From 7788cd9a5c46488ed67b1dbb1ec8fad5c6086cb5 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 25 Mar 2026 21:51:35 -0500
Subject: [PATCH 01/36] use SensorToMechanismRatio and setPosition for
 calibration for turret

---
 .../lib/hardware/components/GhostDevice.java  |  7 +-
 .../lib/hardware/components/motor/IMotor.java |  1 +
 .../lib/hardware/factory/RobotFactory.java    | 16 ++++
 .../team1816/season/subsystems/Shooter.java   | 92 ++++++++-----------
 .../schemas/hardware/deviceconfig.schema.json |  6 +-
 src/main/resources/yaml/ztldr.yml             |  8 +-
 6 files changed, 69 insertions(+), 61 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java b/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java
index 39390844..ba1ee1b7 100644
--- a/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java
+++ b/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java
@@ -8,8 +8,6 @@
 
 public class GhostDevice implements IMotor {
 
-    private int Id = 0;
-
     public GhostDevice(int deviceID, CANBus canbus) {
 
     }
@@ -45,8 +43,11 @@ public double getMotorPosition() {
     }
 
     @Override
-    public void zeroMotorPosition() {
+    public void zeroMotorPosition() {}
 
+    @Override
+    public StatusCode setPosition(double newValue) {
+        return StatusCode.OK;
     }
 
     @Override
diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java b/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java
index cf1a4895..35d64edc 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java
@@ -11,6 +11,7 @@ public interface IMotor extends IPhoenix6 {
     double getMotorPosition();
     // used to zero the motor position
     void zeroMotorPosition();
+    StatusCode setPosition(double newValue);
     StatusCode setSimRotorVelocity(double rps);
     StatusCode setSimRotorPosition(double rotations);
     double getSimMotorVoltage();
diff --git a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
index 2ff6c227..1f09bbc7 100644
--- a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
+++ b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
@@ -487,6 +487,12 @@ private FeedbackConfigs GetFeedbackConfigs(DeviceConfiguration deviceConfig) {
             config.RotorToSensorRatio = deviceConfig.rotorToSensor;
             GreenLogger.log("  rotorToSensor: " + config.RotorToSensorRatio);
         }
+
+        if (deviceConfig.sensorToMechanismRatio != null) {
+            config.SensorToMechanismRatio = deviceConfig.sensorToMechanismRatio;
+            GreenLogger.log("  sensorToMechanismRatio: " + config.SensorToMechanismRatio);
+        }
+
         return config;
     }
 
@@ -511,6 +517,16 @@ private ExternalFeedbackConfigs getExternalFeedbackConfigs(DeviceConfiguration d
             GreenLogger.log("  remoteOffest: " + config.AbsoluteSensorOffset);
         }
 
+        if (deviceConfig.rotorToSensor != null) {
+            config.RotorToSensorRatio = deviceConfig.rotorToSensor;
+            GreenLogger.log("  rotorToSensor: " + config.RotorToSensorRatio);
+        }
+
+        if (deviceConfig.sensorToMechanismRatio != null) {
+            config.SensorToMechanismRatio = deviceConfig.sensorToMechanismRatio;
+            GreenLogger.log("  sensorToMechanismRatio: " + config.SensorToMechanismRatio);
+        }
+
         return config;
     }
 
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index ff5dd82f..94b81ad3 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -110,7 +110,6 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
     private boolean previousSensorValuesKnown = false;
 
     //CONSTANTS
-    private final double MOTOR_ROTATIONS_PER_TURRET_ROTATION;
     private final Translation3d SHOOTER_OFFSET;
     /**
      * The tolerance for the turret rotation to consider it aimed at the target (in degrees).
@@ -130,29 +129,29 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
      */
     private final double INCLINE_DUCKING_LIMIT_ROTATIONS;
     /**
-     * The turret position opposite the dead zone, in turret rotations.
+     * The turret position opposite the dead zone, (in rotations).
      */
-    private final double OPPOSITE_OF_DEAD_ZONE_TURRET_ROTATIONS;
+    private final double OPPOSITE_OF_DEAD_ZONE_POSITION_ROTATIONS;
     /**
      * The first (in the counterclockwise direction) of the four positions of the turret motor
-     * where we would see beam break values change, in motor rotations.
+     * where we would see beam break values change, (in rotations).
      */
-    private final double FIRST_BEAM_BREAK_POSITION_MOTOR_ROTATIONS;
+    private final double FIRST_BEAM_BREAK_POSITION_ROTATIONS;
     /**
      * The second (in the counterclockwise direction) of the four positions of the turret motor
-     * where we would see beam break values change, in motor rotations.
+     * where we would see beam break values change, (in rotations).
      */
-    private final double SECOND_BEAM_BREAK_POSITION_MOTOR_ROTATIONS;
+    private final double SECOND_BEAM_BREAK_POSITION_ROTATIONS;
     /**
      * The third (in the counterclockwise direction) of the four positions of the turret motor
-     * where we would see beam break values change, in motor rotations.
+     * where we would see beam break values change, (in rotations).
      */
-    private final double THIRD_BEAM_BREAK_POSITION_MOTOR_ROTATIONS;
+    private final double THIRD_BEAM_BREAK_POSITION_ROTATIONS;
     /**
      * The fourth (in the counterclockwise direction) of the four positions of the turret motor
-     * where we would see beam break values change, in motor rotations.
+     * where we would see beam break values change, (in rotations).
      */
-    private final double FOURTH_BEAM_BREAK_POSITION_MOTOR_ROTATIONS;
+    private final double FOURTH_BEAM_BREAK_POSITION_ROTATIONS;
     /**
      * The amount by which to increase or decrease the {@link #launchVelocityAdjustmentRPS} per
      * call to {@link #increaseLaunchVelocityAdjustment()} or {@link
@@ -178,11 +177,6 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
     private final double TOP_LAUNCH_MOTOR_BACKSPIN_MULTIPLIER;
 
     //CALIBRATION
-    /**
-     * The offset in motor rotations of the turret motor from the reference frame where robot
-     * forward is zero to the positions read by the motor.
-     */
-    private double turretMotorOffsetRotations;
     private final double FAST_CALIBRATION_SPEED = 0.09;
     private final double SLOW_CALIBRATION_SPEED = 0.04;
     private final DutyCycleOut turretDutyCycleOutRequest = new DutyCycleOut(0);
@@ -210,27 +204,24 @@ public Shooter() {
         super();
         // if the turret is ghosted we can say we are calibrated because the motors will not move
         if(turretMotor.isGhost()) isTurretCalibrated = true;
-        MOTOR_ROTATIONS_PER_TURRET_ROTATION = factory.getConstant(NAME, "motorRotationsPerTurretRotation", 1);
         SHOOTER_OFFSET = new Translation3d(
             factory.getConstant(NAME, "shooterOffsetXMeters",0),
             factory.getConstant(NAME, "shooterOffsetYMeters",0),
             factory.getConstant(NAME, "shooterOffsetZMeters",0)
         );
 
-        // Find the turret positions of the four spots that we would see beam break values change,
-        // in motor rotations relative robot forward.
+        // Find the turret positions of the four spots that we would see beam break values change.
         double closeDistanceBetweenBeamBreaks = factory.getConstant(NAME, "closeDistanceBetweenBeamBreaks", 0);
         double farDistanceBetweenBeamBreaks = factory.getConstant(NAME, "farDistanceBetweenBeamBreaks", 0);
         double secondLowestBeamBreakToZero = factory.getConstant(NAME, "secondLowestBeamBreakToZero", 0);
-        FIRST_BEAM_BREAK_POSITION_MOTOR_ROTATIONS = -secondLowestBeamBreakToZero - closeDistanceBetweenBeamBreaks;
-        SECOND_BEAM_BREAK_POSITION_MOTOR_ROTATIONS = -secondLowestBeamBreakToZero;
-        THIRD_BEAM_BREAK_POSITION_MOTOR_ROTATIONS = -secondLowestBeamBreakToZero + farDistanceBetweenBeamBreaks;
-        FOURTH_BEAM_BREAK_POSITION_MOTOR_ROTATIONS = -secondLowestBeamBreakToZero + farDistanceBetweenBeamBreaks + closeDistanceBetweenBeamBreaks;
+        FIRST_BEAM_BREAK_POSITION_ROTATIONS = -secondLowestBeamBreakToZero - closeDistanceBetweenBeamBreaks;
+        SECOND_BEAM_BREAK_POSITION_ROTATIONS = -secondLowestBeamBreakToZero;
+        THIRD_BEAM_BREAK_POSITION_ROTATIONS = -secondLowestBeamBreakToZero + farDistanceBetweenBeamBreaks;
+        FOURTH_BEAM_BREAK_POSITION_ROTATIONS = -secondLowestBeamBreakToZero + farDistanceBetweenBeamBreaks + closeDistanceBetweenBeamBreaks;
         // Get the position opposite of the dead zone to use as the center of our wrapped range.
-        double oppositeOfDeadZoneMotorRotations = (
-            SECOND_BEAM_BREAK_POSITION_MOTOR_ROTATIONS + THIRD_BEAM_BREAK_POSITION_MOTOR_ROTATIONS
+        OPPOSITE_OF_DEAD_ZONE_POSITION_ROTATIONS = (
+            SECOND_BEAM_BREAK_POSITION_ROTATIONS + THIRD_BEAM_BREAK_POSITION_ROTATIONS
         ) / 2;
-        OPPOSITE_OF_DEAD_ZONE_TURRET_ROTATIONS = oppositeOfDeadZoneMotorRotations / MOTOR_ROTATIONS_PER_TURRET_ROTATION;
 
         TURRET_ROTATION_TOLERANCE_DEGREES = factory.getConstant(NAME, "turretRotationToleranceDegrees", 0);
         INCLINE_ANGLE_TOLERANCE_DEGREES = factory.getConstant(NAME, "inclineAngleToleranceDegrees", 0);
@@ -270,7 +261,6 @@ public Shooter() {
         GreenLogger.periodicLog(NAME + "/turret/Aiming in Dead Zone", () -> isTurretAimingInDeadZone);
         GreenLogger.periodicLog(NAME + "/turret/Left Sensor Triggered", () -> leftSensorTriggered);
         GreenLogger.periodicLog(NAME + "/turret/Right Sensor Triggered", () -> rightSensorTriggered);
-        GreenLogger.periodicLog(NAME + "/turret/Motor Offset Rotations", () -> turretMotorOffsetRotations);
         GreenLogger.periodicLog(NAME + "/turret/Fixed Angle Degrees", () -> turretFixedAngleDegrees);
         GreenLogger.periodicLog(NAME + "/turret/Auto Aiming Turret", () -> autoAimTurret);
         GreenLogger.periodicLog(NAME + "/turret/Angle Adjustment Degrees", () -> turretAngleAdjustmentDegrees);
@@ -527,8 +517,8 @@ private void aimInclineAndLaunchersAtTarget(Translation2d targetTranslation2d) {
     }
 
     /**
-     * Determines the offset of the {@link #turretMotor} based on where the beam break
-     * sensors change triggered values.
+     * Moves the turret until the beam break sensors change triggered values and uses this to zero
+     * the {@link #turretMotor}.
      */
     private void calibrateTurretMotor() {
         // We only want to run the motors to automatically calibrate if the robot is enabled, but the
@@ -568,28 +558,29 @@ else if (rightSensorTriggered) {
             if (leftSensorTriggered != previousLeftSensorTriggered) { // Change in left sensor triggered value.
                 if (rightSensorTriggered) {
                     // Must be at the first of the four positions where sensor values change.
-                    finishCalibration(FIRST_BEAM_BREAK_POSITION_MOTOR_ROTATIONS);
+                    finishCalibration(FIRST_BEAM_BREAK_POSITION_ROTATIONS);
                 }
                 else {
                     // Must be at the third of the four positions where sensor values change.
-                    finishCalibration(THIRD_BEAM_BREAK_POSITION_MOTOR_ROTATIONS);
+                    finishCalibration(THIRD_BEAM_BREAK_POSITION_ROTATIONS);
                 }
             }
             else if (rightSensorTriggered != previousRightSensorTriggered) { // Change in the right sensor triggered value.
                 if (leftSensorTriggered) {
                     // Must be at the fourth of the four positions where sensor values change.
-                    finishCalibration(FOURTH_BEAM_BREAK_POSITION_MOTOR_ROTATIONS);
+                    finishCalibration(FOURTH_BEAM_BREAK_POSITION_ROTATIONS);
                 }
                 else {
                     // Must be at the second of the four positions where sensor values change.
-                    finishCalibration(SECOND_BEAM_BREAK_POSITION_MOTOR_ROTATIONS);
+                    finishCalibration(SECOND_BEAM_BREAK_POSITION_ROTATIONS);
                 }
             }
         }
     }
 
-    private void finishCalibration(double beamBreakPositionMotorRotations) {
-        turretMotorOffsetRotations = turretMotor.getMotorPosition() - beamBreakPositionMotorRotations;
+    private void finishCalibration(double beamBreakPositionRotations) {
+        // Tell the turret motor that it is now at the specific beam break position.
+        turretMotor.setPosition(beamBreakPositionRotations);
         turretMotor.setControl(turretDutyCycleOutRequest.withOutput(0));
         isTurretCalibrated = true;
     }
@@ -684,28 +675,25 @@ private boolean isInclineAimed() {
     private void setTurretAngle(double wantedAngleDegrees) {
         wantedTurretAngleDegrees = wantedAngleDegrees + turretAngleAdjustmentDegrees;
         if (isTurretCalibrated) {
-            double wantedTurretRotations = Units.degreesToRotations(wantedTurretAngleDegrees);
+            double wantedRotations = Units.degreesToRotations(wantedTurretAngleDegrees);
 
-            double wrappedWantedTurretRotations = MathUtil.inputModulus(
-                wantedTurretRotations,
-                OPPOSITE_OF_DEAD_ZONE_TURRET_ROTATIONS - 0.5,
-                OPPOSITE_OF_DEAD_ZONE_TURRET_ROTATIONS + 0.5
+            double wrappedWantedRotations = MathUtil.inputModulus(
+                wantedRotations,
+                OPPOSITE_OF_DEAD_ZONE_POSITION_ROTATIONS - 0.5,
+                OPPOSITE_OF_DEAD_ZONE_POSITION_ROTATIONS + 0.5
             );
-            double wantedMotorRotations = wrappedWantedTurretRotations * MOTOR_ROTATIONS_PER_TURRET_ROTATION;
 
             // Clamp the position between the first and fourth beam break positions.
-            double lowerLimitMotorRotations = FIRST_BEAM_BREAK_POSITION_MOTOR_ROTATIONS;
-            double upperLimitMotorRotations = FOURTH_BEAM_BREAK_POSITION_MOTOR_ROTATIONS;
-            isTurretAimingInDeadZone = wantedMotorRotations < lowerLimitMotorRotations || wantedMotorRotations > upperLimitMotorRotations;
+            double lowerLimitRotations = FIRST_BEAM_BREAK_POSITION_ROTATIONS;
+            double upperLimitRotations = FOURTH_BEAM_BREAK_POSITION_ROTATIONS;
+            isTurretAimingInDeadZone = wrappedWantedRotations < lowerLimitRotations || wrappedWantedRotations > upperLimitRotations;
             double clampedMotorRotations = MathUtil.clamp(
-                wantedMotorRotations,
-                lowerLimitMotorRotations,
-                upperLimitMotorRotations
+                wrappedWantedRotations,
+                lowerLimitRotations,
+                upperLimitRotations
             );
 
-            turretMotor.setControl(turretMotorPositionRequest.withPosition(
-                clampedMotorRotations + turretMotorOffsetRotations
-            ));
+            turretMotor.setControl(turretMotorPositionRequest.withPosition(clampedMotorRotations));
         }
     }
 
@@ -734,9 +722,7 @@ private Pose2d getCurrentTurretPose2d() {
      * @return The current robot-relative {@link Rotation2d} of the turret.
      */
     private Rotation2d getCurrentRobotRelativeTurretRotation2d() {
-        double motorRotations = turretMotor.getMotorPosition();
-        double offsetMotorRotations = motorRotations - turretMotorOffsetRotations;
-        double turretRotations = offsetMotorRotations / MOTOR_ROTATIONS_PER_TURRET_ROTATION;
+        double turretRotations = turretMotor.getMotorPosition();
         return Rotation2d.fromRotations(turretRotations);
     }
 
diff --git a/src/main/resources/schemas/hardware/deviceconfig.schema.json b/src/main/resources/schemas/hardware/deviceconfig.schema.json
index e15d5a45..77bbd601 100644
--- a/src/main/resources/schemas/hardware/deviceconfig.schema.json
+++ b/src/main/resources/schemas/hardware/deviceconfig.schema.json
@@ -82,7 +82,11 @@
             "additionalProperties": false
         },
         "rotorToSensor": {
-            "default": 1,
+            "default": null,
+            "type": "number"
+        },
+        "sensorToMechanismRatio": {
+            "default": null,
             "type": "number"
         }
     }
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 73c7c365..e61fa073 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -272,6 +272,7 @@ subsystems:
                 deviceType: TalonFX
                 id: 28
                 motorRotation: Clockwise_Positive
+                sensorToMechanismRatio: 15.625 # 250/16 gear ratio
                 pidConfig:
                     slot0:
                         kS: 0.29
@@ -290,7 +291,6 @@ subsystems:
         constants:
             leftTurretSensorChannel: 0
             rightTurretSensorChannel: 1
-            motorRotationsPerTurretRotation: 15.625 # 250/16 gear ratio
             shooterOffsetXMeters: -0.11303
             shooterOffsetYMeters: -0.112268
             shooterOffsetZMeters: 0.508
@@ -302,9 +302,9 @@ subsystems:
             distanceThreeInclineAngleRotations: 0.07425
             distanceThreeLaunchVelocityRPS: 49
             distanceAutoThingLaunchVelocityRPS: 60
-            closeDistanceBetweenBeamBreaks: 0.419
-            farDistanceBetweenBeamBreaks: 13.570
-            secondLowestBeamBreakToZero: 6.7769
+            closeDistanceBetweenBeamBreaks: 0.026816
+            farDistanceBetweenBeamBreaks: 0.86848
+            secondLowestBeamBreakToZero: 0.4337216
             turretRotationToleranceDegrees: 15
             inclineAngleToleranceDegrees: 2
             launcherVelocityToleranceRPS: 2

From 20d249deadac40f095dee755538ba24a1c7b3d21 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Sat, 28 Mar 2026 14:13:03 -0500
Subject: [PATCH 02/36] add auto path preview and clean up auto pose
 initialization

