diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 48a40c4..66537a3 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -191,8 +191,8 @@ public class RobotContainer {
         RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
         // Run path following command, then stop at the end.
         //return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
-        return new AutoPath1FromCenter(m_robotDrive);
-        //return new AutoPath2FromRight(m_robotDrive);
+        return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
+        //return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
 
     }
     TrajectoryConfig getTrajectoryConfig() {
diff --git a/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java b/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
index e941c05..4ec080a 100644
--- a/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
+++ b/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
@@ -9,32 +9,35 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Pneumatics;
 
 // 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 AutoPath1FromCenter extends SequentialCommandGroup {
   Drive m_drive;
+  Pneumatics m_pneumatics;
 
   /**
    * Creates a new AutoPath1FromCenter.
    */
-  public AutoPath1FromCenter(Drive subsystem) {
+  public AutoPath1FromCenter(Drive subsystem, Pneumatics subsystem2) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     m_drive = subsystem;
+    m_pneumatics = subsystem2;
 
     addCommands(  new Wait(m_drive, 0, 1), 
                   //shoot pre-loaded 3 balls
-                  new GotoCoordinates(m_drive, 75, 44, -90),
+                  new GotoCoordinates(m_drive, m_pneumatics, 75, 44, -90),
                   //Start Intake Ball 1
-                  new GotoCoordinates(m_drive, 0, 12),
-                  new GotoCoordinates(m_drive, 0, 28),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 12),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
                   //Start Intake Ball 2
-                  new GotoCoordinates(m_drive, 0, 8),
-                  new GotoCoordinates(m_drive, 0, 28),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
                   //Start Intake Ball 3
-                  new GotoCoordinates(m_drive, 0, 8),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
                   new Wait(m_drive, 0, 2)
                   //Shoot 3 Balls
                   );
diff --git a/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java b/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
index 2411523..43657c3 100644
--- a/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
+++ b/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
@@ -9,34 +9,37 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Pneumatics;
 
 // 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 AutoPath2FromRight extends SequentialCommandGroup {
   Drive m_drive;
+  Pneumatics m_pneumatics;
 
   /**
    * Creates a new AutoPath2FromRight.
    */
-  public AutoPath2FromRight(Drive subsystem) {
+  public AutoPath2FromRight(Drive subsystem, Pneumatics subsystem2) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     m_drive = subsystem;
+    m_pneumatics = subsystem2;
     
     addCommands(  new Wait(m_drive, 0, 1),
-                  new GotoCoordinates(m_drive, 0, 77),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 77),
                   //Start Intake Ball 1
-                  new GotoCoordinates(m_drive, 0, 8),
-                  new GotoCoordinates(m_drive, 0, 28),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
                   //Start Intake Ball 2
-                  new GotoCoordinates(m_drive, 0, 8),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
                   //Shoot 5 Balls
-                  new GotoCoordinates(m_drive, 0, 28),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
                   //Start Intake Ball 1 (second round)
-                  new GotoCoordinates(m_drive, 0, 8),
+                  new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
                   //Start Moving to 4th Ball
-                  new GotoCoordinates(m_drive, 60, -50),
+                  new GotoCoordinates(m_drive, m_pneumatics, 60, -50),
                   new Wait(m_drive, 0, 2)
                   );
   }
diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
index b7c74bb..c9aa927 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
@@ -30,6 +30,7 @@ public class DriveStraightToPositionMM extends CommandBase {
   public DriveStraightToPositionMM(Drive subsystem, Pneumatics subsystem2, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
+    m_pneumatics = subsystem2;
     try {
       if (m_pneumatics.m_isSpeedShiftHigh) {
         m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
index c8a339b..a457e26 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
@@ -29,6 +29,7 @@ public class DriveStraightToPositionPID extends CommandBase {
   public DriveStraightToPositionPID(Drive subsystem, Pneumatics subsystem2, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
+    m_pneumatics = subsystem2;
     try {
       if (m_pneumatics.m_isSpeedShiftHigh) {
         m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
diff --git a/src/main/java/frc4388/robot/commands/GotoCoordinates.java b/src/main/java/frc4388/robot/commands/GotoCoordinates.java
index 244905b..6ca3deb 100644
--- a/src/main/java/frc4388/robot/commands/GotoCoordinates.java
+++ b/src/main/java/frc4388/robot/commands/GotoCoordinates.java
@@ -10,12 +10,14 @@ package frc4388.robot.commands;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Pneumatics;
 
 // 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 GotoCoordinates extends SequentialCommandGroup {
   Drive m_drive;
+  Pneumatics m_pneumatics;
 
   double m_xTarget;
   double m_yTarget;
@@ -26,10 +28,11 @@ public class GotoCoordinates extends SequentialCommandGroup {
   /**
    * Creates a new GotoPosition.
    */
-  public GotoCoordinates(Drive subsystem, double xTarget, double yTarget, double endAngle) {
+  public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget, double endAngle) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     m_drive = subsystem;
+    m_pneumatics = subsystem2;
 
     m_xTarget = xTarget;
     m_yTarget = yTarget;
@@ -42,12 +45,13 @@ public class GotoCoordinates extends SequentialCommandGroup {
 
     addCommands(  new TurnDegrees(m_drive, m_currentAngle),
                   new Wait(m_drive, 0, 0),
-                  new DriveStraightToPositionPID(m_drive, m_hypotDist), 
+                  new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), 
                   new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
   }
 
-  public GotoCoordinates(Drive subsystem, double xTarget, double yTarget) {
+  public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
     m_drive = subsystem;
+    m_pneumatics = subsystem2;
 
     m_xTarget = xTarget;
     m_yTarget = yTarget;
@@ -60,7 +64,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
 
     addCommands(  new TurnDegrees(m_drive, m_currentAngle),
                   new Wait(m_drive, 0, 0),
-                  new DriveStraightToPositionPID(m_drive, m_hypotDist), 
+                  new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), 
                   new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
   }