diff --git a/PathWeaver/Autos/5BallBottom b/PathWeaver/Autos/5BallBottom
new file mode 100644
index 0000000..84bd28b
--- /dev/null
+++ b/PathWeaver/Autos/5BallBottom
@@ -0,0 +1,3 @@
+5BallBottom1
+5BallBottom2
+5BallBottom3
diff --git a/PathWeaver/Autos/6BallOffensive b/PathWeaver/Autos/6BallOffensive
index d8f4684..8b6015d 100644
--- a/PathWeaver/Autos/6BallOffensive
+++ b/PathWeaver/Autos/6BallOffensive
@@ -1,2 +1 @@
-6balloffensice1
-offensive2
+6BallOffensive1
diff --git a/PathWeaver/Autos/6BallOffensive2 b/PathWeaver/Autos/6BallOffensive2
new file mode 100644
index 0000000..40262be
--- /dev/null
+++ b/PathWeaver/Autos/6BallOffensive2
@@ -0,0 +1 @@
+6BallOffensive2
diff --git a/PathWeaver/Autos/6BallOffinsive2 b/PathWeaver/Autos/6BallOffinsive2
deleted file mode 100644
index 0f3a549..0000000
--- a/PathWeaver/Autos/6BallOffinsive2
+++ /dev/null
@@ -1 +0,0 @@
-6balloffinsive2
diff --git a/PathWeaver/Autos/6BallTop b/PathWeaver/Autos/6BallTop
new file mode 100644
index 0000000..42b3ae1
--- /dev/null
+++ b/PathWeaver/Autos/6BallTop
@@ -0,0 +1 @@
+6BallTop
diff --git a/PathWeaver/Autos/8BallMid b/PathWeaver/Autos/8BallMid
new file mode 100644
index 0000000..eb82eff
--- /dev/null
+++ b/PathWeaver/Autos/8BallMid
@@ -0,0 +1,3 @@
+8BallMid1
+8BallMid2
+8BallMid3
diff --git a/PathWeaver/Autos/8BallOffensive b/PathWeaver/Autos/8BallOffensive
new file mode 100644
index 0000000..f0a3903
--- /dev/null
+++ b/PathWeaver/Autos/8BallOffensive
@@ -0,0 +1,2 @@
+2BallOffensive
+LoopFrom2BallOffensive
diff --git a/PathWeaver/Autos/8BallOffisncie b/PathWeaver/Autos/8BallOffisncie
deleted file mode 100644
index 57b1b4f..0000000
--- a/PathWeaver/Autos/8BallOffisncie
+++ /dev/null
@@ -1,2 +0,0 @@
-2balloffensive
-LoopFrom2BallOffinicne
diff --git a/PathWeaver/Paths/2balloffensive b/PathWeaver/Paths/2balloffensive
index 3a75458..f81e219 100644
--- a/PathWeaver/Paths/2balloffensive
+++ b/PathWeaver/Paths/2balloffensive
@@ -1,4 +1,4 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
-3.014314222837373,-5.950201470630437,2.0526375,0.0,true,false,
+3.014314222837373,-5.950201470630437,6.209200226381713,-0.010543725974497598,true,false,
 9.714852079630681,-3.9236973383319733,1.0786231671911182,0.5229688083350879,true,false,
 10.728104145779913,-4.021753989894802,0.26148440416754504,-0.32685550520942996,true,false,
diff --git a/PathWeaver/Paths/5BallBottom1 b/PathWeaver/Paths/5BallBottom1
new file mode 100644
index 0000000..9fb3a01
--- /dev/null
+++ b/PathWeaver/Paths/5BallBottom1
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+3.0541147019017925,-7.420490673945202,2.0526375,0.0,true,false,
+6.286879507383446,-7.292206356267358,2.4630588994145945,-0.07697059060670508,true,false,
diff --git a/PathWeaver/Paths/5BallBottom2 b/PathWeaver/Paths/5BallBottom2
new file mode 100644
index 0000000..47fb7fb
--- /dev/null
+++ b/PathWeaver/Paths/5BallBottom2
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+6.261222643847879,-7.266549492731788,2.0526375,0.0,true,true,
+5.234948102425132,-7.523118128087477,1.1802157226361594,0.0,true,true,
diff --git a/PathWeaver/Paths/5BallBottom3 b/PathWeaver/Paths/5BallBottom3
new file mode 100644
index 0000000..0d12c6c
--- /dev/null
+++ b/PathWeaver/Paths/5BallBottom3
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+5.234948102425132,-7.497461264551908,2.0526375,0.0,true,false,