---
 src/main/java/com/team1816/lib/BaseRobot.java |  11 +
 .../com/team1816/lib/BaseRobotContainer.java  |  50 +---
 .../java/com/team1816/lib/BaseRobotState.java |   5 +
 .../team1816/lib/auto/AutoModeManager.java    | 228 +++++++++++++++---
 src/main/java/com/team1816/season/Robot.java  |  13 +-
 5 files changed, 213 insertions(+), 94 deletions(-)

diff --git a/src/main/java/com/team1816/lib/BaseRobot.java b/src/main/java/com/team1816/lib/BaseRobot.java
index 20ab10ea..70f9090e 100644
--- a/src/main/java/com/team1816/lib/BaseRobot.java
+++ b/src/main/java/com/team1816/lib/BaseRobot.java
@@ -41,6 +41,17 @@ protected BaseRobot() {
     public void robotPeriodic() {
         // Update the pose of the robot on the field.
         FieldContainer.field.setRobotPose(BaseRobotState.robotPose);
+        // Update the path preview until the match starts.
+        if (!BaseRobotState.hasAutoStarted) {
+            baseRobotContainer.autoModeManager.updateAutoPathPreviewDisplay();
+        }
+    }
+
+    @Override
+    public void autonomousInit() {
+        BaseRobotState.hasAutoStarted = true;
+        // Clear the path preview at the start of the match.
+        baseRobotContainer.autoModeManager.clearAutoPathPreviewDisplay();
     }
 
     /**
diff --git a/src/main/java/com/team1816/lib/BaseRobotContainer.java b/src/main/java/com/team1816/lib/BaseRobotContainer.java
index 54e1c8a6..5d89b2a4 100644
--- a/src/main/java/com/team1816/lib/BaseRobotContainer.java
+++ b/src/main/java/com/team1816/lib/BaseRobotContainer.java
@@ -1,7 +1,5 @@
 package com.team1816.lib;
 
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.util.FlippingUtil;
 import com.team1816.lib.auto.AutoModeManager;
 import com.team1816.lib.auto.PathfindManager;
 import com.team1816.lib.inputs.CommandButtonBoard;
@@ -9,10 +7,6 @@
 import com.team1816.lib.subsystems.LedManager;
 import com.team1816.lib.subsystems.Vision;
 import com.team1816.lib.subsystems.drivetrain.Swerve;
-import com.team1816.lib.util.GreenLogger;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public abstract class BaseRobotContainer {
@@ -23,7 +17,6 @@ public abstract class BaseRobotContainer {
 
     protected final Swerve swerve = new Swerve(driverController);
     protected final Vision vision = new Vision();
-    private boolean poseInitialized;
 
     protected PathfindManager pathfindManager;
     public AutoModeManager autoModeManager;
@@ -36,48 +29,7 @@ public void initializeLibSubSystems() {
         Singleton.CreateSubSystem(LedManager.class);
 
         pathfindManager = Singleton.get(PathfindManager.class);
-        autoModeManager = Singleton.get(AutoModeManager.class);
-
-        if (autoModeManager != null) {
-            autoModeManager.onChange(this::updatePoseOnSelection);
-        } else {
-            GreenLogger.log("Failed to initialize AutoModeManager!");
-        }
-    }
-
-    public void updateInitialPose(){
-        if(poseInitialized || DriverStation.getAlliance().isEmpty()) return;
-        forceUpdatePose();
-    }
-
-    /**
-     * Forces pose update regardless of poseInitialized state.
-     * Called from autonomousInit to ensure pose is always set before auto starts.
-     */
-    public void forceUpdatePose(){
-        updatePoseOnSelection(autoModeManager.getSelectedAuto());
-    }
-
-    private void updatePoseOnSelection(Command selectedAuto) {
-        if (selectedAuto != null) {
-            try {
-                Pose2d startingPose = selectedAuto instanceof PathPlannerAuto
-                    ? ((PathPlannerAuto) selectedAuto).getStartingPose()
-                    : Pose2d.kZero;
-                if (startingPose != null) {
-                    var alliance = DriverStation.getAlliance();
-                    if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
-                        startingPose = FlippingUtil.flipFieldPose(startingPose);
-                    }
-                    // Reset odometry and update Field2d this is to give drivers clue that the
-                    // proper auto is set prior to auto start
-                    swerve.resetPose(startingPose);
-                    poseInitialized = true;
-                }
-            } catch (Exception e) {
-                GreenLogger.log("Error loading auto pose: " + e.getMessage());
-            }
-        }
+        autoModeManager = new AutoModeManager(swerve::resetPose);
     }
 
     /**
diff --git a/src/main/java/com/team1816/lib/BaseRobotState.java b/src/main/java/com/team1816/lib/BaseRobotState.java
index 96430a90..4b331d93 100644
--- a/src/main/java/com/team1816/lib/BaseRobotState.java
+++ b/src/main/java/com/team1816/lib/BaseRobotState.java
@@ -43,4 +43,9 @@ public class BaseRobotState {
      * to be the pre-vision position estimate of the real robot.
      */
     public static Pose2d simActualOrRawOdometryPose = Pose2d.kZero;
+
+    /**
+     * If autonomous has ever been initialized.
+     */
+    public static volatile boolean hasAutoStarted = false;
 }
diff --git a/src/main/java/com/team1816/lib/auto/AutoModeManager.java b/src/main/java/com/team1816/lib/auto/AutoModeManager.java
index 716a2024..a3646f2c 100644
--- a/src/main/java/com/team1816/lib/auto/AutoModeManager.java
+++ b/src/main/java/com/team1816/lib/auto/AutoModeManager.java
@@ -2,83 +2,245 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.FlippingUtil;
-import com.pathplanner.lib.util.PPLibTelemetry;
+import com.pathplanner.lib.util.PathPlannerLogging;
+import com.team1816.lib.BaseRobotState;
+import com.team1816.lib.util.FieldContainer;
 import com.team1816.lib.util.GreenLogger;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.json.simple.parser.ParseException;
 
-import java.util.Optional;
+import java.io.IOException;
+import java.util.*;
 import java.util.function.Consumer;
 import java.util.stream.Stream;
 
 /**
- * Manages SmartDashboard and logging of autos. Does NOT interact directly with {@link CommandScheduler} or the drivetrain.
+ * Manages creating the auto chooser to select the auto routine. Also handles resetting the robot's
+ * pose based on the auto starting pose, and drawing the path preview. Does NOT interact directly
+ * with {@link CommandScheduler} or the drivetrain.
  */
 public class AutoModeManager {
     private final SendableChooser<Command> autoChooser;
-    private Consumer<Command> listener;
+    /**
+     * A mapping of the auto names as displayed in the {@link #autoChooser} to the path preview for
+     * that auto to display on the dashboard.
+     */
+    private final HashMap<String, List<Pose2d>> autoPathPreviewMap = new HashMap<>();
+    /**
+     * A consumer that will accept a {@link Pose2d} to reset the robot's pose to.
+     */
+    private final Consumer<Pose2d> resetPoseConsumer;
 
     /**
-     * Puts dropdown in SmartDashboard and adds all autos.
+     * Constructs the {@link AutoModeManager}, including putting the auto dropdown in
+     * SmartDashboard and handling the creation of mirrored versions of autos.
+     *
+     * @param resetPoseConsumer A consumer that will accept a {@link Pose2d} that is the auto
+     *                          starting pose to reset the robot's pose to.
      */
-    public AutoModeManager() {
+    public AutoModeManager(Consumer<Pose2d> resetPoseConsumer) {
+        this.resetPoseConsumer = resetPoseConsumer;
+
+        // Build the auto chooser with all the autos from PathPlanner and mirrored versions of most
+        // autos.
         autoChooser = AutoBuilder.buildAutoChooserWithOptionsModifier(
             autos -> autos.flatMap(auto -> {
                 // Get the name of the original auto for PathPlanner to look for.
-                String autoName = auto.getName();
+                String originalAutoName = auto.getName();
                 // Don't create a mirrored version if marked with "[DM]" (Don't Mirror).
-                if (autoName.startsWith("[DM]")) {
-                    // Remove the "[DM]" marker for the display name, and any spaces.
-                    auto.setName(autoName.substring(5).stripLeading());
+                if (originalAutoName.startsWith("[DM]")) {
+                    // Remove the "[DM]" marker for the display name, and any leading spaces.
+                    String modifiedAutoName = originalAutoName.substring(5).stripLeading();
+                    auto.setName(modifiedAutoName);
+                    addAutoPathPreviewToMap(originalAutoName, modifiedAutoName, false);
                     return Stream.of(auto);
                 }
                 // Rename the original auto to specify it is the left version.
-                auto.setName("Left " + autoName);
+                String leftAutoName = "Left " + originalAutoName;
+                auto.setName(leftAutoName);
+                addAutoPathPreviewToMap(originalAutoName, leftAutoName, false);
                 // Create a mirrored version of the auto.
-                PathPlannerAuto mirroredAuto = new PathPlannerAuto(autoName, true);
+                PathPlannerAuto mirroredAuto = new PathPlannerAuto(originalAutoName, true);
                 // Rename the mirrored auto to specify it is the right version.
-                mirroredAuto.setName("Right " + autoName);
+                String rightAutoName = "Right " + originalAutoName;
+                mirroredAuto.setName(rightAutoName);
+                addAutoPathPreviewToMap(originalAutoName, rightAutoName, true);
                 // Return both the original and the mirrored auto.
                 return Stream.of(auto, mirroredAuto);
             })
         );
+
+        // Publish the auto chooser to the SmartDashboard.
         SmartDashboard.putData("Auto Mode", autoChooser);
 
-        listener = a -> {};
+        // Display the active path on the main Field2d. This is the path that PathPlanner is
+        // actively running, not a path that is scheduled to run once auto starts.
+        PathPlannerLogging.setLogActivePathCallback(pose2ds ->
+            FieldContainer.field.getObject("activePath").setPoses(pose2ds)
+        );
+
+        // Create a trigger and use it to reset the pose to the auto start pose whenever the
+        // alliance color changes.
+        new Trigger(() ->
+            // If the alliance is blue, defaulting to true if the alliance is empty.
+            DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
+        )
+            .onChange(Commands.runOnce(() ->
+                resetRobotPoseToAutoStart(autoChooser.getSelected(), false)
+            ).ignoringDisable(true));
+
+        // Register a listener to reset the pose to the auto start pose whenever the selected auto
+        // changes.
+        autoChooser.onChange(autoCommand -> resetRobotPoseToAutoStart(autoCommand, false));
 
-        autoChooser.onChange(a -> {
-            // log starting pose
-            Pose2d startingPose = a instanceof PathPlannerAuto
-                ? ((PathPlannerAuto) a).getStartingPose()
+        // Use the autonomous trigger to force reset the pose to the auto start pose whenever auto
+        // starts, to make sure the pose is set correctly at the beginning of auto.
+        RobotModeTriggers.autonomous().onTrue(Commands.runOnce(() ->
+            resetRobotPoseToAutoStart(autoChooser.getSelected(), true)
+        ).ignoringDisable(true));
+    }
+
+    /**
+     * Resets the robot pose using the {@link #resetPoseConsumer} to the start pose of the passed
+     * in auto command.
+     *
+     * @param autoCommand The auto command to use the start pose of.
+     * @param forceResetPose If the pose should be reset regardless of whether the match has
+     *                       already started.
+     */
+    private void resetRobotPoseToAutoStart(Command autoCommand, boolean forceResetPose) {
+        // Only reset the pose if auto has not started, or if forceResetPose is true. This is to
+        // prevent resetting the pose in the middle of a match. This is based on if auto has ever
+        // started, rather than just checking if we are currently in teleop or auto, because we
+        // want to prevent the pose resetting even during the disabled period between auto and
+        // teleop.
+        if (!BaseRobotState.hasAutoStarted || forceResetPose) {
+            // Get the starting pose for the auto. If this is the default None auto, it will just
+            // be an empty Command rather than a PathPlannerAuto, so use Pose2d.kZero in that case.
+            Pose2d startingPose = autoCommand instanceof PathPlannerAuto
+                ? ((PathPlannerAuto) autoCommand).getStartingPose()
                 : Pose2d.kZero;
-            Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
-            if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
-                startingPose = FlippingUtil.flipFieldPose(startingPose);
-            }
-            GreenLogger.log("Auto Mode Manager- starting pose: " + startingPose);
-            // TODO: why is this not PPLibTelemetry.setCurrentPose? look into this after Pittsburgh
-            PPLibTelemetry.setTargetPose(startingPose);
+            // Flip the starting pose based on alliance, defaulting to blue if the alliance is empty.
+            startingPose = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
+                ? startingPose
+                : FlippingUtil.flipFieldPose(startingPose);
+            // Call the consumer to reset the robot's pose.
+            resetPoseConsumer.accept(startingPose);
+        }
+    }
+
+    /**
+     * Updates the display of the selected auto path on the field.
+     */
+    public void updateAutoPathPreviewDisplay() {
+        String autoName = autoChooser.getSelected().getName();
+        List<Pose2d> path = autoPathPreviewMap.get(autoName);
+        if (path != null) {
+            // Flip the path based on alliance, defaulting to blue if the alliance is empty.
+            path = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
+                ? path
+                : path.stream().map(FlippingUtil::flipFieldPose).toList();
+            // The number of Pose2ds to move through in the path per second.
+            double pose2dsPerSecond = 300;
+            // Zero-indexed progress through the path to display. Use the timer to have it count
+            // up, using modulus to loop back to the start when the path ends.
+            int pathProgress = (int) ((Timer.getFPGATimestamp() * pose2dsPerSecond) % (path.size()));
+            // Show the path on the field up to the pathProgress.
+            FieldContainer.field.getObject("autoPathPreview").setPoses(
+                path.stream().limit(pathProgress + 1).toList()
+            );
+        }
+        else {
+            // Clear the poses if no valid path was found.
+            clearAutoPathPreviewDisplay();
+        }
+    }
 
-            if (listener != null) listener.accept(a);
-        });
+    /**
+     * Clear the display of the selected auto path on the field.
+     */
+    public void clearAutoPathPreviewDisplay() {
+        FieldContainer.field.getObject("autoPathPreview").setPoses();
     }
 
     /**
-     * Retrieves currently selected auto.
+     * Adds the paths from the auto to the {@link #autoPathPreviewMap} so we can look it up later for
+     * displaying on the field using the name stored in the {@link #autoChooser}. This is necessary
+     * because we modify the auto names when we build the auto chooser, and the only way to get the
+     * paths is to load the auto from the file, which requires having the original auto file name.
+     *
+     * @param originalAutoName The name of the auto file that contains the paths.
+     * @param modifiedAutoName The modified name of the auto that will be used later to find the
+     *                         paths from the map.
+     * @param mirror If the paths stored should be mirrored to the other side of the current
+     *               alliance from the original paths stored in the auto file.
      */
-    public Command getSelectedAuto() {
-        return autoChooser.getSelected();
+    private void addAutoPathPreviewToMap(String originalAutoName, String modifiedAutoName, boolean mirror) {
+        try {
+            // Load the paths for the auto.
+            List<PathPlannerPath> pathPlannerPaths = PathPlannerAuto.getPathGroupFromAutoFile(originalAutoName);
+
+            // Combine the paths into a single list of Pose2ds, with repeated Pose2ds at the end of
+            // each path and at the very end to create pauses when running through the path with
+            // the preview.
+            // The number of times to repeat the last Pose2d in each path.
+            int pathEndRepeats = 5;
+            // The number of times to repeat the last Pose2d in the whole auto.
+            int autoEndRepeats = 10;
+            List<Pose2d> combinedPath = new ArrayList<>();
+            for (int i = 0; i < pathPlannerPaths.size(); i++) {
+                PathPlannerPath path = pathPlannerPaths.get(i);
+
+                // Mirror the path if necessary.
+                if (mirror) path = path.mirrorPath();
+
+                // Get the list of poses representing the path.
+                List<Pose2d> pathPoses = path.getPathPoses();
+                if (pathPoses.isEmpty()) continue;
+
+                // Add all the poses from the individual path to the combined path.
+                combinedPath.addAll(pathPoses);
+
+                // Repeat the last pose in the individual path to create a pause at the end of each
+                // path.
+                Pose2d lastPose = pathPoses.get(pathPoses.size() - 1);
+                combinedPath.addAll(Collections.nCopies(pathEndRepeats, lastPose));
+
+                // If this is the last path in the auto, repeat the last pose in the path to create
+                // a longer pause at the very end of the auto.
+                if (i == pathPlannerPaths.size() - 1) {
+                    combinedPath.addAll(Collections.nCopies(autoEndRepeats, lastPose));
+                }
+            }
+
+            autoPathPreviewMap.put(
+                modifiedAutoName,
+                combinedPath
+            );
+        } catch (IOException e) {
+            GreenLogger.log(e);
+            GreenLogger.log("IOException while getting path group. See above stack trace for details.");
+        } catch (ParseException e) {
+            GreenLogger.log(e);
+            GreenLogger.log("ParseException while getting path group. See above stack trace for details.");
+        }
     }
 
     /**
-     * Registers a single listener to changes to the auto choosers.
+     * Retrieves currently selected auto from the {@link #autoChooser}.
      */
-    public void onChange(Consumer<Command> listener) {
-        this.listener = listener;
+    public Command getSelectedAuto() {
+        return autoChooser.getSelected();
     }
 }
diff --git a/src/main/java/com/team1816/season/Robot.java b/src/main/java/com/team1816/season/Robot.java
index 71c961fb..31161ee9 100644
--- a/src/main/java/com/team1816/season/Robot.java
+++ b/src/main/java/com/team1816/season/Robot.java
@@ -53,22 +53,11 @@ public void disabledInit() {
         }
     }
 
-    @Override
-    public void disabledPeriodic() {
-        try {
-            robotContainer.updateInitialPose();
-        } catch (Throwable t) {
-            robotStatusEvent.Publish(LedManager.RobotLEDStatus.ERROR);
-            GreenLogger.log(t);
-        }
-    }
-
     @Override
     public void autonomousInit() {
         try {
+            super.autonomousInit();
             robotContainer.autonomousInit();
-            // Ensure pose is always initialized before scheduling auto
-            robotContainer.forceUpdatePose();
             autonomousCommand = robotContainer.autoModeManager.getSelectedAuto();
             // schedule the autonomous command
             if (autonomousCommand != null) {

From 1af6f150d114525a7526b7fd5578eed8efdd567a Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Sun, 29 Mar 2026 13:11:05 -0500
Subject: [PATCH 03/36] commit simgui changes for path preview and active path

---
 simgui.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/simgui.json b/simgui.json
index 9e335a29..79983658 100644
--- a/simgui.json
+++ b/simgui.json
@@ -52,6 +52,14 @@
           ],
           "style": "Hidden"
         },
+        "activePath": {
+          "arrows": false,
+          "style": "Line"
+        },
+        "autoPathPreview": {
+          "arrows": false,
+          "style": "Line"
+        },
         "bottom": 1914,
         "height": 8.069275856018066,
         "left": 245,

From 344093986e0913844f11ccdb3f297c3aed6bd1ce Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 1 Apr 2026 18:27:51 -0500
Subject: [PATCH 04/36] scale up turret gains to match sensorToMechanismRatio
 change

