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
index 37b39a2..cd0a6ee 100644
--- 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	
@@ -52,7 +52,19 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 4.35
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Labubu Growl"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 2.8499999999999996
                       }
                     },
                     {
@@ -61,38 +73,6 @@
                         "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": {
@@ -102,7 +82,7 @@
                     {
                       "type": "named",
                       "data": {
-                        "name": "Labubu Growl"
+                        "name": "Robot Shoot"
                       }
                     }
                   ]
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
index abb7f22..a6e80b1 100644
--- 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	
@@ -33,7 +33,19 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 13.1
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Labubu Growl"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 11.6
                       }
                     },
                     {
@@ -42,38 +54,6 @@
                         "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": {
@@ -83,7 +63,7 @@
                     {
                       "type": "named",
                       "data": {
-                        "name": "Labubu Growl"
+                        "name": "Robot Shoot"
                       }
                     }
                   ]
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 0563669..f1f707e 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -140,7 +140,6 @@ public class RobotContainer {
             new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
             IntakeExtended,
             new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExpelBalls), m_robotIntake)
-            // new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
         );
 
         private Command WaitIntakeReference =
@@ -607,7 +606,7 @@ public class RobotContainer {
     public boolean autoChooserUpdated = false;
     public void makeAutoChooser() {
         autoChooser = new SendableChooser<String>();
-        
+        autoChooser.setDefaultOption("None", "None");
         File dir;
 
         if(RobotBase.isReal()) {
@@ -630,6 +629,10 @@ public class RobotContainer {
 
         autoChooser.onChange((filename) -> {
             autoChooserUpdated = true;
+            if (filename == null || filename.equals("None")) {
+                autoCommand = null;
+                return;
+            }
             // if (filename.equals("Taxi%")) {
             //     autoCommand = new SequentialCommandGroup(
             //         new MoveForTimeCommand(m_robotSwerveDrive, 
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 819936c..277aea8 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 = 221;
-  public static final String GIT_SHA = "1636a054ed1e688234fe329b76f567d6af08081f";
-  public static final String GIT_DATE = "2026-04-06 22:44:17 MDT";
+  public static final int GIT_REVISION = 222;
+  public static final String GIT_SHA = "118dcee1c7dca32d23fa40f275d9ba433046fcf4";
+  public static final String GIT_DATE = "2026-04-07 20:37:26 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-07 20:27:10 MDT";
-  public static final long BUILD_UNIX_TIME = 1775615230294L;
+  public static final String BUILD_DATE = "2026-04-07 22:44:56 MDT";
+  public static final long BUILD_UNIX_TIME = 1775623496023L;
   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 5436649..e37081b 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -74,7 +74,7 @@ public class Intake extends SubsystemBase {
     }
 
     public boolean intakeAtReference() {
-        return state.extendedSoftLimit;
+        return true;//state.extendedSoftLimit;
     }
 
     public double getRollerSpeed() {