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diff --git a/PathWeaver/Paths/6balloffensice1 b/PathWeaver/Paths/6BallOffensive1
similarity index 100%
rename from PathWeaver/Paths/6balloffensice1
rename to PathWeaver/Paths/6BallOffensive1
diff --git a/PathWeaver/Paths/6balloffinsive2 b/PathWeaver/Paths/6BallOffensive2
similarity index 56%
rename from PathWeaver/Paths/6balloffinsive2
rename to PathWeaver/Paths/6BallOffensive2
index 80e4e04..a2a75d6 100644
--- a/PathWeaver/Paths/6balloffinsive2
+++ b/PathWeaver/Paths/6BallOffensive2
@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 2.9489431217954873,-5.819459268546666,2.0526375,0.0,true,false,
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diff --git a/PathWeaver/Paths/6BallTop b/PathWeaver/Paths/6BallTop
new file mode 100644
index 0000000..6350fe0
--- /dev/null
+++ b/PathWeaver/Paths/6BallTop
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+3.131085292508499,-0.6983924276262062,0.0,0.0,true,false,
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diff --git a/PathWeaver/Paths/8BallMid1 b/PathWeaver/Paths/8BallMid1
new file mode 100644
index 0000000..41de41b
--- /dev/null
+++ b/PathWeaver/Paths/8BallMid1
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+3.1567421560440674,-4.5982356850326465,11.340333682721358,-0.025656863535568952,true,false,
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diff --git a/PathWeaver/Paths/8BallMid2 b/PathWeaver/Paths/8BallMid2
new file mode 100644
index 0000000..9d9827c
--- /dev/null
+++ b/PathWeaver/Paths/8BallMid2
@@ -0,0 +1,4 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
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diff --git a/PathWeaver/Paths/8BallMid3 b/PathWeaver/Paths/8BallMid3
new file mode 100644
index 0000000..921b893
--- /dev/null
+++ b/PathWeaver/Paths/8BallMid3
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
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diff --git a/PathWeaver/Paths/LoopFrom2BallOffensive b/PathWeaver/Paths/LoopFrom2BallOffensive
new file mode 100644
index 0000000..e20f807
--- /dev/null
+++ b/PathWeaver/Paths/LoopFrom2BallOffensive
@@ -0,0 +1,4 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
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diff --git a/PathWeaver/Paths/LoopFrom2BallOffinicne b/PathWeaver/Paths/LoopFrom2BallOffinicne
deleted file mode 100644
index b10a563..0000000
--- a/PathWeaver/Paths/LoopFrom2BallOffinicne
+++ /dev/null
@@ -1,4 +0,0 @@
-X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
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diff --git a/PathWeaver/Paths/Seq1 b/PathWeaver/Paths/Seq1
index 3e9d420..cbf8afe 100644
--- a/PathWeaver/Paths/Seq1
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@@ -1,3 +1,3 @@
-X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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-3.1117168073181727,-2.3200182954325834,0.6494401855311471,0.0,true,
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diff --git a/PathWeaver/Paths/Seq2 b/PathWeaver/Paths/Seq2
index 095eae9..cbf8afe 100644
--- a/PathWeaver/Paths/Seq2
+++ b/PathWeaver/Paths/Seq2
@@ -1,3 +1,3 @@
-X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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diff --git a/PathWeaver/Paths/SixBallMid0 b/PathWeaver/Paths/SixBallMid0
deleted file mode 100644
index c392449..0000000