---
 src/main/resources/yaml/ztldr.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index b01b3a49..df5e4a5b 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -273,12 +273,12 @@ subsystems:
                 pidConfig:
                     slot0:
                         kS: 0.1 # static friction - increase if turret won't move at small errors
-                        kP: 4 # position error gain - increase if still lagging, decrease if oscillating at setpoint
-                        kD: 0.28 # damping - increase if oscillating, keep roughly kP/20
+                        kP: 62.5 # position error gain - increase if still lagging, decrease if oscillating at setpoint
+                        kD: 4.375 # damping - increase if oscillating, keep roughly kP/20
                         staticFeedforwardSign: UseClosedLoopSign
                 motionMagic:
-                    expoKV: 0.04 #0.10 # cruise speed - lower = faster moves, higher = slower. Start here, decrease if turret feels sluggish
-                    expoKA: 0.1 #0.2 # acceleration smoothness - increase if dead zone reversals are too violent, decrease if turret feels mushy
+                    expoKV: 0.625 #0.10 # cruise speed - lower = faster moves, higher = slower. Start here, decrease if turret feels sluggish
+                    expoKA: 1.5625 #0.2 # acceleration smoothness - increase if dead zone reversals are too violent, decrease if turret feels mushy
             inclineCoder:
                 id: 29
                 deviceType: CANcoder

From 30fb0970a7b4279909645c79c4118a78a9f8c97a Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Fri, 3 Apr 2026 18:16:37 -0500
Subject: [PATCH 05/36] add ability to set couplingGearRatio and set to CTRE's
 starting point for MK5n R2s

---
 .../java/com/team1816/lib/hardware/factory/RobotFactory.java | 5 +++++
 src/main/resources/schemas/hardware/kinematics.schema.json   | 5 +++++
 src/main/resources/yaml/ztldr.yml                            | 5 +++--
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
index 87c2ea73..bc00b40f 100644
--- a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
+++ b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
@@ -681,6 +681,7 @@ public SwerveDrivetrainConstants getSwerveDrivetrainConstant(String subsystemNam
         factory.WheelRadius = kinematics.wheelRadius;
         factory.DriveMotorGearRatio = kinematics.driveGearing;
         factory.SteerMotorGearRatio = kinematics.steerGearing;
+        factory.CouplingGearRatio = kinematics.couplingGearRatio;
         factory.SpeedAt12Volts = maxSpd;
 
         for (var module : config.modules.values()) {
@@ -698,6 +699,7 @@ public SwerveDrivetrainConstants getSwerveDrivetrainConstant(String subsystemNam
                 GreenLogger.log(" WheelRadius: " + factory.WheelRadius);
                 GreenLogger.log(" DriveMotorGearRatio: " + factory.DriveMotorGearRatio);
                 GreenLogger.log(" SteerMotorGearRatio: " + factory.SteerMotorGearRatio);
+                GreenLogger.log(" CouplingGearRatio: " + factory.CouplingGearRatio);
                 GreenLogger.log(" SpeedAt12Volts: " + factory.SpeedAt12Volts);
             }
 
@@ -765,6 +767,9 @@ private void verifyKinematics(String subsystemName, KinematicsConfig kinematics)
         if (kinematics.maxAngularRate == null || kinematics.maxAngularRate == 0) {
             property = "maxAngularRate";
         }
+        if (kinematics.couplingGearRatio == null || kinematics.couplingGearRatio == 0) {
+            property = "couplingGearRatio";
+        }
         if (property != null) {
             var message = subsystemName + " kinematics " + property + " can't be null or 0";
             throw new IllegalArgumentException(message);
diff --git a/src/main/resources/schemas/hardware/kinematics.schema.json b/src/main/resources/schemas/hardware/kinematics.schema.json
index 352977fa..40200bae 100644
--- a/src/main/resources/schemas/hardware/kinematics.schema.json
+++ b/src/main/resources/schemas/hardware/kinematics.schema.json
@@ -45,6 +45,11 @@
             "type" : "number",
             "default": null,
             "description": "maximum angular rate in radians/sec"
+        },
+        "couplingGearRatio": {
+            "type" : "number",
+            "default": null,
+            "description": "number of rotations of the drive motor caused by a rotation of the azimuth"
         }
     }
 }
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 30b4357c..69785e45 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -129,8 +129,9 @@ subsystems:
                 kV: 2.66
                 kS: 0.1
         kinematics:
-            driveGearing: 6.03
-            steerGearing: 26.0909
+            driveGearing: 6.026785714285714
+            steerGearing: 26.09090909090909
+            couplingGearRatio: 3.857142857142857
             wheelbaseLength: .505 # meters
             wheelbaseWidth: .505 # meters
             robotMass: 74.088 # kg

From 355a922122bcfe64d9883fca9e64cc548e2050be Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Thu, 9 Apr 2026 23:27:21 -0500
Subject: [PATCH 06/36] create henry shooter calculator

---
 .../lib/hardware/factory/RobotFactory.java    |  36 +++++
 .../team1816/lib/util/IShooterCalculator.java |  12 --
 .../BaseShooterCalculator.java                |   5 +-
 .../HenryShooterCalculator.java               |  95 +++++++++++
 .../ShooterCalculator/IShooterCalculator.java |  38 +++++
 .../LinearMPSToLauncherRPSLookup.java         |  42 +++++
 .../ShooterTableCalculator.java               |  21 ++-
 .../team1816/season/subsystems/Shooter.java   | 149 +++++++++---------
 .../linearmpstolauncherrpsconfig.schema.json  |  21 +++
 .../schemas/hardware/robotconfig.schema.json  |   4 +
 src/main/resources/yaml/ztldr.yml             |   7 +
 11 files changed, 334 insertions(+), 96 deletions(-)
 delete mode 100644 src/main/java/com/team1816/lib/util/IShooterCalculator.java
 rename src/main/java/com/team1816/lib/util/{ => ShooterCalculator}/BaseShooterCalculator.java (70%)
 create mode 100644 src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
 create mode 100644 src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
 create mode 100644 src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java
 rename src/main/java/com/team1816/lib/util/{ => ShooterCalculator}/ShooterTableCalculator.java (79%)
 create mode 100644 src/main/resources/schemas/hardware/linearmpstolauncherrpsconfig.schema.json

diff --git a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
index 3051cdd6..7f683cd3 100644
--- a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
+++ b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
@@ -135,6 +135,42 @@ public ShooterSettingsConfig getShooterSettingsConfig() {
         return config.shooterSettings;
     }
 
+    public LinearMPSToLauncherRPSConfig getLinearMPSToLauncherRPSConfig() {
+        if (config.linearMPSToLaunchRPS == null) {
+            GreenLogger.log("Couldn't find the linear mps to launcher rps config");
+            return new LinearMPSToLauncherRPSConfig();
+        }
+        return config.linearMPSToLaunchRPS;
+    }
+
+    public LinearMPSToLauncherRPSConfig stealLinearMPSToLauncherRPSConfigFromShooterSettings(double deltaZInches) {
+        LinearMPSToLauncherRPSConfig linearMPSToLauncherRPSConfig = new LinearMPSToLauncherRPSConfig();
+        if (config.shooterSettings == null) {
+            GreenLogger.log("Couldn't find the shooter settings config");
+            return linearMPSToLauncherRPSConfig;
+        }
+        linearMPSToLauncherRPSConfig.launchVelocitiesRPS = config.shooterSettings.launchVelocitiesRPS;
+        linearMPSToLauncherRPSConfig.linearVelocitiesMPS = new ArrayList<>();
+        double deltaZMeters = Units.inchesToMeters(deltaZInches);
+        for (int i = 0; i < config.shooterSettings.distancesInches.size(); i++) {
+            double distanceMeters = Units.inchesToMeters(config.shooterSettings.distancesInches.get(i));
+            double thetaRadians = Math.PI / 2 - Units.rotationsToRadians(config.shooterSettings.inclineAnglesRotations.get(i));
+            linearMPSToLauncherRPSConfig.linearVelocitiesMPS.add(
+                Math.sqrt(
+                    -0.5 * 9.80665 * distanceMeters * distanceMeters
+                    / (
+                        Math.cos(thetaRadians)
+                        * (
+                            (Math.cos(thetaRadians) * deltaZMeters)
+                            - (distanceMeters * Math.sin(thetaRadians))
+                        )
+                    )
+                )
+            );
+        }
+        return linearMPSToLauncherRPSConfig;
+    }
+
     /**
      * Retrieves the names of all the paths.
      */
diff --git a/src/main/java/com/team1816/lib/util/IShooterCalculator.java b/src/main/java/com/team1816/lib/util/IShooterCalculator.java
deleted file mode 100644
index d2d67a4c..00000000
--- a/src/main/java/com/team1816/lib/util/IShooterCalculator.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.team1816.lib.util;
-
-import com.team1816.lib.BaseRobotState;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-
-public interface IShooterCalculator {
-    Rotation2d getTurretAngle(Translation2d turret, Translation2d target, boolean useChassisSpeedForHoodAngleAndSpeed);
-    ShooterCalculatorResponse getShooterSettings(Translation2d turret, Translation2d target, boolean useChassisSpeedForHoodAngleAndSpeed);
-
-    record ShooterCalculatorResponse(double inclineAngleDegrees, double launchVelocityRPS) {}
-}
diff --git a/src/main/java/com/team1816/lib/util/BaseShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/BaseShooterCalculator.java
similarity index 70%
rename from src/main/java/com/team1816/lib/util/BaseShooterCalculator.java
rename to src/main/java/com/team1816/lib/util/ShooterCalculator/BaseShooterCalculator.java
index 4551d9cd..bd6d9098 100644
--- a/src/main/java/com/team1816/lib/util/BaseShooterCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/BaseShooterCalculator.java
@@ -1,14 +1,15 @@
-package com.team1816.lib.util;
+package com.team1816.lib.util.ShooterCalculator;
 
 import com.team1816.lib.BaseRobotState;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 
 public abstract class BaseShooterCalculator implements IShooterCalculator {
-    public Rotation2d getTurretAngle(Translation2d shooter, Translation2d target, boolean useChassisSpeedForHoodAngleAndSpeed) {
+    protected Rotation2d getTurretAngle(Translation2d shooter, Translation2d target, boolean useChassisSpeedForHoodAngleAndSpeed) {
         Translation2d shooterToTargetTranslation2d = target.minus(shooter);
         Rotation2d fieldRelativeRotation2dToTarget = shooterToTargetTranslation2d.getAngle();
         Rotation2d robotRotation2d = BaseRobotState.robotPose.getRotation();
+        // Get the robot relative rotation 2d.
         return fieldRelativeRotation2dToTarget.minus(robotRotation2d);
     }
 }
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
new file mode 100644
index 00000000..466e01bf
--- /dev/null
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
@@ -0,0 +1,95 @@
+package com.team1816.lib.util.ShooterCalculator;
+
+import com.team1816.lib.BaseRobotState;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.util.Units;
+
+public class HenryShooterCalculator implements IShooterCalculator{
+
+    private final LinearMPSToLauncherRPSLookup linearMPSToLauncherRPSLookup = new LinearMPSToLauncherRPSLookup();
+
+    /**
+     * Calculate the necessary settings to shoot from the shooter to the target. This calculator
+     * uses physics to determine the mechanism settings to enter the target as close to the passed
+     * in angle of entry as possible. It also uses a lookup table to convert from the calculated
+     * linear launch velocity to the necessary launch motor RPS.
+     *
+     * @param shooterTranslation3dMeters The {@link Translation3d} of where the shooter is shooting
+     *                                   from.
+     * @param targetTranslation3dMeters The {@link Translation3d} of where to shoot to.
+     * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target.
+     * @param useChassisSpeedForHoodAngleAndSpeed Unused for this calculator.
+     * @return A {@link com.team1816.lib.util.ShooterCalculator.IShooterCalculator.ShooterCalculatorResponse}
+     * describing how to shoot the projectile from the shooter to the target.
+     */
+    public IShooterCalculator.ShooterCalculatorResponse calculate(
+        Translation3d shooterTranslation3dMeters,
+        Translation3d targetTranslation3dMeters,
+        double angleOfEntryDegrees,
+        boolean useChassisSpeedForHoodAngleAndSpeed
+    ) {
+        // Acceleration due to gravity near earth's surface in m/s² - change this if we are
+        // competing on a different planet
+        final double g = 9.80665;
+
+        Translation3d deltaTranslation3d = targetTranslation3dMeters.minus(shooterTranslation3dMeters);
+        // Distance from start to target components in meters
+        double deltaX = deltaTranslation3d.getX();
+        double deltaY = deltaTranslation3d.getY();
+        double deltaZ = deltaTranslation3d.getZ();
+
+        // Time of travel through the air in seconds - depends only on positions and angle of entry
+        double time = Math.sqrt(
+            2
+            * (
+                deltaZ
+                - (
+                    Math.tan(
+                        Units.degreesToRadians(angleOfEntryDegrees)
+                    )
+                    * Math.sqrt(
+                        deltaX * deltaX + deltaY * deltaY
+                    )
+                )
+            )
+            / g
+        );
+
+        // Get the field-relative ChassisSpeeds from the robot-relative ChassisSpeeds
+        ChassisSpeeds chassisSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(
+            BaseRobotState.robotSpeeds, BaseRobotState.robotPose.getRotation()
+        );
+        // Current field-relative chassis (robot) velocity components in m/s
+        double vCX = chassisSpeeds.vxMetersPerSecond;
+        double vCY = chassisSpeeds.vyMetersPerSecond;
+
+        // Calculated shooter velocity components in m/s
+        double vSX = deltaX / time - vCX;
+        double vSY = deltaY / time - vCY;
+        double vSZ = deltaZ / time + (0.5 * g * time);
+
+        // Convert from velocity components to the desired values
+        double linearLaunchVelocityMPS = Math.sqrt(vSX * vSX + vSY * vSY + vSZ * vSZ);
+        double fieldRelativeTurretAngleRadians = Math.atan2(vSY, vSX);
+        double inclineAngleRadians = Math.acos(vSZ / linearLaunchVelocityMPS);
+
+        // Calculated m/s to motor rps
+        double launchMotorVelocityRPS = linearMPSToLauncherRPSLookup.getLaunchVelocityRPS(
+            linearLaunchVelocityMPS
+        );
+        // Field relative turret angle to robot relative turret angle
+        double robotRelativeTurretAngleRadians = fieldRelativeTurretAngleRadians
+            - BaseRobotState.robotPose.getRotation().getRadians();
+        // Turret angle radians to degrees
+        double robotRelativeTurretAngleDegrees = Units.radiansToDegrees(
+            robotRelativeTurretAngleRadians
+        );
+        // Incline angle radians to degrees
+        double inclineAngleDegrees = Units.radiansToDegrees(inclineAngleRadians);
+
+        return new IShooterCalculator.ShooterCalculatorResponse(
+            robotRelativeTurretAngleDegrees, inclineAngleDegrees, launchMotorVelocityRPS
+        );
+    }
+}
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
new file mode 100644
index 00000000..3700d1db
--- /dev/null
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
@@ -0,0 +1,38 @@
+package com.team1816.lib.util.ShooterCalculator;
+
+import edu.wpi.first.math.geometry.Translation3d;
+
+public interface IShooterCalculator {
+
+    /**
+     * Calculate the necessary settings to shoot from the shooter to the target.
+     *
+     * @param shooterTranslation3dMeters The {@link Translation3d} of where the shooter is shooting
+     *                                   from.
+     * @param targetTranslation3dMeters The {@link Translation3d} of where to shoot to.
+     * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target.
+     *                            Not used by all calculator types.
+     * @param useChassisSpeedForHoodAngleAndSpeed If the chassis speeds should be factored into
+     *                                            calculations for incline angle and launch
+     *                                            velocity. Not used by all calculator types.
+     * @return The {@link ShooterCalculatorResponse} describing how the projectile should be shot
+     * to reach the target.
+     */
+    ShooterCalculatorResponse calculate(
+        Translation3d shooterTranslation3dMeters,
+        Translation3d targetTranslation3dMeters,
+        double angleOfEntryDegrees,
+        boolean useChassisSpeedForHoodAngleAndSpeed
+    );
+
+    /**
+     * A response returned by a shooter calculator describing how to shoot the projectile.
+     *
+     * @param turretAngleDegrees The robot-relative turret angle to point at in degrees,
+     *                           counterclockwise from robot forward.
+     * @param inclineAngleDegrees The incline angle at which the projectile should be launched in
+     *                            degrees, down from straight up.
+     * @param launchVelocityRPS The velocity to spin the launch motors at in rotations per second.
+     */
+    record ShooterCalculatorResponse(double turretAngleDegrees, double inclineAngleDegrees, double launchVelocityRPS) {}
+}
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java
new file mode 100644
index 00000000..b1fbd0a6
--- /dev/null
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java
@@ -0,0 +1,42 @@
+package com.team1816.lib.util.ShooterCalculator;
+
+import com.team1816.lib.hardware.LinearMPSToLauncherRPSConfig;
+import edu.wpi.first.math.MathUtil;
+import org.apache.commons.math3.analysis.interpolation.LinearInterpolator;
+import org.apache.commons.math3.analysis.polynomials.PolynomialSplineFunction;
+
+import java.util.List;
+
+import static com.team1816.lib.Singleton.factory;
+
+public class LinearMPSToLauncherRPSLookup {
+
+    private final PolynomialSplineFunction linearMPSToLauncherRPSFunction;
+
+    public LinearMPSToLauncherRPSLookup() {
+        // TODO: If we calibrate this using the linearMPSToLaunchRPS YAML, we can use the line below.
+        //  For now we are just trying to use some physics to get data from the shooterSettings table.
+//        LinearMPSToLauncherRPSConfig table = factory.getLinearMPSToLauncherRPSConfig();
+        LinearMPSToLauncherRPSConfig table = factory.stealLinearMPSToLauncherRPSConfigFromShooterSettings(72);
+
+        List<Double> linearVelocitiesMPS = table.linearVelocitiesMPS;
+        List<Double> launchVelocitiesRPS = table.launchVelocitiesRPS;
+        LinearInterpolator linearMPSToLauncherRPSLI = new LinearInterpolator();
+
+        double[] linearVelocitiesMPSArray = linearVelocitiesMPS.stream()
+            .mapToDouble(Double::doubleValue)
+            .toArray();
+        double[] launchVelocitiesRPSArray = launchVelocitiesRPS.stream()
+            .mapToDouble(Double::doubleValue)
+            .toArray();
+
+        this.linearMPSToLauncherRPSFunction = linearMPSToLauncherRPSLI.interpolate(linearVelocitiesMPSArray, launchVelocitiesRPSArray);
+    }
+
+    public double getLaunchVelocityRPS(double linearVelocityMPS) {
+        var knots = linearMPSToLauncherRPSFunction.getKnots();
+        // Clamp the distance to within the interpolation range.
+        double clampedLinearVelocityMPS = MathUtil.clamp(linearVelocityMPS, knots[0], knots[knots.length - 1]);
+        return linearMPSToLauncherRPSFunction.value(clampedLinearVelocityMPS);
+    }
+}
diff --git a/src/main/java/com/team1816/lib/util/ShooterTableCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java
similarity index 79%
rename from src/main/java/com/team1816/lib/util/ShooterTableCalculator.java
rename to src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java
index aebec0ab..a8dfa24c 100644
--- a/src/main/java/com/team1816/lib/util/ShooterTableCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java
@@ -1,10 +1,8 @@
-package com.team1816.lib.util;
+package com.team1816.lib.util.ShooterCalculator;
 
-import com.team1816.lib.BaseRobotState;
 import com.team1816.lib.hardware.ShooterSettingsConfig;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import org.apache.commons.math3.analysis.interpolation.LinearInterpolator;
 import org.apache.commons.math3.analysis.polynomials.PolynomialSplineFunction;
@@ -40,14 +38,23 @@ public ShooterTableCalculator() {
         this.launchVelocityRPSFunction = launchVelocityRPSLI.interpolate(distancesInchesArray, launchVelocitiesRPSArray);
     }
 
