diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel
new file mode 100644
index 0000000..83d06d8
--- /dev/null
+++ b/PathWeaver/Paths/Barrel
@@ -0,0 +1,21 @@
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diff --git a/PathWeaver/Paths/Slalom b/PathWeaver/Paths/Slalom
new file mode 100644
index 0000000..7952cc9
--- /dev/null
+++ b/PathWeaver/Paths/Slalom
@@ -0,0 +1,15 @@
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diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json
index ddd52e0..fb75537 100644
--- a/PathWeaver/pathweaver.json
+++ b/PathWeaver/pathweaver.json
@@ -4,6 +4,6 @@
   "maxVelocity": 1.7,
   "maxAcceleration": 2.7,
   "wheelBase": 0.648,
-  "gameName": "Infinite Recharge",
+  "gameName": "Barrel Racing Path",
   "outputDir": ".."
 }
\ No newline at end of file
diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json
new file mode 100644
index 0000000..43e5c76
--- /dev/null
+++ b/src/main/deploy/paths/Barrel.wpilib.json
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\ No newline at end of file
diff --git a/src/main/deploy/paths/Slalom.wpilib.json b/src/main/deploy/paths/Slalom.wpilib.json
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\ 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 2bc3f90..680f1c1 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -39,9 +39,11 @@ import frc4388.robot.commands.auto.DriveOffLineForward;
 import frc4388.robot.commands.auto.EightBallAutoMiddle;
 import frc4388.robot.commands.auto.FiveBallAutoMiddle;
 import frc4388.robot.commands.auto.SixBallAutoMiddle;
+import frc4388.robot.commands.auto.Slalom;
 import frc4388.robot.commands.auto.TenBallAutoMiddle;
 import frc4388.robot.commands.InterruptSubystem;
 import frc4388.robot.commands.auto.AutoPath1FromCenter;
+import frc4388.robot.commands.auto.Barrel;
 import frc4388.robot.commands.auto.Wait;
 import frc4388.robot.commands.climber.DisengageRachet;
 import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -119,6 +121,10 @@ public class RobotContainer {
 
     TenBallAutoMiddle m_tenBallAutoMiddle;
 
+    Slalom m_slalom;
+
+    Barrel m_barrel;
+
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -177,7 +183,7 @@ public class RobotContainer {
 
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
-            .whenPressed(new TurnDegrees(m_robotDrive, m_robotDrive.m_currentAngleYaw + 5));
+            .whenPressed(new TurnDegrees(m_robotDrive, 45));
         // Y driver test button
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
             .whenPressed(new Wait(m_robotDrive, 0, 0));
@@ -276,6 +282,18 @@ public class RobotContainer {
 
         m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
 
+        String[] slalom = new String[]{
+            "Slalom"
+        };
+
+        m_slalom = new Slalom(m_robotDrive, buildPaths(slalom));
+
+        String[] barrel = new String[]{
+            "Barrel"
+        };
+
+        m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
+        
         String[] eightBallAutoMiddlePaths = new String[]{
             "EightBallMidComplete"
         };
@@ -324,10 +342,12 @@ public class RobotContainer {
 
             //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
-            return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
+            //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
 
         } catch (Exception e) {
             System.err.println("ERROR");
@@ -454,6 +474,7 @@ public class RobotContainer {
         return m_driverXbox;
     }
 
+
     /**
      * Used for analog inputs like triggers and axises.
      * @return The IHandController interface for the Operator Controller.
diff --git a/src/main/java/frc4388/robot/commands/auto/Barrel.java b/src/main/java/frc4388/robot/commands/auto/Barrel.java
new file mode 100644
index 0000000..54908bf
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/auto/Barrel.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Drive;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class Barrel extends SequentialCommandGroup {
+  /**
+   * Creates a new Barrel.
+   */
+  public Barrel(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+   addCommands(
+     paths[0]
+   );
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/auto/Slalom.java b/src/main/java/frc4388/robot/commands/auto/Slalom.java
new file mode 100644
index 0000000..40159d1
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/auto/Slalom.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Drive;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class Slalom extends SequentialCommandGroup {
+  /**
+   * Creates a new Slalom.
+   */
+  public Slalom(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(
+      paths[0]
+    );
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java b/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
index b9f7d35..8b5d199 100644
--- a/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
+++ b/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
@@ -38,6 +38,7 @@ public class TurnDegrees extends CommandBase {
   public void initialize() {
     m_targetAngleTicksIn = (m_targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
     m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
+    SmartDashboard.putNumber("Current Yaw Ticks", m_currentYawInTicks);
     m_targetAngleTicksOut = m_targetAngleTicksIn + m_currentYawInTicks;
 
     i = 0;
@@ -48,7 +49,7 @@ public class TurnDegrees extends CommandBase {
   public void execute() {
     m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
 
-    m_drive.runTurningPID(m_targetAngleTicksOut);
+    m_drive.runTurningPID(m_targetAngleTicksIn);
 
     SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
     SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);