--- a/PathWeaver/Paths/SixBallMid0
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@@ -1,3 +0,0 @@
-X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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-5.006107200045366,-1.3,2.0,0.0,true,
diff --git a/PathWeaver/Paths/SixBallMid1 b/PathWeaver/Paths/SixBallMid1
deleted file mode 100644
index 407b2e5..0000000
--- a/PathWeaver/Paths/SixBallMid1
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-X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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diff --git a/PathWeaver/Paths/SixBallMidComplete b/PathWeaver/Paths/SixBallMidComplete
deleted file mode 100644
index 4378c83..0000000
--- a/PathWeaver/Paths/SixBallMidComplete
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-5.0,-1.1,3.0,0.0,true,
-7.2,-1.1,1.5,0.0,true,
diff --git a/PathWeaver/Paths/TenBallMidComplete b/PathWeaver/Paths/TenBallMidComplete
deleted file mode 100644
index a87ff34..0000000
--- a/PathWeaver/Paths/TenBallMidComplete
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diff --git a/PathWeaver/output/11Ball1.wpilib.json b/PathWeaver/output/11Ball1.wpilib.json
new file mode 100644
index 0000000..f3cd59d
--- /dev/null
+++ b/PathWeaver/output/11Ball1.wpilib.json
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diff --git a/PathWeaver/output/11Ball2.wpilib.json b/PathWeaver/output/11Ball2.wpilib.json
new file mode 100644
index 0000000..23fbfd3
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diff --git a/PathWeaver/output/2BallOffensive.wpilib.json b/PathWeaver/output/2BallOffensive.wpilib.json
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diff --git a/PathWeaver/output/6BallOffensive2.wpilib.json b/PathWeaver/output/6BallOffensive2.wpilib.json
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diff --git a/PathWeaver/output/6balloffinsive2.wpilib.json b/PathWeaver/output/6balloffinsive2.wpilib.json
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+"translation": {
+"x": 9.184419234310937,
+"y": 3.1872637299633366
+}
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+}
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+}
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+}
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+}
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+}
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+"y": 3.7130276681267667
+}
+},
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+{
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+"translation": {
+"x": 10.330270507817595,
+"y": 3.7519039308046267
+}
+},
+"time": 3.8091037982772753,
+"velocity": 2.2055701979716056
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+{
+"acceleration": -2.7,
+"curvature": 0.10295551330949244,
+"pose": {
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+"radians": 0.543493178267956
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+"translation": {
+"x": 10.39581559000229,
+"y": 3.7911485498903534
+}
+},
+"time": 3.8445086551502277,
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+"acceleration": -2.700000000000008,
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+"y": 3.8307373474744857
+}
+},
+"time": 3.881434193861296,
+"velocity": 2.0102781298947487
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+}
+},
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+}