-    public ShooterCalculatorResponse getShooterSettings(Translation2d shooter, Translation2d target, boolean useChassisSpeedForHoodAngleAndSpeed) {
-        double distanceToTargetMeters = shooter.getDistance(target);
+    public ShooterCalculatorResponse calculate(Translation3d shooter, Translation3d target, double angleOfEntryDegrees, boolean useChassisSpeedForHoodAngleAndSpeed) {
+        // Get the 2d distance from the shooter to the target.
+        double distanceToTargetMeters = shooter.toTranslation2d().getDistance(target.toTranslation2d());
         double distanceToTargetInches = Units.metersToInches(distanceToTargetMeters);
         double inclineAngleRotations = getInclineAngleRotations(distanceToTargetInches);
         double inclineAngleDegrees = Units.rotationsToDegrees(inclineAngleRotations);
         double launchVelocityRPS = getLaunchVelocityRPS(distanceToTargetInches);
 
-        return new ShooterCalculatorResponse(inclineAngleDegrees, launchVelocityRPS);
+        return new ShooterCalculatorResponse(
+            getTurretAngle(
+                shooter.toTranslation2d(),
+                target.toTranslation2d(),
+                useChassisSpeedForHoodAngleAndSpeed
+            ).getDegrees(),
+            inclineAngleDegrees,
+            launchVelocityRPS
+        );
     }
 
     private double getInclineAngleRotations(double distanceInches) {
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index fd1aad7a..1073008a 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -8,8 +8,8 @@
 import com.team1816.lib.subsystems.ITestableSubsystem;
 import com.team1816.lib.util.FieldContainer;
 import com.team1816.lib.util.GreenLogger;
-import com.team1816.lib.util.IShooterCalculator;
-import com.team1816.lib.util.ShooterTableCalculator;
+import com.team1816.lib.util.ShooterCalculator.HenryShooterCalculator;
+import com.team1816.lib.util.ShooterCalculator.IShooterCalculator;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.*;
 import edu.wpi.first.math.util.Units;
@@ -200,16 +200,17 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
     //TARGET TRANSLATION2DS
     // These are all on the blue side, and will be flipped based on alliance. Left and right are
     // from the driver station perspective.
-    private final Translation2d HUB_TRANSLATION_2D = new Translation2d(Units.inchesToMeters(182.11), Units.inchesToMeters(158.84));
-    private final Translation2d LEFT_CORNER_TRANSLATION_2D = new Translation2d(2, 5.07);
-    private final Translation2d RIGHT_CORNER_TRANSLATION_2D = new Translation2d(2, 3);
+    private final Translation3d HUB_TRANSLATION_3D = new Translation3d(Units.inchesToMeters(182.11), Units.inchesToMeters(158.84), Units.inchesToMeters(72));
+    private final Translation3d LEFT_CORNER_TRANSLATION_3D = new Translation3d(2, 5.07, 0);
+    private final Translation3d RIGHT_CORNER_TRANSLATION_3D = new Translation3d(2, 3, 0);
 //    private final double ROBOT_STARTING_LINE = Units.inchesToMeters(156.61); True position.
     private final double ROBOT_STARTING_LINE = 4.2684; // Fudged position to shoot into the hub from only partially over the line.
 
-    private final ShooterTableCalculator shooterTableCalculator = new ShooterTableCalculator();
+    // Just change this line to use a new ShooterTableCalculator to switch the calculator type.
+    private final IShooterCalculator shooterTableCalculator = new HenryShooterCalculator();
 
-    private Translation2d turretTarget = Translation2d.kZero;
-    private Pose2d turretPose = Pose2d.kZero;
+    private Translation3d target = Translation3d.kZero;
+    private Pose3d turretPose = Pose3d.kZero;
     private boolean isBlueAlliance = false;
 
     public Shooter() {
@@ -278,13 +279,20 @@ public Shooter() {
         GreenLogger.periodicLog(NAME + "/turret/Auto Aiming Turret", () -> autoAimTurret);
         GreenLogger.periodicLog(NAME + "/turret/Angle Adjustment Degrees", () -> turretAngleAdjustmentDegrees);
         GreenLogger.periodicLog(NAME + "/turret/Is Blue Alliance", () -> isBlueAlliance);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Turret Pose", () -> turretPose, Pose2d.struct);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Target Pose", () -> turretTarget, Translation2d.struct);
+        GreenLogger.periodicLog(NAME + "/turret/calc/Turret Pose", () -> turretPose, Pose3d.struct);
+        GreenLogger.periodicLog(NAME + "/turret/calc/Target Translation", () -> target, Translation3d.struct);
         GreenLogger.periodicLog(NAME + "/turret/calc/Robot Pose", () -> BaseRobotState.robotPose, Pose2d.struct);
         GreenLogger.periodicLog(NAME + "/turret/calc/Shooter Offset", () -> SHOOTER_OFFSET, Translation3d.struct);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Distance to Target", () -> turretPose.getTranslation().getDistance(turretTarget));
+        GreenLogger.periodicLog(
+            NAME + "/turret/calc/Distance to Target",
+            // Get the 2d distance between the turret and the target.
+            () -> turretPose.getTranslation().toTranslation2d().getDistance(target.toTranslation2d())
+        );
         GreenLogger.periodicLog(NAME + "/turret/calc/Wanted Angle Degrees", () -> wantedTurretAngleDegrees);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Current Angle Degrees", () -> getCurrentRobotRelativeTurretRotation2d().getDegrees());
+        GreenLogger.periodicLog(
+            NAME + "/turret/calc/Current Angle Degrees",
+            () -> getCurrentRobotRelativeTurretRotation2d().getDegrees()
+        );
     }
 
     @Override
@@ -320,23 +328,26 @@ public void readFromHardware() {
         // Now the sensor triggered values have been set at least once.
         sensorValuesHaveBeenSet = true;
 
-        FieldContainer.field.getObject("Turret").setPose(getCurrentTurretPose2d());
+        FieldContainer.field.getObject("Turret").setPose(getCurrentTurretPose3d().toPose2d());
 
         inclineMotorML.setAngle(getCurrentInclineAngleDegrees());
     }
 
     private void applyState() {
-        turretTarget = Translation2d.kZero;
-        if (autoAimTurret || wantedDistanceState == ShooterDistanceState.AUTOMATIC) {
-            isAutoAiming = true;
-            turretTarget = getTargetTranslation2d();
-        }
-        else {
-            isAutoAiming = false;
-        }
+        target = getTargetTranslation3d();
+        // TODO: I need to figure out why this needs to be negative, but it does for now.
+        final double calculatorAngleOfEntryDegrees = -45;
+        IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate(
+            getCurrentTurretPose3d().getTranslation(),
+            target,
+            calculatorAngleOfEntryDegrees,
+            useChassisSpeedForHoodAngleAndSpeed
+        );
+
+        isAutoAiming = autoAimTurret || wantedDistanceState == ShooterDistanceState.AUTOMATIC;
 
         if (autoAimTurret) {
-            aimTurretAtTarget(turretTarget);
+            setTurretAngle(calculatorResponse.turretAngleDegrees());
         }
         else {
             setTurretAngle(turretFixedAngleDegrees);
@@ -347,7 +358,10 @@ private void applyState() {
                 setInclineAngle(wantedDistanceState.getInclineAngleDegrees());
                 setLaunchVelocities(wantedDistanceState.getLaunchVelocityRPS());
             }
-            case AUTOMATIC -> aimInclineAndLaunchersAtTarget(turretTarget);
+            case AUTOMATIC -> {
+                setInclineAngle(calculatorResponse.inclineAngleDegrees());
+                setLaunchVelocities(calculatorResponse.launchVelocityRPS());
+            }
         }
     }
 
@@ -455,14 +469,14 @@ public boolean isInclineDucked() {
     }
 
     /**
-     * Gets the {@link Translation2d} of the target that we should aim at, based on the location of
+     * Gets the {@link Translation3d} of the target that we should aim at, based on the location of
      * the robot on the field. Specifically, determines if we should aim at the hub or the corner
      * of the alliance zone, determines which corner to aim at if aiming at the corner, and gets
-     * the correct {@link Translation2d} of this target based on the alliance.
+     * the correct {@link Translation3d} of this target based on the alliance.
      *
-     * @return The {@link Translation2d} of the target we should aim at.
+     * @return The {@link Translation3d} of the target we should aim at.
      */
-    private Translation2d getTargetTranslation2d() {
+    private Translation3d getTargetTranslation3d() {
         Pose2d robotPose = BaseRobotState.robotPose;
         double robotXMeters = robotPose.getX();
         double robotYMeters = robotPose.getY();
@@ -472,7 +486,7 @@ private Translation2d getTargetTranslation2d() {
             : robotXMeters > FlippingUtil.fieldSizeX - ROBOT_STARTING_LINE;
         if (isInAllianceZone) {
             // Aim at hub
-            return flipTranslation2dBasedOnAlliance(HUB_TRANSLATION_2D);
+            return flipTranslation3dBasedOnAlliance(HUB_TRANSLATION_3D);
         }
         else {
             // Aim at corner on alliance side. Determine left or right based on which half of the
@@ -481,52 +495,38 @@ private Translation2d getTargetTranslation2d() {
             // are on the left if y is greater than the middle, and if we are red alliance, we are
             // on the left if y is less than the middle.
             if (isBlueAlliance == robotYMeters > (FlippingUtil.fieldSizeY / 2)) {
-                return flipTranslation2dBasedOnAlliance(LEFT_CORNER_TRANSLATION_2D);
+                return flipTranslation3dBasedOnAlliance(LEFT_CORNER_TRANSLATION_3D);
             }
             else {
-                return flipTranslation2dBasedOnAlliance(RIGHT_CORNER_TRANSLATION_2D);
+                return flipTranslation3dBasedOnAlliance(RIGHT_CORNER_TRANSLATION_3D);
             }
         }
     }
 
     /**
-     * Flips the passed in {@link Translation2d} based on the alliance.
-     *
-     * @param blueTranslation2d The {@link Translation2d} to flip. This should be the {@link
-     * Translation2d} for the blue alliance side.
-     * @return The original {@link Translation2d} if the alliance is blue, or the flipped {@link
-     * Translation2d} if the alliance is red.
-     */
-    private Translation2d flipTranslation2dBasedOnAlliance(Translation2d blueTranslation2d) {
-        return DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
-            ? blueTranslation2d
-            : FlippingUtil.flipFieldPosition(blueTranslation2d);
-    }
-
-    /**
-     * Automatically points the turret at the passed in target.
+     * Flips the passed in {@link Translation3d} based on the alliance.
      *
-     * @param targetTranslation2d The {@link Translation2d} of the target to aim at.
-     */
-    private void aimTurretAtTarget(Translation2d targetTranslation2d) {
-        Rotation2d robotRelativeRotation2dToTarget = shooterTableCalculator.getTurretAngle(getCurrentTurretPose2d().getTranslation(),
-            targetTranslation2d, useChassisSpeedForHoodAngleAndSpeed);
-        double robotRelativeDegreesToTarget = robotRelativeRotation2dToTarget.getDegrees();
-        setTurretAngle(robotRelativeDegreesToTarget);
-    }
-
-    /**
-     * Automatically points the incline and spins up the launchers to shoot at the passed in target
-     * at hub height using the shooter lookup table.
-     *
-     * @param targetTranslation2d The {@link Translation2d} of the target to aim at.
-     */
-    private void aimInclineAndLaunchersAtTarget(Translation2d targetTranslation2d) {
-        IShooterCalculator.ShooterCalculatorResponse response = shooterTableCalculator.getShooterSettings(getCurrentTurretPose2d().getTranslation(),
-            targetTranslation2d, useChassisSpeedForHoodAngleAndSpeed);
-
-        setInclineAngle(response.inclineAngleDegrees());
-        setLaunchVelocities(response.launchVelocityRPS());
+     * @param blueTranslation3d The {@link Translation3d} to flip. This should be the {@link
+     * Translation3d} for the blue alliance side.
+     * @return The original {@link Translation3d} if the alliance is blue, or the flipped {@link
+     * Translation3d} if the alliance is red.
+     */
+    private Translation3d flipTranslation3dBasedOnAlliance(Translation3d blueTranslation3d) {
+        if (DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue) {
+            return blueTranslation3d;
+        }
+        else {
+            // Flip the 2d part with PathPlanner's FlippingUtil.
+            Translation2d flippedTranslation2d = FlippingUtil.flipFieldPosition(
+                blueTranslation3d.toTranslation2d()
+            );
+            // Reassemble the Translation3d with the flipped Translation2d and the original height.
+            return new Translation3d(
+                flippedTranslation2d.getX(),
+                flippedTranslation2d.getY(),
+                blueTranslation3d.getZ()
+            );
+        }
     }
 
     /**
@@ -713,22 +713,21 @@ private void setTurretAngle(double wantedAngleDegrees) {
     }
 
     /**
-     * Gets the {@link Pose2d} representing the turret's current pose on the field.
+     * Gets the {@link Pose3d} representing the turret's current pose on the field.
      *
-     * @return The current field-relative {@link Pose2d} of the turret.
+     * @return The current field-relative {@link Pose3d} of the turret.
      */
-    private Pose2d getCurrentTurretPose2d() {
-        Translation2d robotToTurretTranslation2d = SHOOTER_OFFSET.toTranslation2d();
+    private Pose3d getCurrentTurretPose3d() {
         Rotation2d robotToTurretRotation2d = getCurrentRobotRelativeTurretRotation2d();
 
-        Transform2d robotToTurretTransform2d = new Transform2d(
-            robotToTurretTranslation2d,
-            robotToTurretRotation2d
+        Transform3d robotToTurretTransform3d = new Transform3d(
+            SHOOTER_OFFSET,
+            new Rotation3d(robotToTurretRotation2d)
         );
 
-        Pose2d robotPose2d = BaseRobotState.robotPose;
+        Pose3d robotPose3d = new Pose3d(BaseRobotState.robotPose);
 
-        turretPose = robotPose2d.transformBy(robotToTurretTransform2d);
+        turretPose = robotPose3d.transformBy(robotToTurretTransform3d);
 
         return turretPose;
     }
diff --git a/src/main/resources/schemas/hardware/linearmpstolauncherrpsconfig.schema.json b/src/main/resources/schemas/hardware/linearmpstolauncherrpsconfig.schema.json
new file mode 100644
index 00000000..d712292b
--- /dev/null
+++ b/src/main/resources/schemas/hardware/linearmpstolauncherrpsconfig.schema.json
@@ -0,0 +1,21 @@
+{
+    "type": "object",
+    "title": "Linear MPS to Launcher RPS Config",
+    "additionalProperties": false,
+    "properties": {
+        "linearVelocitiesMPS": {
+            "type": "array",
+            "default": null,
+            "items": {
+                "type": "number"
+            }
+        },
+        "launchVelocitiesRPS": {
+            "type": "array",
+            "default": null,
+            "items": {
+                "type": "number"
+            }
+        }
+    }
+}
diff --git a/src/main/resources/schemas/hardware/robotconfig.schema.json b/src/main/resources/schemas/hardware/robotconfig.schema.json
index 4c69b7c3..920cb91a 100644
--- a/src/main/resources/schemas/hardware/robotconfig.schema.json
+++ b/src/main/resources/schemas/hardware/robotconfig.schema.json
@@ -17,6 +17,9 @@
         "shooterSettings": {
             "$ref": "shootersettingsconfig.schema.json"
         },
+        "linearMPSToLaunchRPS": {
+            "$ref": "linearmpstolauncherrpsconfig.schema.json"
+        },
         "autopathing": {
             "type": "object",
             "existingJavaType": "AutopathingConfig"
@@ -31,6 +34,7 @@
                 "constants",
                 "controlboard",
                 "shooterSettings",
+                "linearMPSToLaunchRPS",
                 "autopathing"
             ]
         }
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index eda9f7a0..4ac5a179 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -20,6 +20,13 @@ shooterSettings:
         - 48 # 204
         - 54 # 264
         - 100 # 360
+linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert.
+    linearVelocitiesMPS:
+        - 10
+        - 20
+    launchVelocitiesRPS:
+        - 20
+        - 40
 subsystems:
     drivetrain:
         implemented: true

From 8c2cf9745fa229f73ee60900c616a346b3da3d48 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Fri, 10 Apr 2026 09:14:22 -0500
Subject: [PATCH 07/36] limit drive speed while shooting

---
 .../lib/subsystems/drivetrain/Swerve.java     | 51 +++++++++++++++++--
 .../season/subsystems/Superstructure.java     | 11 ++++
 2 files changed, 59 insertions(+), 3 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
index 28d366c3..e8eb0329 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
@@ -49,6 +49,9 @@ public class Swerve extends SubsystemBase implements ITestableSubsystem {
     private final double SLOW_MODE_TRANSLATIONAL_MULTIPLIER;
     private final double SLOW_MODE_ROTATIONAL_MULTIPLIER;
 
+    private double speedLimitMPS = 0;
+    private boolean limitSpeed = false;
+
     public Swerve(CommandXboxController controller) {
         // TODO: This Singleton.get stuff is a temporary workaround until I fix a bug with the
         //  static factory member from the Singleton not initializing properly for the first
@@ -111,9 +114,28 @@ private SwerveRequest GetSwerverCommand(SwerveRequest.FieldCentric drive) {
             rot *= NORMAL_MODE_ROTATIONAL_MULTIPLIER;
         }
 
-        return drive.withVelocityX(x * drivetrain.maxSpd) // Drive forward with negative Y (forward)
-            .withVelocityY(y * drivetrain.maxSpd) // Drive left with negative X (left)
-            .withRotationalRate(rot * maxAngularRate); // Drive counterclockwise with negative X (left)
+        // 6. Scale up the velocities out of the physical maximums
+        x *= IDrivetrain.maxSpd;
+        y *= IDrivetrain.maxSpd;
+        rot *= maxAngularRate;
+
+        // 7. Apply the speed limit hard cutoff.
+        if (limitSpeed) {
+            double speedSquared = x * x + y * y;
+            // Compare the speeds squared because it is slightly faster than using Math.sqrt() if
+            // we don't need to
+            if (speedSquared > speedLimitMPS * speedLimitMPS) {
+                double speed = Math.sqrt(speedSquared);
+                double ratio = speedLimitMPS / speed;
+                // Scale down the x and y velocity components to limit the overall speed
+                x *= ratio;
+                y *= ratio;
+            }
+        }
+
+        return drive.withVelocityX(x) // Drive forward with negative Y (forward)
+            .withVelocityY(y) // Drive left with negative X (left)
+            .withRotationalRate(rot); // Drive counterclockwise with negative X (left)
     }
 
     private void setForwardPerspective() {
@@ -156,6 +178,29 @@ public void resetPose(Pose2d pose) {
         drivetrain.resetPose(pose);
     }
 
