }
   ],
   "rotationTargets": [],
@@ -33,9 +49,9 @@
     {
       "name": "Constraints Zone",
       "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 1.0,
+      "maxWaypointRelativePos": 2.0,
       "constraints": {
-        "maxVelocity": 1.5,
+        "maxVelocity": 1.0,
         "maxAcceleration": 3.0,
         "maxAngularVelocity": 600.0,
         "maxAngularAcceleration": 750.0,
@@ -44,7 +60,18 @@
       }
     }
   ],
-  "pointTowardsZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.6,
+      "maxWaypointRelativePos": 1.0956834532374118,
+      "name": "Point Towards Zone"
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
@@ -56,13 +83,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.16147282505071
+    "rotation": -95.0
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0.0,
-    "rotation": -136.00851404351897
+    "velocity": 0,
+    "rotation": -130.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index cd7e487..a45a5f8 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -112,6 +112,10 @@ public class RobotContainer {
         private Command IntakeExtended = new SequentialCommandGroup(
             new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendingRolling), m_robotIntake)
         );
+
+        private Command LabubuGrowl = new SequentialCommandGroup(
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.LabubuGrowl), m_robotIntake)
+        );
     
         // private Command LidarIntake = new SequentialCommandGroup(
         //     // Right now this will just go to the closest ball constantly updating - need to make it so it locks on one ball
@@ -189,6 +193,7 @@ public class RobotContainer {
             NamedCommands.registerCommand("Robot Shoot", RobotShoot);
             // NamedCommands.registerCommand("Lidar Intake", LidarIntake);
             NamedCommands.registerCommand("Intake Extended", IntakeExtended);
+            NamedCommands.registerCommand("Labubu Growl", LabubuGrowl);
             NamedCommands.registerCommand("Robot Shoot Driving", RobotShootDriving);
             NamedCommands.registerCommand("Intake Reference", WaitIntakeReference);
             NamedCommands.registerCommand("WaitShooter", new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed));
@@ -615,7 +620,7 @@ public class RobotContainer {
 
         for (String auto : autos) {
             if (auto.endsWith(".auto"))
-                if (auto.startsWith("X. "))
+                if (auto.startsWith("X. ")) // Mira!
                     autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
             // System.out.println(auto);
         }
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index a3a13fe..5549a39 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ 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 = 218;
-  public static final String GIT_SHA = "74009b86bbde67d814d16020ce4cec00b8267411";
-  public static final String GIT_DATE = "2026-04-04 16:17:27 MDT";
+  public static final int GIT_REVISION = 219;
+  public static final String GIT_SHA = "f9b9a7dd30b53213e360f67c5b7bcd4567fa30f3";
+  public static final String GIT_DATE = "2026-04-04 20:41:00 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-04 19:50:19 MDT";
-  public static final long BUILD_UNIX_TIME = 1775353819651L;
+  public static final String BUILD_DATE = "2026-04-06 19:43:24 MDT";
+  public static final long BUILD_UNIX_TIME = 1775526204113L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index e6f7852..028ff94 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -31,9 +31,6 @@ public class Intake extends SubsystemBase {
     }
 
     public enum IntakeMode {
-        ExtendedREMOVEME,
-        RetractedREMOVEME,
-
         ExtendingIdle,
         ExtendingRolling,
 
@@ -120,15 +117,6 @@ public class Intake extends SubsystemBase {
         // getCurrentTime
 
         switch (mode) {
-            case ExtendedREMOVEME:
-            //     io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
-            //     io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
-                break;
-            case RetractedREMOVEME:
-            //     io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
-            //     io.setRollerOutput(state, 0);
-                break;
-
             case ExtendingIdle:
                 io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, 0);
@@ -198,7 +186,7 @@ public class Intake extends SubsystemBase {
                 io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
                 break;
             case LabubuGrowl:
-                io.armOutput(0);
+                io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, IntakeConstants.ROLLER_LABUBU_GROWL_PERCENT_OUTPUT.get());
                 break;
         }