+},
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+}
+},
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+"translation": {
+"x": 10.71550381355395,
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+}
+},
+"time": 4.050639046542376,
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+{
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+"curvature": 0.05778680990444957,
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+"radians": 0.5808833791019307
+},
+"translation": {
+"x": 10.77813171287803,
+"y": 4.032917696981623
+}
+},
+"time": 4.100997071230528,
+"velocity": 1.4174583609978222
+},
+{
+"acceleration": -2.6999999999999993,
+"curvature": 0.047655071981255716,
+"pose": {
+"rotation": {
+"radians": 0.5848227773072711
+},
+"translation": {
+"x": 10.84043852214669,
+"y": 4.073999333393778
+}
+},
+"time": 4.156592342722787,
+"velocity": 1.2673511279687233
+},
+{
+"acceleration": -2.700000000000001,
+"curvature": 0.036786361988898,
+"pose": {
+"rotation": {
+"radians": 0.5879724146927157
+},
+"translation": {
+"x": 10.90248094590126,
+"y": 4.115223300892124
+}
+},
+"time": 4.219596422750304,
+"velocity": 1.0972401118944257
+},
+{
+"acceleration": -2.7,
+"curvature": 0.02520019687001484,
+"pose": {
+"rotation": {
+"radians": 0.5902821529864078
+},
+"translation": {
+"x": 10.964319412255016,
+"y": 4.156555904403128
+}
+},
+"time": 4.294239764978045,
+"velocity": 0.8957030878795256
+},
+{
+"acceleration": -2.6999999999999997,
+"curvature": 0.012925211917329652,
+"pose": {
+"rotation": {
+"radians": 0.591702820846342
+},
+"translation": {
+"x": 11.026018139299396,
+"y": 4.197962183347583
+}
+},
+"time": 4.39143519841035,
+"velocity": 0.6332754176123007
+},
+{
+"acceleration": -2.6999999999999997,
+"curvature": -5.315108097304054e-16,
+"pose": {
+"rotation": {
+"radians": 0.5921866795496411
+},
+"translation": {
+"x": 11.087645201510295,
+"y": 4.23940589478279
+}
+},
+"time": 4.625981649377868,
+"velocity": 0.0
+}
+]
\ No newline at end of file
diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json
index bcd3b83..35e6ff6 100644
--- a/PathWeaver/pathweaver.json
+++ b/PathWeaver/pathweaver.json
@@ -1,9 +1,9 @@
 {
   "lengthUnit": "Meter",
   "exportUnit": "Always Meters",
-  "maxVelocity": 2.6,
+  "maxVelocity": 2.3,
   "maxAcceleration": 2.7,
   "trackWidth": 0.648,
   "gameName": "Infinite Recharge 2021",
-  "outputDir": ".."
+  "outputDir": ""
 }
\ No newline at end of file
diff --git a/pathweaver.json b/pathweaver.json
new file mode 100644
index 0000000..e183b76
--- /dev/null
+++ b/pathweaver.json
@@ -0,0 +1,8 @@
+{
+  "lengthUnit": "Meter",
+  "maxVelocity": 2.3,
+  "maxAcceleration": 2.7,
+  "wheelBase": 0.648,
+  "gameName": "Bounce Path",
+  "outputDir": ""
+}
\ 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 701d6cf..3fcac20 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -41,6 +41,7 @@ import frc4388.robot.commands.auto.GalacticSearch;
 import frc4388.robot.commands.auto.IdentifyPath;
 import frc4388.robot.commands.auto.SequentialTest;
 import frc4388.robot.commands.auto.SixBallAutoMiddle;
+import frc4388.robot.commands.auto.SixBallTop;
 import frc4388.robot.commands.auto.Slalom;
 import frc4388.robot.commands.auto.TenBallAutoMiddle;
 import frc4388.robot.commands.auto.Wait;
@@ -120,21 +121,21 @@ public class RobotContainer {
     /* Autos */
     double m_totalTimeAuto;
 