+    /**
+     * Apply a hard maximum to the drive speed. This should be used for tasks that require a strict
+     * cutoff, such as shooting while moving with a turret that cannot keep up at full speed. For
+     * slowing down driving for more precise control, use the slow mode and normal mode multipliers
+     * instead.
+     *
+     * @param speedLimitMPS The speed to limit driving to, in meters per second.
+     * @see #stopLimitingDriveSpeed()
+     */
+    public void limitDriveSpeed(double speedLimitMPS) {
+        this.speedLimitMPS = speedLimitMPS;
+        limitSpeed = true;
+    }
+
+    /**
+     * Stop applying the hard maximum to the drive speed.
+     *
+     * @see #limitDriveSpeed(double)
+     */
+    public void stopLimitingDriveSpeed() {
+        limitSpeed = false;
+    }
+
     /**
      * Adds a vision measurement to the Kalman Filter. This will correct the
      * odometry pose estimate while still accounting for measurement noise.
diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java
index 6738b692..1c611971 100644
--- a/src/main/java/com/team1816/season/subsystems/Superstructure.java
+++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java
@@ -5,6 +5,7 @@
 import com.team1816.lib.subsystems.Vision;
 import com.team1816.lib.subsystems.drivetrain.Swerve;
 import com.team1816.lib.util.GreenLogger;
+import edu.wpi.first.wpilibj.DriverStation;
 
 public class Superstructure extends BaseSuperstructure {
     private final Shooter shooter;
@@ -219,6 +220,16 @@ private void defaulting() {
             gatekeeper.setWantedState(Gatekeeper.GatekeeperState.CLOSED);
         }
 
+        // Limit the drive speed if we are trying to shoot and in teleop. In auto, the speed should
+        // be handled by the path.
+        double shootingSpeedLimitMPS = 3;
+        if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop()) {
+            swerve.limitDriveSpeed(shootingSpeedLimitMPS);
+        }
+        else {
+            swerve.stopLimitingDriveSpeed();
+        }
+
         // Only spin up the launch motors if we are trying to shoot to save battery.
         shooter.setSpinUpLaunchMotors(wantedGatekeeperState == WantedGatekeeperState.OPEN);
         intake.setWantedState(

From c57796c5806f95b9d598fdbd7623ab3d565cba9b Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Fri, 10 Apr 2026 10:19:48 -0500
Subject: [PATCH 08/36] add look ahead for turret

---
 .../HenryShooterCalculator.java               | 36 +++++++++++++------
 .../ShooterCalculator/IShooterCalculator.java |  9 ++++-
 .../ShooterTableCalculator.java               |  8 ++++-
 .../team1816/season/subsystems/Shooter.java   | 21 +++++++----
 4 files changed, 55 insertions(+), 19 deletions(-)

diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
index 466e01bf..8fb70838 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
@@ -5,7 +5,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 
-public class HenryShooterCalculator implements IShooterCalculator{
+public class HenryShooterCalculator implements IShooterCalculator {
 
     private final LinearMPSToLauncherRPSLookup linearMPSToLauncherRPSLookup = new LinearMPSToLauncherRPSLookup();
 
@@ -20,6 +20,11 @@ public class HenryShooterCalculator implements IShooterCalculator{
      * @param targetTranslation3dMeters The {@link Translation3d} of where to shoot to.
      * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target.
      * @param useChassisSpeedForHoodAngleAndSpeed Unused for this calculator.
+     * @param lookAheadTimeSeconds The time to project forward the shooter's position before
+     *                             performing calculations, in seconds. This can be used to give
+     *                             mechanisms that cannot keep up with the robot's movement a head
+     *                             start. However, it should be used with caution, because it will
+     *                             not behave well while accelerating or turning.
      * @return A {@link com.team1816.lib.util.ShooterCalculator.IShooterCalculator.ShooterCalculatorResponse}
      * describing how to shoot the projectile from the shooter to the target.
      */
@@ -27,13 +32,30 @@ public IShooterCalculator.ShooterCalculatorResponse calculate(
         Translation3d shooterTranslation3dMeters,
         Translation3d targetTranslation3dMeters,
         double angleOfEntryDegrees,
-        boolean useChassisSpeedForHoodAngleAndSpeed
+        boolean useChassisSpeedForHoodAngleAndSpeed,
+        double lookAheadTimeSeconds
     ) {
         // Acceleration due to gravity near earth's surface in m/s² - change this if we are
         // competing on a different planet
         final double g = 9.80665;
 
-        Translation3d deltaTranslation3d = targetTranslation3dMeters.minus(shooterTranslation3dMeters);
+        // Get the field-relative ChassisSpeeds from the robot-relative ChassisSpeeds
+        ChassisSpeeds chassisSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(
+            BaseRobotState.robotSpeeds, BaseRobotState.robotPose.getRotation()
+        );
+        // Current field-relative chassis (robot) velocity components in m/s
+        double vCX = chassisSpeeds.vxMetersPerSecond;
+        double vCY = chassisSpeeds.vyMetersPerSecond;
+
+        // Project ahead where the shooter will be after lookAheadTimeSeconds based on the robot's
+        // velocity
+        Translation3d projectedShooterTranslation3dMeters = shooterTranslation3dMeters.plus(
+            new Translation3d(vCX * lookAheadTimeSeconds, vCY * lookAheadTimeSeconds, 0)
+        );
+
+        Translation3d deltaTranslation3d = targetTranslation3dMeters.minus(
+            projectedShooterTranslation3dMeters
+        );
         // Distance from start to target components in meters
         double deltaX = deltaTranslation3d.getX();
         double deltaY = deltaTranslation3d.getY();
@@ -56,14 +78,6 @@ public IShooterCalculator.ShooterCalculatorResponse calculate(
             / g
         );
 
-        // Get the field-relative ChassisSpeeds from the robot-relative ChassisSpeeds
-        ChassisSpeeds chassisSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(
-            BaseRobotState.robotSpeeds, BaseRobotState.robotPose.getRotation()
-        );
-        // Current field-relative chassis (robot) velocity components in m/s
-        double vCX = chassisSpeeds.vxMetersPerSecond;
-        double vCY = chassisSpeeds.vyMetersPerSecond;
-
         // Calculated shooter velocity components in m/s
         double vSX = deltaX / time - vCX;
         double vSY = deltaY / time - vCY;
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
index 3700d1db..61223ba5 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
@@ -15,6 +15,12 @@ public interface IShooterCalculator {
      * @param useChassisSpeedForHoodAngleAndSpeed If the chassis speeds should be factored into
      *                                            calculations for incline angle and launch
      *                                            velocity. Not used by all calculator types.
+     * @param lookAheadTimeSeconds The time to project forward the shooter's position before
+     *                             performing calculations, in seconds. This can be used to give
+     *                             mechanisms that cannot keep up with the robot's movement a head
+     *                             start. However, it should be used with caution, because it will
+     *                             not behave well while accelerating or turning. Not used by all
+     *                             calculator types.
      * @return The {@link ShooterCalculatorResponse} describing how the projectile should be shot
      * to reach the target.
      */
@@ -22,7 +28,8 @@ ShooterCalculatorResponse calculate(
         Translation3d shooterTranslation3dMeters,
         Translation3d targetTranslation3dMeters,
         double angleOfEntryDegrees,
-        boolean useChassisSpeedForHoodAngleAndSpeed
+        boolean useChassisSpeedForHoodAngleAndSpeed,
+        double lookAheadTimeSeconds
     );
 
     /**
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java
index a8dfa24c..e73175a4 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/ShooterTableCalculator.java
@@ -38,7 +38,13 @@ public ShooterTableCalculator() {
         this.launchVelocityRPSFunction = launchVelocityRPSLI.interpolate(distancesInchesArray, launchVelocitiesRPSArray);
     }
 
-    public ShooterCalculatorResponse calculate(Translation3d shooter, Translation3d target, double angleOfEntryDegrees, boolean useChassisSpeedForHoodAngleAndSpeed) {
+    public ShooterCalculatorResponse calculate(
+        Translation3d shooter,
+        Translation3d target,
+        double angleOfEntryDegrees,
+        boolean useChassisSpeedForHoodAngleAndSpeed,
+        double lookAheadTimeSeconds
+    ) {
         // Get the 2d distance from the shooter to the target.
         double distanceToTargetMeters = shooter.toTranslation2d().getDistance(target.toTranslation2d());
         double distanceToTargetInches = Units.metersToInches(distanceToTargetMeters);
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 060ed825..41a553dd 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -337,16 +337,18 @@ private void applyState() {
         target = getTargetTranslation3d();
         // TODO: I need to figure out why this needs to be negative, but it does for now.
         final double calculatorAngleOfEntryDegrees = -45;
-        IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate(
-            getCurrentTurretPose3d().getTranslation(),
-            target,
-            calculatorAngleOfEntryDegrees,
-            useChassisSpeedForHoodAngleAndSpeed
-        );
 
         isAutoAiming = autoAimTurret || wantedDistanceState == ShooterDistanceState.AUTOMATIC;
 
         if (autoAimTurret) {
+            double turretLookAheadTimeSeconds = 0.5;
+            IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate(
+                getCurrentTurretPose3d().getTranslation(),
+                target,
+                calculatorAngleOfEntryDegrees,
+                useChassisSpeedForHoodAngleAndSpeed,
+                turretLookAheadTimeSeconds
+            );
             setTurretAngle(calculatorResponse.turretAngleDegrees());
         }
         else {
@@ -359,6 +361,13 @@ private void applyState() {
                 setLaunchVelocities(wantedDistanceState.getLaunchVelocityRPS());
             }
             case AUTOMATIC -> {
+                IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate(
+                    getCurrentTurretPose3d().getTranslation(),
+                    target,
+                    calculatorAngleOfEntryDegrees,
+                    useChassisSpeedForHoodAngleAndSpeed,
+                    0
+                );
                 setInclineAngle(calculatorResponse.inclineAngleDegrees());
                 setLaunchVelocities(calculatorResponse.launchVelocityRPS());
             }

From 87e48f7588da7818931b7cb4bb9f8a90b20a6205 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sun, 12 Apr 2026 16:45:59 -0500
Subject: [PATCH 09/36] Goofing off

---
 .../hardware/components/sensor/Camera.java    |  71 ++++++-----
 .../lib/subsystems/BaseSuperstructure.java    | 120 +++++++++---------
 .../com/team1816/lib/subsystems/Vision.java   |  19 ++-
 3 files changed, 109 insertions(+), 101 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
index d223eec5..0e549e5d 100644
--- a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
+++ b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
@@ -148,40 +148,49 @@ public List<EstimatedRobotPose> getEstimatedRobotPosesFromAllUnreadResults() {
         // Get position estimates from all the unread PhotonPipelineResults on the PhotonCamera. A
         // PhotonPipelineResult can essentially be thought of as a frame from the camera.
         for (PhotonPipelineResult pipelineResult : photonCamera.getAllUnreadResults()) {
-            Optional<EstimatedRobotPose> poseEstimate = poseEstimator.estimateCoprocMultiTagPose(pipelineResult);
+            int targetsSize = pipelineResult.targets.size();
+            if (targetsSize > 0) {
+                Optional<EstimatedRobotPose> poseEstimate = targetsSize > 1 ?
+                    poseEstimator.estimateCoprocMultiTagPose(pipelineResult) :
+                    poseEstimator.estimateLowestAmbiguityPose(pipelineResult);
 
-            // If we weren't able to get a multi-tag estimate (this would happen if there weren't
-            // multiple tags visible), try to get a result using lowest ambiguity. (Technically, it
-            // doesn't matter that it is using the lowest ambiguity tag because at this point we
-            // know there is only one tag, but it has to be some estimation strategy that works
-            // with only one tag.)
-            if (poseEstimate.isEmpty()) {
-                poseEstimate = poseEstimator.estimateLowestAmbiguityPose(pipelineResult);
-            }
 
-            // If we got an estimate, add it to the list to return and update the latest pose
-            // estimate.
-            poseEstimate.ifPresent(estimate -> {
-                estimatedRobotPoses.add(estimate);
-                latestPoseEstimate = estimate.estimatedPose;
-            });
+                // If we weren't able to get a multi-tag estimate (this would happen if there weren't
+                // multiple tags visible), try to get a result using lowest ambiguity. (Technically, it
+                // doesn't matter that it is using the lowest ambiguity tag because at this point we
+                // know there is only one tag, but it has to be some estimation strategy that works
+                // with only one tag.)
+//            if (poseEstimate.isEmpty()) {
+//                poseEstimate = poseEstimator.estimateLowestAmbiguityPose(pipelineResult);
+//            }
+
+                // If we got an estimate, add it to the list to return and update the latest pose
+                // estimate.
+                poseEstimate.ifPresent(estimate -> {
+                    estimatedRobotPoses.add(estimate);
+                    latestPoseEstimate = estimate.estimatedPose;
+                });
 
-            // Set the seen AprilTag poses and IDs based on the tags from the latest pipeline
-            // result.
-            List<PhotonTrackedTarget> targets = pipelineResult.getTargets();
-            seenAprilTagPoses = targets.stream()
-                .map(target ->
-                    // Find the AprilTag's pose on the field based on its position relative to the
-                    // camera, the position of the camera on the robot, and the current estimated
-                    // position of the robot on the field.
-                    new Pose3d(BaseRobotState.robotPose)
-                        .plus(robotToCamera)
-                        .plus(target.getBestCameraToTarget())
-                )
-                .collect(Collectors.toList());
-            seenAprilTagIDs = targets.stream()
-                .map(PhotonTrackedTarget::getFiducialId)
-                .collect(Collectors.toList());
+                // Set the seen AprilTag poses and IDs based on the tags from the latest pipeline
+                // result.
+                List<PhotonTrackedTarget> targets = pipelineResult.getTargets();
+                seenAprilTagPoses = targets.stream()
+                    .map(target ->
+                        // Find the AprilTag's pose on the field based on its position relative to the
+                        // camera, the position of the camera on the robot, and the current estimated
+                        // position of the robot on the field.
+                        new Pose3d(BaseRobotState.robotPose)
+                            .plus(robotToCamera)
+                            .plus(target.getBestCameraToTarget())
+                    )
+                    .collect(Collectors.toList());
+                seenAprilTagIDs = targets.stream()
+                    .map(PhotonTrackedTarget::getFiducialId)
+                    .collect(Collectors.toList());
+            } else {
+                seenAprilTagPoses = List.of();
+                seenAprilTagIDs = List.of();
+            }
         }
         return estimatedRobotPoses;
     }
diff --git a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
index 08e5f8e9..3c9fb816 100644
--- a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
+++ b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
@@ -82,17 +82,17 @@ public void addVisionMeasurementsToDrivetrain() {
         for (Pair<EstimatedRobotPose, Matrix<N3, N1>> visionMeasurement : visionMeasurements) {
             Matrix<N3, N1> visionStdDevs = visionMeasurement.getSecond();
 
-            if (!BaseRobotState.hasAccuratePoseEstimate && goodVisionEstimatesSincePoseLoss == 0) {
-                // If we just lost pose and haven't had any good vision estimates since, assume
-                // very little trust in the current state estimate. This will essentially make the
-                // next vision measurement added set the pose almost completely.
-                swerve.setStateStdDevs(
-                    VecBuilder.fill(1000, 1000, 1000)
-                );
-                // Set the sum of the vision estimate variances to zero for performing state
-                // standard deviation calculations.
-                visionEstimateSincePoseLossVarianceSum = VecBuilder.fill(0, 0, 0);
-            }
+//            if (!BaseRobotState.hasAccuratePoseEstimate && goodVisionEstimatesSincePoseLoss == 0) {
+//                // If we just lost pose and haven't had any good vision estimates since, assume
+//                // very little trust in the current state estimate. This will essentially make the
+//                // next vision measurement added set the pose almost completely.
+//                swerve.setStateStdDevs(
+//                    VecBuilder.fill(1000, 1000, 1000)
+//                );
+//                // Set the sum of the vision estimate variances to zero for performing state
+//                // standard deviation calculations.
+//                visionEstimateSincePoseLossVarianceSum = VecBuilder.fill(0, 0, 0);
+//            }
 
             // Add the vision measurements to the drivetrain.
             swerve.addVisionMeasurement(
@@ -101,55 +101,55 @@ public void addVisionMeasurementsToDrivetrain() {
                 visionStdDevs
             );
 
-            // If we don't currently have a good pose estimate and the vision pose estimate that
-            // we just added to the state estimate was good enough, increase our trust in the state
-            // estimate and increment our counter toward deciding if we have a good enough estimate
-            // again.
-
-            // The maximum x and y standard deviations to allow for a vision estimate to count it
-            // as trustworthy enough to work toward reestablishing our pose estimate.
-            final double maxTrustworthyTranslationStdDev = 2.0;
-            // The maximum rotation standard deviations to allow for a vision estimate to count it
-            // as trustworthy enough to work toward reestablishing our pose estimate.
-            final double maxTrustworthyRotationStdDev = 4.0;
-
-            if (
-                !BaseRobotState.hasAccuratePoseEstimate
-                    && visionStdDevs.get(0, 0) <= maxTrustworthyTranslationStdDev
-                    && visionStdDevs.get(1, 0) <= maxTrustworthyTranslationStdDev
-                    && visionStdDevs.get(2, 0) <= maxTrustworthyRotationStdDev
-            ) {
-                goodVisionEstimatesSincePoseLoss += 1;
-
-                // The minimum number of good vision pose estimates to wait for until we decide we
-                // are confident in our pose estimate again.
-                final int minGoodPoseEstimatesUntilConfident = 10;
-
-                // If we've gotten enough good vision pose estimates since losing pose, we know
-                // where we are again.
-                if (goodVisionEstimatesSincePoseLoss >= minGoodPoseEstimatesUntilConfident) {
-                    BaseRobotState.hasAccuratePoseEstimate = true;
-                    goodVisionEstimatesSincePoseLoss = 0;
-                    // Once we know where we are, set the state standard deviations of the estimate
-                    // back to their defaults.
-                    swerve.setStateStdDevs(defaultStateStdDevs);
-                }
-                // If we haven't gotten enough good vision pose estimates yet, increase our trust
-                // in the state estimate based on the good estimates we've gotten so far.
-                else {
-                    // If we treat the state pose estimate as the average of each of the vision pose
-                    // estimates since losing pose (the sum of the pose estimates over the number of
-                    // pose estimates added), then according to statistics, the standard deviation
-                    // should be the square root of the sum of the variances (standard deviations
-                    // squared) over the number of pose estimates.
-                    visionEstimateSincePoseLossVarianceSum = visionEstimateSincePoseLossVarianceSum
-                        .plus(visionStdDevs.elementTimes(visionStdDevs));
-                    var stateStdDev = visionEstimateSincePoseLossVarianceSum
-                        .elementPower(0.5)
-                        .div(goodVisionEstimatesSincePoseLoss);
-                    swerve.setStateStdDevs(stateStdDev);
-                }
-            }
+//            // If we don't currently have a good pose estimate and the vision pose estimate that
+//            // we just added to the state estimate was good enough, increase our trust in the state
+//            // estimate and increment our counter toward deciding if we have a good enough estimate
+//            // again.
+//
+//            // The maximum x and y standard deviations to allow for a vision estimate to count it
+//            // as trustworthy enough to work toward reestablishing our pose estimate.
+//            final double maxTrustworthyTranslationStdDev = 2.0;
+//            // The maximum rotation standard deviations to allow for a vision estimate to count it
+//            // as trustworthy enough to work toward reestablishing our pose estimate.
+//            final double maxTrustworthyRotationStdDev = 4.0;
+//
+//            if (
+//                !BaseRobotState.hasAccuratePoseEstimate
+//                    && visionStdDevs.get(0, 0) <= maxTrustworthyTranslationStdDev
+//                    && visionStdDevs.get(1, 0) <= maxTrustworthyTranslationStdDev
+//                    && visionStdDevs.get(2, 0) <= maxTrustworthyRotationStdDev
+//            ) {
+//                goodVisionEstimatesSincePoseLoss += 1;
+//
+//                // The minimum number of good vision pose estimates to wait for until we decide we
+//                // are confident in our pose estimate again.
+//                final int minGoodPoseEstimatesUntilConfident = 10;
+//
+//                // If we've gotten enough good vision pose estimates since losing pose, we know
+//                // where we are again.
+//                if (goodVisionEstimatesSincePoseLoss >= minGoodPoseEstimatesUntilConfident) {
+//                    BaseRobotState.hasAccuratePoseEstimate = true;
+//                    goodVisionEstimatesSincePoseLoss = 0;
+//                    // Once we know where we are, set the state standard deviations of the estimate
+//                    // back to their defaults.
+//                    swerve.setStateStdDevs(defaultStateStdDevs);
+//                }
+//                // If we haven't gotten enough good vision pose estimates yet, increase our trust
+//                // in the state estimate based on the good estimates we've gotten so far.
+//                else {
+//                    // If we treat the state pose estimate as the average of each of the vision pose
+//                    // estimates since losing pose (the sum of the pose estimates over the number of
+//                    // pose estimates added), then according to statistics, the standard deviation
+//                    // should be the square root of the sum of the variances (standard deviations
+//                    // squared) over the number of pose estimates.
+//                    visionEstimateSincePoseLossVarianceSum = visionEstimateSincePoseLossVarianceSum
+//                        .plus(visionStdDevs.elementTimes(visionStdDevs));
+//                    var stateStdDev = visionEstimateSincePoseLossVarianceSum
+//                        .elementPower(0.5)
+//                        .div(goodVisionEstimatesSincePoseLoss);
+//                    swerve.setStateStdDevs(stateStdDev);
+//                }
+//            }
         }
     }
 }
diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index 544ec69f..77789318 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -103,7 +103,7 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
 
         for (Camera camera : aprilTagCameras) {
             var results = camera.getEstimatedRobotPosesFromAllUnreadResults();
-            if(results.size() <= 1 || RobotState.resetCameraQueue) continue;
+            if(RobotState.resetCameraQueue) continue;
             for (EstimatedRobotPose estimatedRobotPose : results) {
                 Pose2d visionEstimatedPose2d = estimatedRobotPose.estimatedPose.toPose2d();
 
