diff --git a/src/main/deploy/pathplanner/autos/Auto Test.auto b/src/main/deploy/pathplanner/autos/Auto Test Slow.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/Auto Test.auto
rename to src/main/deploy/pathplanner/autos/Auto Test Slow.auto
diff --git a/src/main/deploy/pathplanner/autos/Taxi.auto b/src/main/deploy/pathplanner/autos/Taxi.auto
new file mode 100644
index 0000000..db06ab4
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Taxi.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Taxi"
+          }
+        }
+      ]
+    }
+  },
+  "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
new file mode 100644
index 0000000..4777d33
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Taxi.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.9612559241706156,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 1.9612559241706156,
+        "y": 7.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.2,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/TurnNinety.path b/src/main/deploy/pathplanner/paths/TurnNinety.path
index 60e6791..e75bda6 100644
--- a/src/main/deploy/pathplanner/paths/TurnNinety.path
+++ b/src/main/deploy/pathplanner/paths/TurnNinety.path
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 0.1,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": -90.48219994972354
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index d38e8f9..962dedb 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 = 13;
-  public static final String GIT_SHA = "11fa322f5922f7d432c0db927c77ec061c44eb81";
-  public static final String GIT_DATE = "2026-01-19 18:34:14 MST";
+  public static final int GIT_REVISION = 14;
+  public static final String GIT_SHA = "eb0d9de8d8342dc2b039ff2c80c2750776fa088f";
+  public static final String GIT_DATE = "2026-01-19 19:42:29 MST";
   public static final String GIT_BRANCH = "Autorotate";
-  public static final String BUILD_DATE = "2026-01-19 19:39:28 MST";
-  public static final long BUILD_UNIX_TIME = 1768876768990L;
+  public static final String BUILD_DATE = "2026-01-20 19:19:56 MST";
+  public static final long BUILD_UNIX_TIME = 1768961996020L;
   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 6b5af3d..bd1a358 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -10,6 +10,12 @@ import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 import com.ctre.phoenix6.swerve.SwerveRequest;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.util.PathPlannerLogging;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -19,15 +25,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.Constants.AutoConstants;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.compute.TimesNegativeOne;
-import frc4388.utility.status.Status;
 import frc4388.utility.status.FaultReporter;
 import frc4388.utility.status.Queryable;
-
-import com.pathplanner.lib.controllers.PPHolonomicDriveController;
-import com.pathplanner.lib.util.PathPlannerLogging;
-import com.pathplanner.lib.config.PIDConstants;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.config.RobotConfig;
+import frc4388.utility.status.Status;
 
 public class SwerveDrive extends SubsystemBase implements Queryable {
     // private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
@@ -138,6 +138,15 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         initalPose2d = pose;
         io.resetPose(pose);
     }
+    // MIRA public void setOdoPose(Pose2d pose) {
+    //     if (pose == null) return;
+    //     io.tareEverything();
+    //     initalPose2d = pose;
+    //     io.resetPose(pose);
+    //     robotKnowsWhereItIs = true;
+    //     rotTarget = pose.getRotation().getDegrees();
+    // }
+
 
     // public void oneModuleTest(SwerveModule module, Translation2d leftStick,
     // Translation2d rightStick){