-    SixBallAutoMiddle m_sixBallAutoMiddle;
+    //SixBallAutoMiddle m_sixBallAutoMiddle;
 
-    SixBallAutoMiddle m_sixBallAutoMiddle0;
+    //SixBallAutoMiddle m_sixBallAutoMiddle0;
 
-    SixBallAutoMiddle m_sixBallAutoMiddle1;
+    //SixBallAutoMiddle m_sixBallAutoMiddle1;
 
-    EightBallAutoMiddle m_eightBallAutoMiddle;
+    //EightBallAutoMiddle m_eightBallAutoMiddle;
 
     DriveOffLineForward m_driveOffLineForward;
 
     DriveOffLineBackward m_driveOffLineBackward;
 
-    FiveBallAutoMiddle m_fiveBallAutoMiddle;
+    //FiveBallAutoMiddle m_fiveBallAutoMiddle;
 
-    TenBallAutoMiddle m_tenBallAutoMiddle;
+    //TenBallAutoMiddle m_tenBallAutoMiddle;
 
     Slalom m_slalom;
 
@@ -150,6 +151,12 @@ public class RobotContainer {
 
     GalacticSearch m_galacticSearch;
 
+    SixBallTop m_sixBallTop;
+
+    EightBallMid m_eightBallMid;
+
+    FiveBallBottom m_fiveBallBottom;
+
     public static boolean m_isShooterManual = false;
 
     /**
@@ -345,7 +352,7 @@ public class RobotContainer {
         String[] sixBallAutoMiddlePaths = new String[]{
             "SixBallMidComplete"
         };
-
+/*
         m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
 
         String[] sixBallAutoMiddle0Paths = new String[]{
@@ -359,7 +366,7 @@ public class RobotContainer {
         };
 
         m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths));
-
+*/
         String[] slalom = new String[]{
             "Slalom"
         };
@@ -397,6 +404,7 @@ public class RobotContainer {
             "EightBallMidComplete"
         };
 
+        /*
         m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
 
         String[] driveOffLineForwardPaths = new String[]{
@@ -404,7 +412,7 @@ public class RobotContainer {
         };
 
         m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, this, buildPaths(driveOffLineForwardPaths));
-
+*/
         String[] driveOffLineBackwardPaths = new String[]{
             "DriveOffLineBackward"
         };
@@ -415,6 +423,7 @@ public class RobotContainer {
             "FiveBallMidComplete"
         };
 
+        /*
         m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
 
         String[] tenBallAutoMiddlePaths = new String[]{
@@ -424,15 +433,34 @@ public class RobotContainer {
         m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
                 m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
 
+        */
         String[] galacticSearchPaths = new String[]{
               "GSC_ARED",
               "GSC_ABLUE",
               "GSC_BRED",
               "GSC_BBLUE"
         };
-
         m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
 
+        String[] sixBallTopPaths = new String[]{
+            "6BallTop"
+        };
+
+        m_sixBallTop = new SixBallTop(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(sixBallTopPaths));
+
+        String[] eightBallMidPaths = new String[]{
+            "2BallOffensive",
+            "LoopFrom2BallOffensive"
+        };
+        m_eightBallMid = new EightBallMid(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(eightBallMidPaths));
+
+        String[] fiveBallBottomPaths = new String[]{
+            "5BallBottom1",
+            "5BallBottom2",
+            "5BallBottom3"
+        };
+        m_fiveBallBottom = new FiveBallBottom(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(fiveBallBottomPaths));
+
     }
 
     public void idenPath()
@@ -455,14 +483,29 @@ public class RobotContainer {
             //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_eightBallAutoMiddle.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));
             //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
-            return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
+            //return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
+            //return m_sixBallTop.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
+            //return m_eightBallMid.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
+            return m_fiveBallBottom.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
+  
+
+            /*
+            TODO
+            11BallTop
+            6BallOffensive (Trench)
+            6BallOffensive2
+            8BallOffensive
+            5BallBottom*
+            8BallMid*
+            6BallTop*
+            */
 
 
         } catch (Exception e) {
diff --git a/src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java b/src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java
index b7871b1..68e8911 100644
--- a/src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java
+++ b/src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java
@@ -28,7 +28,7 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
     m_drive = subsystem;
     m_pneumatics = subsystem2;
 
-    addCommands(  new Wait(m_drive, 0, 1), 
+    addCommands(  new Wait(m_drive, 0), 
                   //shoot pre-loaded 3 balls
                   new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 75, 44, -90),
                   //Start Intake Ball 1
@@ -39,7 +39,7 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
                   new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
                   //Start Intake Ball 3
                   new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
-                  new Wait(m_drive, 0, 2)
+                  new Wait(m_drive, 0)
                   //Shoot 3 Balls
                   );
   }
diff --git a/src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java b/src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java
index 5da03fa..596b827 100644
--- a/src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java
+++ b/src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java
@@ -28,7 +28,7 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
     m_drive = subsystem;
     m_pneumatics = subsystem2;
     