@@ -116,8 +116,7 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                     // If we don't currently have an accurate pose estimate, we can't use current
                     // pose estimate to throw out far off vision estimates, so we'll just add the
                     // vision estimate to the list no matter where it is.
-                    !BaseRobotState.hasAccuratePoseEstimate
-                        || (
+                    (
                             // Check if the vision estimate is within the distance threshold of the
                             // current pose estimate.
                             visionEstimatedPose2d.getTranslation().getDistance(
@@ -156,13 +155,13 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                 // this is the case, say that we don't trust the current estimate to allow vision
                 // to fully recorrect.
                 else {
-                    consecutiveDiscardedEstimates ++;
-                    // The number of estimates to allow to be discarded before determining that we
-                    // have lost a good pose estimate.
-                    int discardsBeforePoseLoss = 5;
-                    if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
-                        BaseRobotState.hasAccuratePoseEstimate = false;
-                    }
+//                    consecutiveDiscardedEstimates ++;
+//                    // The number of estimates to allow to be discarded before determining that we
+//                    // have lost a good pose estimate.
+//                    int discardsBeforePoseLoss = 5;
+//                    if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
+//                        BaseRobotState.hasAccuratePoseEstimate = false;
+//                    }
                 }
             }
         }

From c90fbd4b35bbed3ad29f734809c51923639b258a Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Mon, 13 Apr 2026 08:07:34 -0500
Subject: [PATCH 10/36] Tweaks from claude

---
 .../lib/subsystems/BaseSuperstructure.java    | 120 +++++++++---------
 .../com/team1816/lib/subsystems/Vision.java   |  24 ++--
 2 files changed, 73 insertions(+), 71 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
index 3c9fb816..cd57c74b 100644
--- a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
+++ b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
@@ -82,17 +82,17 @@ public void addVisionMeasurementsToDrivetrain() {
         for (Pair<EstimatedRobotPose, Matrix<N3, N1>> visionMeasurement : visionMeasurements) {
             Matrix<N3, N1> visionStdDevs = visionMeasurement.getSecond();
 
-//            if (!BaseRobotState.hasAccuratePoseEstimate && goodVisionEstimatesSincePoseLoss == 0) {
-//                // If we just lost pose and haven't had any good vision estimates since, assume
-//                // very little trust in the current state estimate. This will essentially make the
-//                // next vision measurement added set the pose almost completely.
-//                swerve.setStateStdDevs(
-//                    VecBuilder.fill(1000, 1000, 1000)
-//                );
-//                // Set the sum of the vision estimate variances to zero for performing state
-//                // standard deviation calculations.
-//                visionEstimateSincePoseLossVarianceSum = VecBuilder.fill(0, 0, 0);
-//            }
+            if (!BaseRobotState.hasAccuratePoseEstimate && goodVisionEstimatesSincePoseLoss == 0) {
+                // If we just lost pose and haven't had any good vision estimates since, assume
+                // very little trust in the current state estimate. This will essentially make the
+                // next vision measurement added set the pose almost completely.
+                swerve.setStateStdDevs(
+                    VecBuilder.fill(1000, 1000, 1000)
+                );
+                // Set the sum of the vision estimate variances to zero for performing state
+                // standard deviation calculations.
+                visionEstimateSincePoseLossVarianceSum = VecBuilder.fill(0, 0, 0);
+            }
 
             // Add the vision measurements to the drivetrain.
             swerve.addVisionMeasurement(
@@ -101,55 +101,55 @@ public void addVisionMeasurementsToDrivetrain() {
                 visionStdDevs
             );
 
-//            // If we don't currently have a good pose estimate and the vision pose estimate that
-//            // we just added to the state estimate was good enough, increase our trust in the state
-//            // estimate and increment our counter toward deciding if we have a good enough estimate
-//            // again.
-//
-//            // The maximum x and y standard deviations to allow for a vision estimate to count it
-//            // as trustworthy enough to work toward reestablishing our pose estimate.
-//            final double maxTrustworthyTranslationStdDev = 2.0;
-//            // The maximum rotation standard deviations to allow for a vision estimate to count it
-//            // as trustworthy enough to work toward reestablishing our pose estimate.
-//            final double maxTrustworthyRotationStdDev = 4.0;
-//
-//            if (
-//                !BaseRobotState.hasAccuratePoseEstimate
-//                    && visionStdDevs.get(0, 0) <= maxTrustworthyTranslationStdDev
-//                    && visionStdDevs.get(1, 0) <= maxTrustworthyTranslationStdDev
-//                    && visionStdDevs.get(2, 0) <= maxTrustworthyRotationStdDev
-//            ) {
-//                goodVisionEstimatesSincePoseLoss += 1;
-//
-//                // The minimum number of good vision pose estimates to wait for until we decide we
-//                // are confident in our pose estimate again.
-//                final int minGoodPoseEstimatesUntilConfident = 10;
-//
-//                // If we've gotten enough good vision pose estimates since losing pose, we know
-//                // where we are again.
-//                if (goodVisionEstimatesSincePoseLoss >= minGoodPoseEstimatesUntilConfident) {
-//                    BaseRobotState.hasAccuratePoseEstimate = true;
-//                    goodVisionEstimatesSincePoseLoss = 0;
-//                    // Once we know where we are, set the state standard deviations of the estimate
-//                    // back to their defaults.
-//                    swerve.setStateStdDevs(defaultStateStdDevs);
-//                }
-//                // If we haven't gotten enough good vision pose estimates yet, increase our trust
-//                // in the state estimate based on the good estimates we've gotten so far.
-//                else {
-//                    // If we treat the state pose estimate as the average of each of the vision pose
-//                    // estimates since losing pose (the sum of the pose estimates over the number of
-//                    // pose estimates added), then according to statistics, the standard deviation
-//                    // should be the square root of the sum of the variances (standard deviations
-//                    // squared) over the number of pose estimates.
-//                    visionEstimateSincePoseLossVarianceSum = visionEstimateSincePoseLossVarianceSum
-//                        .plus(visionStdDevs.elementTimes(visionStdDevs));
-//                    var stateStdDev = visionEstimateSincePoseLossVarianceSum
-//                        .elementPower(0.5)
-//                        .div(goodVisionEstimatesSincePoseLoss);
-//                    swerve.setStateStdDevs(stateStdDev);
-//                }
-//            }
+            // If we don't currently have a good pose estimate and the vision pose estimate that
+            // we just added to the state estimate was good enough, increase our trust in the state
+            // estimate and increment our counter toward deciding if we have a good enough estimate
+            // again.
+
+            // The maximum x and y standard deviations to allow for a vision estimate to count it
+            // as trustworthy enough to work toward reestablishing our pose estimate.
+            final double maxTrustworthyTranslationStdDev = 2.0;
+            // The maximum rotation standard deviations to allow for a vision estimate to count it
+            // as trustworthy enough to work toward reestablishing our pose estimate.
+            final double maxTrustworthyRotationStdDev = 4.0;
+
+            if (
+                !BaseRobotState.hasAccuratePoseEstimate
+                    && visionStdDevs.get(0, 0) <= maxTrustworthyTranslationStdDev
+                    && visionStdDevs.get(1, 0) <= maxTrustworthyTranslationStdDev
+                    && visionStdDevs.get(2, 0) <= maxTrustworthyRotationStdDev
+            ) {
+                goodVisionEstimatesSincePoseLoss += 1;
+
+                // The minimum number of good vision pose estimates to wait for until we decide we
+                // are confident in our pose estimate again.
+                final int minGoodPoseEstimatesUntilConfident = 5;
+
+                // If we've gotten enough good vision pose estimates since losing pose, we know
+                // where we are again.
+                if (goodVisionEstimatesSincePoseLoss >= minGoodPoseEstimatesUntilConfident) {
+                    BaseRobotState.hasAccuratePoseEstimate = true;
+                    goodVisionEstimatesSincePoseLoss = 0;
+                    // Once we know where we are, set the state standard deviations of the estimate
+                    // back to their defaults.
+                    swerve.setStateStdDevs(defaultStateStdDevs);
+                }
+                // If we haven't gotten enough good vision pose estimates yet, increase our trust
+                // in the state estimate based on the good estimates we've gotten so far.
+                else {
+                    // If we treat the state pose estimate as the average of each of the vision pose
+                    // estimates since losing pose (the sum of the pose estimates over the number of
+                    // pose estimates added), then according to statistics, the standard deviation
+                    // should be the square root of the sum of the variances (standard deviations
+                    // squared) over the number of pose estimates.
+                    visionEstimateSincePoseLossVarianceSum = visionEstimateSincePoseLossVarianceSum
+                        .plus(visionStdDevs.elementTimes(visionStdDevs));
+                    var stateStdDev = visionEstimateSincePoseLossVarianceSum
+                        .elementPower(0.5)
+                        .div(goodVisionEstimatesSincePoseLoss);
+                    swerve.setStateStdDevs(stateStdDev);
+                }
+            }
         }
     }
 }
diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index 77789318..b8202c5e 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -49,11 +49,11 @@ public class Vision extends SubsystemBase implements ITestableSubsystem {
      * The base standard deviations to use for non-multi-tag estimates
      */
     // Ignore single tag data. Previously set to 4, 4, 8.
-    private final Matrix<N3, N1> singleTagStdDevs = VecBuilder.fill(999999, 999999, 999999);
+    private final Matrix<N3, N1> singleTagStdDevs = VecBuilder.fill(0.5, 0.5, 999999);
     /**
      * The base standard deviations to use for multi-tag estimates
      */
-    private final Matrix<N3, N1> multiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1);
+    private final Matrix<N3, N1> multiTagStdDevs = VecBuilder.fill(0.1, 0.1, 0.5);
     /**
      * The standard deviations to use for an estimate that we should just throw out
      */
@@ -112,7 +112,7 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                 // out unreasonable estimates caused by pose ambiguity (see here:
                 // https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/3D-tracking.html#ambiguity
                 // ).
-                if (
+                if (!BaseRobotState.hasAccuratePoseEstimate ||
                     // If we don't currently have an accurate pose estimate, we can't use current
                     // pose estimate to throw out far off vision estimates, so we'll just add the
                     // vision estimate to the list no matter where it is.
@@ -155,13 +155,13 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                 // this is the case, say that we don't trust the current estimate to allow vision
                 // to fully recorrect.
                 else {
-//                    consecutiveDiscardedEstimates ++;
-//                    // The number of estimates to allow to be discarded before determining that we
-//                    // have lost a good pose estimate.
-//                    int discardsBeforePoseLoss = 5;
-//                    if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
-//                        BaseRobotState.hasAccuratePoseEstimate = false;
-//                    }
+                    consecutiveDiscardedEstimates ++;
+                    // The number of estimates to allow to be discarded before determining that we
+                    // have lost a good pose estimate.
+                    int discardsBeforePoseLoss = 3;
+                    if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
+                        BaseRobotState.hasAccuratePoseEstimate = false;
+                    }
                 }
             }
         }
@@ -270,7 +270,9 @@ private Matrix<N3, N1> calculateEstimateStandardDeviations(EstimatedRobotPose es
             // readings. I couldn't tell you why we are using the square of the distance over 30,
             // but that's the equation PhotonVision's example project uses, and it works well
             // enough. Again, this is just a heuristic algorithm.
-            return singleTagStdDevs.times(1 + (closestDistance * closestDistance / 30));
+            int numTags = estimatedRobotPose.targetsUsed.size();
+
+            return singleTagStdDevs.times(1 + (closestDistance * closestDistance / 30)).div(numTags);
         }
 
         // Otherwise, if we were able to use multi-tag:

From a69a26fde6aa86f717b483de05a33d5282c16fe8 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Mon, 13 Apr 2026 12:29:45 -0500
Subject: [PATCH 11/36] Added more logging

---
 .../lib/hardware/components/sensor/Camera.java        | 11 ++++++++++-
 src/main/java/com/team1816/lib/subsystems/Vision.java |  3 +++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
index 0e549e5d..bbe9a7b0 100644
--- a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
+++ b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
@@ -66,6 +66,8 @@ public class Camera {
      * vision estimates and odometry data.
      */
     private Pose3d latestPoseEstimate = Pose3d.kZero;
+
+    private List<PhotonPipelineResult> photonPipelineResults = List.of();
     /**
      * The latest vision standard deviations from this camera, for logging purposes.
      */
@@ -147,7 +149,11 @@ public List<EstimatedRobotPose> getEstimatedRobotPosesFromAllUnreadResults() {
 
         // Get position estimates from all the unread PhotonPipelineResults on the PhotonCamera. A
         // PhotonPipelineResult can essentially be thought of as a frame from the camera.
-        for (PhotonPipelineResult pipelineResult : photonCamera.getAllUnreadResults()) {
+        photonPipelineResults = photonCamera.getAllUnreadResults();
+        if (photonPipelineResults.size() > 1) {
+            ;
+        }
+        for (PhotonPipelineResult pipelineResult : photonPipelineResults) {
             int targetsSize = pipelineResult.targets.size();
             if (targetsSize > 0) {
                 Optional<EstimatedRobotPose> poseEstimate = targetsSize > 1 ?
@@ -256,6 +262,9 @@ public void setUpPeriodicLogging(String logPath) {
         GreenLogger.periodicLog(
             logPath + "Latest Pose Estimate", () -> latestPoseEstimate, Pose3d.struct
         );
+        GreenLogger.periodicLogList(
+            logPath + "Photon Pipeline Results", () -> photonPipelineResults, PhotonPipelineResult.class
+        );
         GreenLogger.periodicLog(
             logPath + "Latest Vision Standard Deviations",
             () -> latestVisionStdDevs,
diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index b8202c5e..eb377cf3 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -2,6 +2,7 @@
 
 import com.team1816.lib.BaseRobotState;
 import com.team1816.lib.hardware.components.sensor.Camera;
+import com.team1816.lib.util.GreenLogger;
 import com.team1816.season.Robot;
 import com.team1816.season.RobotState;
 import edu.wpi.first.math.MathUtil;
@@ -82,6 +83,8 @@ public Vision() {
                 camera.addToSim(visionSim);
             }
         }
+
+        GreenLogger.periodicLog(NAME + "/HasAccuratePoseEstimate", () -> BaseRobotState.hasAccuratePoseEstimate, null);
     }
 
     /**

From 0591e4a40182409840961c6c703294fd8cbec90f Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Tue, 14 Apr 2026 15:56:27 -0500
Subject: [PATCH 12/36] fix angle of entry to not be negative

---
 .../HenryShooterCalculator.java               | 12 +++++++-----
 .../ShooterCalculator/IShooterCalculator.java | 19 ++++++++++---------
 .../team1816/season/subsystems/Shooter.java   |  3 +--
 3 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
index 8fb70838..5e27e10c 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
@@ -15,10 +15,12 @@ public class HenryShooterCalculator implements IShooterCalculator {
      * in angle of entry as possible. It also uses a lookup table to convert from the calculated
      * linear launch velocity to the necessary launch motor RPS.
      *
-     * @param shooterTranslation3dMeters The {@link Translation3d} of where the shooter is shooting
-     *                                   from.
-     * @param targetTranslation3dMeters The {@link Translation3d} of where to shoot to.
-     * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target.
+     * @param shooterTranslation3dMeters The field-relative {@link Translation3d} of where the
+     *                                   shooter is shooting from, in meters.
+     * @param targetTranslation3dMeters The field-relative {@link Translation3d} of where to shoot
+     *                                  to, in meters.
+     * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target, in
+     *                            degrees up from horizontal, in meters.
      * @param useChassisSpeedForHoodAngleAndSpeed Unused for this calculator.
      * @param lookAheadTimeSeconds The time to project forward the shooter's position before
      *                             performing calculations, in seconds. This can be used to give
@@ -66,7 +68,7 @@ public IShooterCalculator.ShooterCalculatorResponse calculate(
             2
             * (
                 deltaZ
-                - (
+                + (
                     Math.tan(
                         Units.degreesToRadians(angleOfEntryDegrees)
                     )
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
index 61223ba5..20b8063b 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/IShooterCalculator.java
@@ -7,11 +7,12 @@ public interface IShooterCalculator {
     /**
      * Calculate the necessary settings to shoot from the shooter to the target.
      *
-     * @param shooterTranslation3dMeters The {@link Translation3d} of where the shooter is shooting
-     *                                   from.
-     * @param targetTranslation3dMeters The {@link Translation3d} of where to shoot to.
-     * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target.
-     *                            Not used by all calculator types.
+     * @param shooterTranslation3dMeters The field-relative {@link Translation3d} of where the
+     *                                   shooter is shooting from, in meters.
+     * @param targetTranslation3dMeters The field-relative {@link Translation3d} of where to shoot
+     *                                  to, in meters.
+     * @param angleOfEntryDegrees The desired angle of entry of the projectile into the target, in
+     *                            degrees up from horizontal. Not used by all calculator types.
      * @param useChassisSpeedForHoodAngleAndSpeed If the chassis speeds should be factored into
      *                                            calculations for incline angle and launch
      *                                            velocity. Not used by all calculator types.
@@ -35,11 +36,11 @@ ShooterCalculatorResponse calculate(
     /**
      * A response returned by a shooter calculator describing how to shoot the projectile.
      *
-     * @param turretAngleDegrees The robot-relative turret angle to point at in degrees,
+     * @param turretAngleDegrees The robot-relative turret angle to point at, in degrees
      *                           counterclockwise from robot forward.
-     * @param inclineAngleDegrees The incline angle at which the projectile should be launched in
-     *                            degrees, down from straight up.
-     * @param launchVelocityRPS The velocity to spin the launch motors at in rotations per second.
+     * @param inclineAngleDegrees The incline angle at which the projectile should be launched, in
+     *                            degrees down from straight up.
+     * @param launchVelocityRPS The velocity to spin the launch motors at, in rotations per second.
      */
     record ShooterCalculatorResponse(double turretAngleDegrees, double inclineAngleDegrees, double launchVelocityRPS) {}
 }
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 41a553dd..357409cd 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -335,8 +335,7 @@ public void readFromHardware() {
 
     private void applyState() {
         target = getTargetTranslation3d();
-        // TODO: I need to figure out why this needs to be negative, but it does for now.
-        final double calculatorAngleOfEntryDegrees = -45;
+        final double calculatorAngleOfEntryDegrees = 45;
 
         isAutoAiming = autoAimTurret || wantedDistanceState == ShooterDistanceState.AUTOMATIC;
 

From e3c1f67c8426979143757f95ced454e2ef5a016c Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Wed, 15 Apr 2026 19:48:18 -0500
Subject: [PATCH 13/36] Flipped the for loop back.

---
 .../com/team1816/lib/hardware/components/sensor/Camera.java | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
index bbe9a7b0..9cb0efa6 100644
--- a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
+++ b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
@@ -149,11 +149,7 @@ public List<EstimatedRobotPose> getEstimatedRobotPosesFromAllUnreadResults() {
 
         // Get position estimates from all the unread PhotonPipelineResults on the PhotonCamera. A
         // PhotonPipelineResult can essentially be thought of as a frame from the camera.
-        photonPipelineResults = photonCamera.getAllUnreadResults();
-        if (photonPipelineResults.size() > 1) {
-            ;
-        }
-        for (PhotonPipelineResult pipelineResult : photonPipelineResults) {
+        for (PhotonPipelineResult pipelineResult : photonCamera.getAllUnreadResults()) {
             int targetsSize = pipelineResult.targets.size();
             if (targetsSize > 0) {
                 Optional<EstimatedRobotPose> poseEstimate = targetsSize > 1 ?

From acc6d2189eed6033750269132d41bb68cba2b546 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Wed, 15 Apr 2026 20:03:05 -0500
Subject: [PATCH 14/36] More cleanup

---
 .../com/team1816/lib/hardware/components/sensor/Camera.java    | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
index 9cb0efa6..831321b7 100644
--- a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
+++ b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
@@ -258,9 +258,6 @@ public void setUpPeriodicLogging(String logPath) {
         GreenLogger.periodicLog(
             logPath + "Latest Pose Estimate", () -> latestPoseEstimate, Pose3d.struct
         );
-        GreenLogger.periodicLogList(
-            logPath + "Photon Pipeline Results", () -> photonPipelineResults, PhotonPipelineResult.class
-        );
         GreenLogger.periodicLog(
             logPath + "Latest Vision Standard Deviations",
             () -> latestVisionStdDevs,

From de6777b02f3a063aef3ad723ef8affb04f293850 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Thu, 16 Apr 2026 14:38:48 -0500
Subject: [PATCH 15/36] fix deltaZInches for stealing linear to angular
 velocity configs from the shooterSettings

---
 .../lib/hardware/factory/RobotFactory.java        | 14 ++++++++++++--
 .../ShooterCalculator/HenryShooterCalculator.java | 15 ++++++++++++++-
 .../LinearMPSToLauncherRPSLookup.java             | 13 +++++++++++--
 .../com/team1816/season/subsystems/Shooter.java   |  5 +++--
 4 files changed, 40 insertions(+), 7 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
index 7f683cd3..2d5dbaa7 100644
--- a/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
+++ b/src/main/java/com/team1816/lib/hardware/factory/RobotFactory.java
@@ -143,7 +143,18 @@ public LinearMPSToLauncherRPSConfig getLinearMPSToLauncherRPSConfig() {
         return config.linearMPSToLaunchRPS;
     }
 
-    public LinearMPSToLauncherRPSConfig stealLinearMPSToLauncherRPSConfigFromShooterSettings(double deltaZInches) {
+    /**
+     * Uses the shooterSettings in YAML to create a {@link LinearMPSToLauncherRPSConfig} defining
+     * the relationship between launcher angular velocity and linear exit velocity.
+     *
+     * @param deltaZMeters The difference between the target height and shooter height used when
+     *                     calibrating the shooterSettings so we can use those settings to
+     *                     determine the relationship between launcher RPS and linear exit
+     *                     velocity, in meters.
+     * @return The calculated {@link LinearMPSToLauncherRPSConfig} based on the shooterSettings
+     * in YAML and the passed in deltaZMeters.
+     */
+    public LinearMPSToLauncherRPSConfig stealLinearMPSToLauncherRPSConfigFromShooterSettings(double deltaZMeters) {
         LinearMPSToLauncherRPSConfig linearMPSToLauncherRPSConfig = new LinearMPSToLauncherRPSConfig();
         if (config.shooterSettings == null) {
             GreenLogger.log("Couldn't find the shooter settings config");
@@ -151,7 +162,6 @@ public LinearMPSToLauncherRPSConfig stealLinearMPSToLauncherRPSConfigFromShooter
         }
         linearMPSToLauncherRPSConfig.launchVelocitiesRPS = config.shooterSettings.launchVelocitiesRPS;
         linearMPSToLauncherRPSConfig.linearVelocitiesMPS = new ArrayList<>();
-        double deltaZMeters = Units.inchesToMeters(deltaZInches);
         for (int i = 0; i < config.shooterSettings.distancesInches.size(); i++) {
             double distanceMeters = Units.inchesToMeters(config.shooterSettings.distancesInches.get(i));
             double thetaRadians = Math.PI / 2 - Units.rotationsToRadians(config.shooterSettings.inclineAnglesRotations.get(i));
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
index 5e27e10c..343ba75c 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/HenryShooterCalculator.java
@@ -7,7 +7,20 @@
 
 public class HenryShooterCalculator implements IShooterCalculator {
 
-    private final LinearMPSToLauncherRPSLookup linearMPSToLauncherRPSLookup = new LinearMPSToLauncherRPSLookup();
+    private final LinearMPSToLauncherRPSLookup linearMPSToLauncherRPSLookup;
+
+    /**
+     * Construct a {@link HenryShooterCalculator} to calculate how to shoot a projectile into a
+     * target at a given angle of entry.
+     *
+     * @param deltaZMeters The difference between the target height and shooter height used when
+     *                     calibrating the shooterSettings so we can use those settings to
+     *                     determine the relationship between launcher RPS and linear exit
+     *                     velocity, in meters.
+     */
+    public HenryShooterCalculator(double deltaZMeters) {
+        linearMPSToLauncherRPSLookup = new LinearMPSToLauncherRPSLookup(deltaZMeters);
+    }
 
     /**
      * Calculate the necessary settings to shoot from the shooter to the target. This calculator
diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java
index b1fbd0a6..52614cbd 100644
--- a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java
+++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java
@@ -13,11 +13,20 @@ public class LinearMPSToLauncherRPSLookup {
 
     private final PolynomialSplineFunction linearMPSToLauncherRPSFunction;
 
-    public LinearMPSToLauncherRPSLookup() {
+    /**
+     * Constructs a {@link LinearMPSToLauncherRPSLookup} to convert from linear exit velocities
+     * of a projectile to launch motor angular velocities.
+     *
+     * @param deltaZMeters The difference between the target height and shooter height used when
+     *                     calibrating the shooterSettings so we can use those settings to
+     *                     determine the relationship between launcher RPS and linear exit
+     *                     velocity, in meters.
+     */
+    public LinearMPSToLauncherRPSLookup(double deltaZMeters) {
         // TODO: If we calibrate this using the linearMPSToLaunchRPS YAML, we can use the line below.
         //  For now we are just trying to use some physics to get data from the shooterSettings table.
 //        LinearMPSToLauncherRPSConfig table = factory.getLinearMPSToLauncherRPSConfig();
-        LinearMPSToLauncherRPSConfig table = factory.stealLinearMPSToLauncherRPSConfigFromShooterSettings(72);
+        LinearMPSToLauncherRPSConfig table = factory.stealLinearMPSToLauncherRPSConfigFromShooterSettings(deltaZMeters);
 
         List<Double> linearVelocitiesMPS = table.linearVelocitiesMPS;
         List<Double> launchVelocitiesRPS = table.launchVelocitiesRPS;
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 357409cd..e704f5be 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -206,8 +206,7 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
 //    private final double ROBOT_STARTING_LINE = Units.inchesToMeters(156.61); True position.
     private final double ROBOT_STARTING_LINE = 4.2684; // Fudged position to shoot into the hub from only partially over the line.
 
-    // Just change this line to use a new ShooterTableCalculator to switch the calculator type.
-    private final IShooterCalculator shooterTableCalculator = new HenryShooterCalculator();
+    private final IShooterCalculator shooterTableCalculator;
 
     private Translation3d target = Translation3d.kZero;
     private Pose3d turretPose = Pose3d.kZero;
@@ -223,6 +222,8 @@ public Shooter() {
             factory.getConstant(NAME, "shooterOffsetYMeters",0),
             factory.getConstant(NAME, "shooterOffsetZMeters",0)
         );
+        // Just change this line to use a new ShooterTableCalculator to switch the calculator type.
+        shooterTableCalculator = new HenryShooterCalculator(HUB_TRANSLATION_3D.getZ() - SHOOTER_OFFSET.getZ());
 
         // Find the turret positions of the four spots that we would see beam break values change,
         // in motor rotations relative robot forward.

From d8d0b57a33c302291d48a5fef211be0fc8def675 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Thu, 16 Apr 2026 17:26:07 -0500
Subject: [PATCH 16/36] Added angle check

---
 .../com/team1816/lib/subsystems/Vision.java   | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index eb377cf3..7aa1a641 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -36,6 +36,8 @@
  * We use <a href="https://docs.photonvision.org/">PhotonVision</a> for vision processing.
  */
 public class Vision extends SubsystemBase implements ITestableSubsystem {
+    private static final double SINGLE_TAG_MAX_HEADING_ERROR_RADIANS = Units.degreesToRadians(60.0);
+
     private static final String NAME = "vision";
     /**
      * All cameras in the Vision subsystem.
@@ -87,6 +89,14 @@ public Vision() {
         GreenLogger.periodicLog(NAME + "/HasAccuratePoseEstimate", () -> BaseRobotState.hasAccuratePoseEstimate, null);
     }
 
+    /**
+     * Returns true if the given strategy is a multi-tag strategy.
+     */
+    private static boolean isMultiTag(PhotonPoseEstimator.PoseStrategy strategy) {
+        return strategy == PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR
+            || strategy == PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_RIO;
+    }
+
     /**
      * Gets all {@link EstimatedRobotPose}s that have not yet been returned by calls to this method
      * from all AprilTag cameras. Estimates are in {@link Pair}s with the standard deviations for
@@ -110,6 +120,16 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
             for (EstimatedRobotPose estimatedRobotPose : results) {
                 Pose2d visionEstimatedPose2d = estimatedRobotPose.estimatedPose.toPose2d();
 
+                if (!isMultiTag(estimatedRobotPose.strategy)) {
+                    double headingError = Math.abs(MathUtil.angleModulus(
+                        visionEstimatedPose2d.getRotation()
+                            .minus(BaseRobotState.robotPose.getRotation())
+                            .getRadians()
+                    ));
+                    if (headingError > SINGLE_TAG_MAX_HEADING_ERROR_RADIANS) {
+                        continue; // Silently discard ambiguous reflection
+                    }
+                }
                 // Only add the vision measurement to the list to return if it is within the
                 // distance and angle thresholds from the current pose estimate. This is to filter
                 // out unreasonable estimates caused by pose ambiguity (see here:

From 49913c2215da9dbf040841471b746b69d34034b7 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Thu, 16 Apr 2026 19:47:11 -0500
Subject: [PATCH 17/36] Values tweak, add deadzone

---
 .../team1816/season/subsystems/Shooter.java   | 56 +++++++++++++++++++
 src/main/resources/yaml/ztldr.yml             | 16 +++---
 2 files changed, 64 insertions(+), 8 deletions(-)

diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index f85850b9..ea395b83 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -81,6 +81,18 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
      * An adjustment value added to all requests to the turret (in degrees).
      */
     private double turretAngleAdjustmentDegrees = 0;
+    /**
+     * The deadzone applied to auto-aim turret commands (in degrees). If a newly computed
+     * aim angle differs from the last commanded aim angle by less than this amount, the
+     * new command is suppressed. This prevents pose estimator jitter from causing turret
+     * jitter. Configurable at runtime via {@link #setTurretAimDeadzoneDegrees}.
+     */
+    private double turretAimDeadzoneDegrees = 5.0;
+    /**
+     * The last auto-aim angle actually commanded to the turret (in degrees). Used to
+     * apply the {@link #turretAimDeadzoneDegrees}.
+     */
+    private double lastCommandedAimAngleDegrees = 0;
 
     private boolean useChassisSpeedForHoodAngleAndSpeed = false;
 
@@ -248,6 +260,8 @@ public Shooter() {
         INCLINE_ANGLE_ADJUSTMENT_AMOUNT_DEGREES = factory.getConstant(NAME, "inclineAngleAdjustmentAmountDegrees", 0);
         TURRET_ANGLE_ADJUSTMENT_AMOUNT_DEGREES = factory.getConstant(NAME, "turretAngleAdjustmentAmountDegrees", 0);
 
+        turretAimDeadzoneDegrees = factory.getConstant(NAME, "turretAimDeadzoneDegrees", 5.0);
+
         TOP_LAUNCH_MOTOR_BACKSPIN_MULTIPLIER = factory.getConstant(NAME, "topLaunchMotorBackspinMultiplier", 1);
 
         GreenLogger.periodicLog(NAME + "/Wanted Distance State", () -> wantedDistanceState);
@@ -285,6 +299,8 @@ public Shooter() {
         GreenLogger.periodicLog(NAME + "/turret/calc/Distance to Target", () -> turretPose.getTranslation().getDistance(turretTarget));
         GreenLogger.periodicLog(NAME + "/turret/calc/Wanted Angle Degrees", () -> wantedTurretAngleDegrees);
         GreenLogger.periodicLog(NAME + "/turret/calc/Current Angle Degrees", () -> getCurrentRobotRelativeTurretRotation2d().getDegrees());
+        GreenLogger.periodicLog(NAME + "/turret/calc/Aim Deadzone Degrees", () -> turretAimDeadzoneDegrees);
+        GreenLogger.periodicLog(NAME + "/turret/calc/Last Commanded Aim Degrees", () -> lastCommandedAimAngleDegrees);
     }
 
     @Override
@@ -505,6 +521,11 @@ private Translation2d flipTranslation2dBasedOnAlliance(Translation2d blueTransla
 
     /**
      * Automatically points the turret at the passed in target.
+     * <p>
+     * Applies a deadzone ({@link #turretAimDeadzoneDegrees}): if the newly computed aim
+     * angle differs from the last commanded aim angle by less than the deadzone, the new
+     * command is suppressed. This prevents pose estimator jitter from causing turret
+     * jitter when the robot is effectively stationary.
      *
      * @param targetTranslation2d The {@link Translation2d} of the target to aim at.
      */
@@ -512,9 +533,44 @@ private void aimTurretAtTarget(Translation2d targetTranslation2d) {
         Rotation2d robotRelativeRotation2dToTarget = shooterTableCalculator.getTurretAngle(getCurrentTurretPose2d().getTranslation(),
             targetTranslation2d, useChassisSpeedForHoodAngleAndSpeed);
         double robotRelativeDegreesToTarget = robotRelativeRotation2dToTarget.getDegrees();
+
+        // Apply deadzone. Wrap the delta to [-180, 180] so wrap-around near ±180 is
+        // handled correctly.
+        double deltaDegrees = MathUtil.inputModulus(
+            robotRelativeDegreesToTarget - lastCommandedAimAngleDegrees,
+            -180.0,
+            180.0
+        );
+        if (Math.abs(deltaDegrees) < turretAimDeadzoneDegrees) {
+            return;
+        }
+
+        lastCommandedAimAngleDegrees = robotRelativeDegreesToTarget;
         setTurretAngle(robotRelativeDegreesToTarget);
     }
 
+    /**
+     * Gets the current turret auto-aim deadzone (in degrees). See {@link
+     * #turretAimDeadzoneDegrees}.
+     *
+     * @return The current turret auto-aim deadzone, in degrees.
+     */
+    public double getTurretAimDeadzoneDegrees() {
+        return turretAimDeadzoneDegrees;
+    }
+
+    /**
+     * Sets the turret auto-aim deadzone (in degrees). Auto-aim commands that differ from
+     * the last commanded aim angle by less than this amount will be suppressed. Set to 0
+     * to disable the deadzone entirely. See {@link #turretAimDeadzoneDegrees}.
+     *
+     * @param deadzoneDegrees The new deadzone value, in degrees. Negative values are
+     *                        clamped to 0.
+     */
+    public void setTurretAimDeadzoneDegrees(double deadzoneDegrees) {
+        turretAimDeadzoneDegrees = Math.max(0.0, deadzoneDegrees);
+    }
+
     /**
      * Automatically points the incline and spins up the launchers to shoot at the passed in target
      * at hub height using the shooter lookup table.
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index e74d66e6..de2ce800 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -18,14 +18,14 @@ shooterSettings:
         - 0.1027 # 264
         - 0.1027 # 360
     launchVelocitiesRPS:
-        - 30.25 # 48
-        - 37.25 # 96
-        - 39.25 #120
-        - 41.25 # 156
-        - 44.25 # 204
-        - 47 #210
-        - 48 # 264
-        - 49 # 360
+        - 37  # 48
+        - 40 # 96
+        - 45 #120
+        - 47 # 156
+        - 49 # 204
+        - 50 #210
+        - 51 # 264
+        - 52 # 360
 subsystems:
     drivetrain:
         implemented: true