-    addCommands(  new Wait(m_drive, 0, 1),
+    addCommands(  new Wait(m_drive, 0),
                   new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 77),
                   //Start Intake Ball 1
                   new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
@@ -48,7 +48,7 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
                   //Move to 10th Ball
                   new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 13.30),
                   //Shoot 5 more Balls (Total 10 Ball Autonomous Path)
-                  new Wait(m_drive, 0, 2)
+                  new Wait(m_drive, 0)
                   );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/auto/EightBallMid.java b/src/main/java/frc4388/robot/commands/auto/EightBallMid.java
new file mode 100644
index 0000000..68d89f3
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/auto/EightBallMid.java
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* 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.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
+import frc4388.robot.subsystems.Storage;
+import frc4388.robot.commands.intake.RunExtenderOutIn;
+import frc4388.robot.commands.intake.RunIntake;
+import frc4388.robot.commands.shooter.CalibrateShooter;
+import frc4388.robot.commands.shooter.TrackTarget;
+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 EightBallMid extends SequentialCommandGroup {
+  /**
+   * Creates a new EightBallMid.
+   */
+  public EightBallMid(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(
+      //TODO REWRITE
+      //Shoot and Extend Intake
+      new CalibrateShooter(shooter, shooterAim, shooterHood),
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
+        new RunExtenderOutIn(intake)
+      ),
+      //Intake and Path
+      new ParallelDeadlineGroup(
+        paths[0],
+        new RunIntake(intake)
+      ),
+      //Shoot
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
+      )
+    );
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java b/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java
new file mode 100644
index 0000000..27ba3b8
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* 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.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
+import frc4388.robot.subsystems.Storage;
+import frc4388.robot.commands.intake.RunExtenderOutIn;
+import frc4388.robot.commands.intake.RunIntake;
+import frc4388.robot.commands.shooter.CalibrateShooter;
+import frc4388.robot.commands.shooter.TrackTarget;
+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 FiveBallBottom extends SequentialCommandGroup {
+  /**
+   * Creates a new FiveBallBottom.
+   */
+  public FiveBallBottom(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    //TODO Rewrite
+    addCommands(
+      //Shoot and Extend Intake
+      new CalibrateShooter(shooter, shooterAim, shooterHood),
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
+        new RunExtenderOutIn(intake)
+      ),
+      //Intake and Path
+      new ParallelDeadlineGroup(
+        paths[0],
+        new RunIntake(intake)
+      ),
+      //Shoot
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
+      )
+    );
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/auto/SixBallTop.java b/src/main/java/frc4388/robot/commands/auto/SixBallTop.java
new file mode 100644
index 0000000..9046a68
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/auto/SixBallTop.java
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* 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.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
+import frc4388.robot.subsystems.Storage;
+import frc4388.robot.commands.intake.RunExtenderOutIn;
+import frc4388.robot.commands.intake.RunIntake;
+import frc4388.robot.commands.shooter.CalibrateShooter;
+import frc4388.robot.commands.shooter.TrackTarget;
+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 SixBallTop extends SequentialCommandGroup {
+  /**
+   * Creates a new SixBallTop.
+   */
+  public SixBallTop(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(
+      //Shoot and Extend Intake
+      new CalibrateShooter(shooter, shooterAim, shooterHood),
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
+        new RunExtenderOutIn(intake)
+      ),
+      //Intake and Path
+      new ParallelDeadlineGroup(
+        paths[0],
+        new RunIntake(intake)
+      ),
+      //Shoot
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
+      )
+    );
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
index 28ae59c..6c9d661 100644
--- a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
+++ b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
@@ -35,15 +35,15 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
     // super(new FooCommand(), new BarCommand());
     addCommands(
       new ParallelDeadlineGroup(
-        new Wait(drive, 0.1, 0),
+        new Wait(drive, 0.1),
         new CalibrateShooter(shooter, shooterAim, shooterHood)
       ),
       new ParallelDeadlineGroup(
-        new Wait(drive, 1, 0),
+        new Wait(drive, 1),
         new RunCommand(() -> shooterAim.runShooterWithInput(-0.75), shooterAim)
       ),
       new ParallelDeadlineGroup(
-        new Wait(drive, 4, 0),
+        new Wait(drive, 4),
         new PrepChecker(shooter, shooterAim),
         new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
         new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
diff --git a/src/main/java/frc4388/robot/commands/auto/Wait.java b/src/main/java/frc4388/robot/commands/auto/Wait.java
index 6bbedf3..5f8113d 100644
--- a/src/main/java/frc4388/robot/commands/auto/Wait.java
+++ b/src/main/java/frc4388/robot/commands/auto/Wait.java
@@ -23,12 +23,12 @@ public class Wait extends CommandBase {
   /**
    * Creates a new WaitCommand.
    */
-  public Wait(SubsystemBase subsystem, double seconds, int waitNum) {
+  public Wait(SubsystemBase subsystem, double seconds) {
     // Use addRequirements() here to declare subsystem dependencies.
 
     m_waitTime = (long) (seconds * 1000);
     m_subsystem = subsystem;
-    m_waitNum = waitNum;
+   // m_waitNum = waitNum;
 
     addRequirements(m_subsystem);
   }
diff --git a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java
index df68e4d..bd7f600 100644
--- a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java
+++ b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java
@@ -44,7 +44,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
     m_endAngle = endAngle;
 
     addCommands(  new TurnDegrees(m_drive, m_currentAngle),
-                  new Wait(m_drive, 0, 0),
+                  new Wait(m_drive, 0),
                   new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), 
                   new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360));
   }
@@ -63,7 +63,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
     m_endAngle = m_currentAngle;
 
     addCommands(  new TurnDegrees(m_drive, m_currentAngle),
-                  new Wait(m_drive, 0, 0),
+                  new Wait(m_drive, 0),
                   new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), 
                   new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
   }
diff --git a/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java b/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
index c222ad6..956ec3c 100644
--- a/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
+++ b/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
@@ -46,9 +46,9 @@ public class RunExtenderOutIn extends CommandBase {
   @Override
   public void execute() {
     if (m_intake.isExtended){
-      m_intake.runExtender(0.3);
+      m_intake.runExtender(0.5);
     } else {
-      m_intake.runExtender(-0.3);
+      m_intake.runExtender(-0.5);
     }
 
   }
diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
index b682cb1..c41eb49 100644
--- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
@@ -11,6 +11,7 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.LimeLight;
 import frc4388.robot.subsystems.Shooter;
@@ -115,6 +116,19 @@ public class TrackTarget extends CommandBase {
       m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
       m_shooterAim.m_targetDistance = distance;
     }
+    else{
+      //Sweeping
+      double turn = -0.5;
+      if (m_shooterAim.getShooterRotatePosition() > ShooterConstants.TURRET_RIGHT_SOFT_LIMIT - 1)
+      {
+        turn = -0.5;
+      }
+      if (m_shooterAim.getShooterRotatePosition() < ShooterConstants.TURRET_LEFT_SOFT_LIMIT + 1)
+      {
+        turn = 0.5;
+      }
+      m_shooterAim.runShooterWithInput(turn);
+    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/subsystems/ShooterAim.java b/src/main/java/frc4388/robot/subsystems/ShooterAim.java
index db9d231..bcbaf4d 100644
--- a/src/main/java/frc4388/robot/subsystems/ShooterAim.java
+++ b/src/main/java/frc4388/robot/subsystems/ShooterAim.java
@@ -132,6 +132,7 @@ public class ShooterAim extends SubsystemBase {
     return m_targetDistance * Math.sin(getTargetAngleDegrees());
   }
 
+
   /**
    * Gets the angle of the Shooter relative to the inner port.
    * Use for tuning the Shooter Displacement