From 51998d983fbe251d8e4bb69304a1b79a373ed620 Mon Sep 17 00:00:00 2001
From: David Day <dcday@themilwaukeeroad.com>
Date: Thu, 16 Apr 2026 18:49:00 -0500
Subject: [PATCH 18/36] Reduce logging

turned off ctre impl logs need to use hoot

put updates of logs on its own thread at 50ms
---
 .../components/motor/TalonFXImpl.java         |  9 ---------
 .../components/motor/TalonFXSImpl.java        |  8 --------
 .../com/team1816/lib/util/GreenLogger.java    | 19 +++++++++++--------
 src/main/java/com/team1816/season/Robot.java  |  2 +-
 4 files changed, 12 insertions(+), 26 deletions(-)

diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
index 6fba4c06..9839fabe 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
@@ -25,15 +25,6 @@ public TalonFXImpl(int deviceId, CANBus canbus) {
     @Override
     public StatusCode applyConfiguration(ParentConfiguration config, String logPath, boolean logDetails) {
         this.config = (TalonFXConfiguration) config;
-        // add default logging for target and actual position/velocities
-        if (logDetails) {
-            GreenLogger.periodicLog(logPath + "Actual Position (rotations)", this::getMotorPosition);
-            GreenLogger.periodicLog(logPath + "Actual Velocity (rps)", this::getMotorVelocity);
-        }
-        GreenLogger.periodicLog(logPath + "Reference", this::getDeviceReference);
-        GreenLogger.periodicLog(logPath + "Connected", this::isConnected);
-        GreenLogger.periodicLog(logPath + "Stator Current (amps)", ()-> getStatorCurrent().getValueAsDouble());
-        GreenLogger.periodicLog(logPath + "Supply Current (amps)", ()-> getSupplyCurrent().getValueAsDouble());
         if(Robot.isSimulation()){
             simState = getSimState();
             var clockwise = ((TalonFXConfiguration) config).MotorOutput.Inverted == InvertedValue.Clockwise_Positive;
diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java
index 81bde516..e17790a8 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXSImpl.java
@@ -25,14 +25,6 @@ public TalonFXSImpl(int deviceId, CANBus canbus) {
     @Override
     public StatusCode applyConfiguration(ParentConfiguration config, String logPath, boolean logDetails) {
         this.config = (TalonFXSConfiguration) config;
-        // add default logging for target and actual position/velocities
-        if (logDetails) {
-            GreenLogger.periodicLog(logPath + "Actual Position (rotations)", this::getMotorPosition);
-            GreenLogger.periodicLog(logPath + "Actual Velocity (rps)", this::getMotorVelocity);
-        }
-        GreenLogger.periodicLog(logPath + "Reference", this::getDeviceReference);
-        GreenLogger.periodicLog(logPath + "Connected", this::isConnected);
-        GreenLogger.periodicLog(logPath + "Stator", ()-> getStatorCurrent().getValueAsDouble());
         if(Robot.isSimulation()){
             simState = getSimState();
             var clockwise = ((TalonFXSConfiguration) config).MotorOutput.Inverted == InvertedValue.Clockwise_Positive;
diff --git a/src/main/java/com/team1816/lib/util/GreenLogger.java b/src/main/java/com/team1816/lib/util/GreenLogger.java
index 5776abe2..1f9a146e 100644
--- a/src/main/java/com/team1816/lib/util/GreenLogger.java
+++ b/src/main/java/com/team1816/lib/util/GreenLogger.java
@@ -31,7 +31,7 @@ public class GreenLogger {
     // using an empty string here to make the logs and live views consistent
     private static final NetworkTable netTable;
     private static final StringPublisher msg;
-    private static int logLoopCount = 0;
+    private static Notifier mLogNotifier;
 
     static {
         if (Robot.isSimulation()) {
@@ -331,15 +331,18 @@ public static void logToElastic(String title, Object content, Elastic.Notificati
         Elastic.sendNotification(new Elastic.Notification(elasticNotificationLevel, title, s, 15000, 450, -1));
     }
 
+    public static void startLogging(){
+        if(mLogNotifier != null || !DriverStation.isDSAttached()) return;
+        GreenLogger.log(periodicLogs.size() + " periodic logs registered");
+        mLogNotifier = new Notifier(() -> {
+            updatePeriodic();
+        });
+        mLogNotifier.startPeriodic(.05);
+    }
+
     // Will update all registered periodic loggers
     @SuppressWarnings({"unchecked", "rawtypes"})
-    public static void updatePeriodic() {
-        if(!DriverStation.isDSAttached()) return;
-        if (logLoopCount <= 2) {
-            logLoopCount ++;
-            return;
-        }
-        logLoopCount = 0;
+    private static void updatePeriodic() {
         for (LogTopic entry : periodicLogs.keySet()) {
             var supplier = periodicLogs.get(entry);
             if (entry.Publisher instanceof DoublePublisher) {
diff --git a/src/main/java/com/team1816/season/Robot.java b/src/main/java/com/team1816/season/Robot.java
index 00d99c3c..26a273b3 100644
--- a/src/main/java/com/team1816/season/Robot.java
+++ b/src/main/java/com/team1816/season/Robot.java
@@ -105,7 +105,7 @@ public void robotPeriodic() {
             double start = HALUtil.getFPGATime();
             CommandScheduler.getInstance().run();
             // update logs
-            GreenLogger.updatePeriodic();
+            GreenLogger.startLogging();
             double end = HALUtil.getFPGATime();
             periodicLoopTime = (end - start) / 1000;
         } catch (Throwable t) {

From 2288023c1be4c9b890a6fe3443a86eba18a6f2d5 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Thu, 16 Apr 2026 20:39:52 -0500
Subject: [PATCH 19/36] Added stationary freeze

---
 .../lib/subsystems/BaseSuperstructure.java    | 181 +++++++++++++++++-
 .../team1816/season/subsystems/Shooter.java   |  92 ++++++++-
 2 files changed, 266 insertions(+), 7 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
index cd57c74b..8db54fdc 100644
--- a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
+++ b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
@@ -5,13 +5,21 @@
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.photonvision.EstimatedRobotPose;
+import org.photonvision.targeting.PhotonTrackedTarget;
 
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 
 import static com.team1816.lib.BaseConstants.DrivetrainConstants.defaultStateStdDevs;
 
@@ -19,6 +27,33 @@ public abstract class BaseSuperstructure extends SubsystemBase {
     protected final Swerve swerve;
     protected final Vision vision;
 
+    /**
+     * The size (in seconds) of the timestamp bucket used to group nearly-simultaneous
+     * vision measurements from multiple cameras for inverse-variance fusion. Measurements
+     * whose timestamps fall into the same bucket are fused into a single measurement
+     * before being passed to the Kalman filter. This prevents multiple cameras from
+     * fighting each other in the filter, which causes pose jitter when stationary.
+     */
+    private static final double FUSION_TIMESTAMP_BUCKET_SECONDS = 0.1;
+
+    /**
+     * Minimum standard deviation (in meters) reported to the Kalman filter for the XY
+     * components of a fused vision measurement. Inverse-variance fusion mathematically
+     * reduces standard deviation by √N for N independent measurements, but our cameras'
+     * disagreements are dominated by systematic bias (mount tolerance, intrinsic
+     * calibration) rather than random noise. Without a floor, the fused std dev drops
+     * below the bias-limited accuracy, causing the Kalman filter to over-trust the fused
+     * measurement and chase bucket-to-bucket variation.
+     */
+    private static final double FUSED_MIN_XY_STD_DEV_METERS = 0.2;
+
+    /**
+     * Minimum standard deviation (in radians) reported to the Kalman filter for the
+     * rotation component of a fused vision measurement. See
+     * {@link #FUSED_MIN_XY_STD_DEV_METERS}.
+     */
+    private static final double FUSED_MIN_THETA_STD_DEV_RADIANS = 0.3;
+
     /**
      * The number of good vision pose estimates we have gotten toward reestablishing our pose
      * estimate since losing an accurate pose estimate.
@@ -68,6 +103,12 @@ private void handlePoseLossFromTilting() {
      * Updates the drivetrain's pose estimate by passing in unread vision pose estimates from the
      * {@link Vision} subsystem. Also handles deciding when we have gotten enough good vision
      * estimates to be confident in our combined pose estimate again after losing pose.
+     * <p>
+     * Before passing measurements to the drivetrain's Kalman filter, nearly-simultaneous
+     * measurements from multiple cameras are fused into a single inverse-variance-weighted
+     * estimate per time bucket. This prevents cameras from fighting each other in the
+     * filter, which causes pose jitter when stationary. See
+     * {@link #fuseVisionMeasurements(List)}.
      *
      * Synchronized because this method is called from the vision thread (via
      * {@link com.team1816.lib.BaseRobot}'s addPeriodic) while {@link #handlePoseLossFromTilting()}
@@ -76,9 +117,14 @@ private void handlePoseLossFromTilting() {
      * and {@link BaseRobotState#hasAccuratePoseEstimate}).
      */
     public void addVisionMeasurementsToDrivetrain() {
-        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> visionMeasurements = vision
+        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> rawMeasurements = vision
             .getVisionEstimatedPosesWithStdDevs();
 
+        // Fuse nearly-simultaneous measurements from multiple cameras before feeding them
+        // to the Kalman filter.
+        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> visionMeasurements =
+            fuseVisionMeasurements(rawMeasurements);
+
         for (Pair<EstimatedRobotPose, Matrix<N3, N1>> visionMeasurement : visionMeasurements) {
             Matrix<N3, N1> visionStdDevs = visionMeasurement.getSecond();
 
@@ -152,4 +198,137 @@ public void addVisionMeasurementsToDrivetrain() {
             }
         }
     }
+
+    /**
+     * Fuses nearly-simultaneous vision measurements from multiple cameras into a single
+     * inverse-variance-weighted measurement per timestamp bucket.
+     * <p>
+     * Measurements are grouped into buckets of width {@link #FUSION_TIMESTAMP_BUCKET_SECONDS}.
+     * Buckets with a single measurement are passed through unchanged. Buckets with multiple
+     * measurements are fused using inverse-variance weighting:
+     * <ul>
+     *     <li>X and Y are weighted averages, weighted by 1/σ² of each measurement.</li>
+     *     <li>Rotation is computed as a circular weighted mean (using sin/cos averaging)
+     *         so wrap-around at ±π is handled correctly.</li>
+     *     <li>Combined standard deviations follow the statistical rule for independent
+     *         measurements: σ_fused = sqrt(1 / Σ(1/σ²)).</li>
+     * </ul>
+     * <p>
+     * The returned list is sorted chronologically by timestamp bucket.
+     *
+     * @param measurements Raw measurements from all cameras.
+     * @return One measurement per timestamp bucket, fused across all cameras that
+     * contributed to that bucket.
+     */
+    private static List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> fuseVisionMeasurements(
+        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> measurements
+    ) {
+        if (measurements.isEmpty()) {
+            return measurements;
+        }
+
+        // Group by timestamp bucket.
+        Map<Long, List<Pair<EstimatedRobotPose, Matrix<N3, N1>>>> buckets = new HashMap<>();
+        for (Pair<EstimatedRobotPose, Matrix<N3, N1>> vm : measurements) {
+            long bucketKey = (long) Math.floor(
+                vm.getFirst().timestampSeconds / FUSION_TIMESTAMP_BUCKET_SECONDS
+            );
+            buckets.computeIfAbsent(bucketKey, k -> new ArrayList<>()).add(vm);
+        }
+
+        // Process buckets in chronological order.
+        List<Long> sortedKeys = new ArrayList<>(buckets.keySet());
+        Collections.sort(sortedKeys);
+
+        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> fused = new ArrayList<>(sortedKeys.size());
+        for (Long key : sortedKeys) {
+            List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> bucket = buckets.get(key);
+            if (bucket.size() == 1) {
+                fused.add(bucket.get(0));
+            }
+            else {
+                fused.add(fuseBucket(bucket));
+            }
+        }
+        return fused;
+    }
+
+    /**
+     * Performs inverse-variance fusion of two or more vision measurements captured at
+     * nearly the same time.
+     *
+     * @param bucket Measurements to fuse.
+     * @return A single fused measurement.
+     */
+    private static Pair<EstimatedRobotPose, Matrix<N3, N1>> fuseBucket(
+        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> bucket
+    ) {
+        double sumWeightX = 0, sumWeightedX = 0;
+        double sumWeightY = 0, sumWeightedY = 0;
+        double sumWeightTheta = 0, sumSinWeighted = 0, sumCosWeighted = 0;
+        double sumTimestamps = 0;
+
+        List<PhotonTrackedTarget> combinedTargets = new ArrayList<>();
+
+        for (Pair<EstimatedRobotPose, Matrix<N3, N1>> vm : bucket) {
+            Pose2d pose2d = vm.getFirst().estimatedPose.toPose2d();
+            Matrix<N3, N1> stdDevs = vm.getSecond();
+
+            double sigmaX = stdDevs.get(0, 0);
+            double sigmaY = stdDevs.get(1, 0);
+            double sigmaTheta = stdDevs.get(2, 0);
+
+            double weightX = 1.0 / (sigmaX * sigmaX);
+            double weightY = 1.0 / (sigmaY * sigmaY);
+            double weightTheta = 1.0 / (sigmaTheta * sigmaTheta);
+
+            sumWeightX += weightX;
+            sumWeightedX += weightX * pose2d.getX();
+
+            sumWeightY += weightY;
+            sumWeightedY += weightY * pose2d.getY();
+
+            // Circular weighted mean for theta. Measurements with very large sigmaTheta
+            // (e.g. single-tag's 999999) have negligible weight and effectively do not
+            // contribute to the fused rotation, which is the desired behavior.
+            double thetaRadians = pose2d.getRotation().getRadians();
+            sumWeightTheta += weightTheta;
+            sumSinWeighted += weightTheta * Math.sin(thetaRadians);
+            sumCosWeighted += weightTheta * Math.cos(thetaRadians);
+
+            sumTimestamps += vm.getFirst().timestampSeconds;
+            combinedTargets.addAll(vm.getFirst().targetsUsed);
+        }
+
+        double fusedX = sumWeightedX / sumWeightX;
+        double fusedY = sumWeightedY / sumWeightY;
+        // atan2(0, 0) returns 0, which is a safe default if all theta weights were zero.
+        double fusedTheta = Math.atan2(sumSinWeighted, sumCosWeighted);
+
+        // Apply floors: mathematical √N reduction is optimal for independent noise,
+        // but our cameras' disagreements are dominated by bias (mount tolerance, per-camera
+        // calibration) that doesn't average out. Flooring prevents the Kalman filter from
+        // over-trusting the fused measurement.
+        double fusedSigmaX = Math.max(Math.sqrt(1.0 / sumWeightX), FUSED_MIN_XY_STD_DEV_METERS);
+        double fusedSigmaY = Math.max(Math.sqrt(1.0 / sumWeightY), FUSED_MIN_XY_STD_DEV_METERS);
+        double fusedSigmaTheta = sumWeightTheta > 0
+            ? Math.max(Math.sqrt(1.0 / sumWeightTheta), FUSED_MIN_THETA_STD_DEV_RADIANS)
+            : Double.POSITIVE_INFINITY;
+
+        double fusedTimestamp = sumTimestamps / bucket.size();
+
+        Pose3d fusedPose = new Pose3d(new Pose2d(fusedX, fusedY, new Rotation2d(fusedTheta)));
+
+        EstimatedRobotPose fusedEstimate = new EstimatedRobotPose(
+            fusedPose,
+            fusedTimestamp,
+            combinedTargets,
+            bucket.get(0).getFirst().strategy
+        );
+
+        return Pair.of(
+            fusedEstimate,
+            VecBuilder.fill(fusedSigmaX, fusedSigmaY, fusedSigmaTheta)
+        );
+    }
 }
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index ea395b83..31b8f989 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -87,13 +87,36 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
      * new command is suppressed. This prevents pose estimator jitter from causing turret
      * jitter. Configurable at runtime via {@link #setTurretAimDeadzoneDegrees}.
      */
-    private double turretAimDeadzoneDegrees = 5.0;
+    private double turretAimDeadzoneDegrees = 0.0;
     /**
      * The last auto-aim angle actually commanded to the turret (in degrees). Used to
      * apply the {@link #turretAimDeadzoneDegrees}.
      */
     private double lastCommandedAimAngleDegrees = 0;
 
+    /**
+     * Translational speed (m/s) below which the robot is considered stationary for the
+     * purposes of freezing turret auto-aim.
+     */
+    private double stationaryAimFreezeSpeedMps = 0.15;
+    /**
+     * Angular speed (rad/s) below which the robot is considered rotationally stationary
+     * for the purposes of freezing turret auto-aim.
+     */
+    private double stationaryAimFreezeAngularSpeedRadPerSec = 0.2;
+    /**
+     * If true, turret auto-aim updates are suppressed when the robot is stationary and
+     * {@link BaseRobotState#hasAccuratePoseEstimate} is true. The turret holds the last
+     * commanded aim. This avoids pose-estimator jitter translating to turret jitter when
+     * the robot is physically still.
+     */
+    private boolean freezeAimWhenStationary = true;
+    /**
+     * If the most recent call to {@link #aimTurretAtTarget} froze the turret because the
+     * robot was stationary. Used for logging/debugging.
+     */
+    private boolean aimIsFrozen = false;
+
     private boolean useChassisSpeedForHoodAngleAndSpeed = false;
 
     //MOTORS
@@ -260,7 +283,9 @@ public Shooter() {
         INCLINE_ANGLE_ADJUSTMENT_AMOUNT_DEGREES = factory.getConstant(NAME, "inclineAngleAdjustmentAmountDegrees", 0);
         TURRET_ANGLE_ADJUSTMENT_AMOUNT_DEGREES = factory.getConstant(NAME, "turretAngleAdjustmentAmountDegrees", 0);
 
-        turretAimDeadzoneDegrees = factory.getConstant(NAME, "turretAimDeadzoneDegrees", 5.0);
+        turretAimDeadzoneDegrees = factory.getConstant(NAME, "turretAimDeadzoneDegrees", 0.0);
+        stationaryAimFreezeSpeedMps = factory.getConstant(NAME, "stationaryAimFreezeSpeedMps", 0.15);
+        stationaryAimFreezeAngularSpeedRadPerSec = factory.getConstant(NAME, "stationaryAimFreezeAngularSpeedRadPerSec", 0.2);
 
         TOP_LAUNCH_MOTOR_BACKSPIN_MULTIPLIER = factory.getConstant(NAME, "topLaunchMotorBackspinMultiplier", 1);
 
@@ -301,6 +326,10 @@ public Shooter() {
         GreenLogger.periodicLog(NAME + "/turret/calc/Current Angle Degrees", () -> getCurrentRobotRelativeTurretRotation2d().getDegrees());
         GreenLogger.periodicLog(NAME + "/turret/calc/Aim Deadzone Degrees", () -> turretAimDeadzoneDegrees);
         GreenLogger.periodicLog(NAME + "/turret/calc/Last Commanded Aim Degrees", () -> lastCommandedAimAngleDegrees);
+        GreenLogger.periodicLog(NAME + "/turret/Aim Frozen", () -> aimIsFrozen);
+        GreenLogger.periodicLog(NAME + "/turret/Freeze Aim When Stationary", () -> freezeAimWhenStationary);
+        GreenLogger.periodicLog(NAME + "/turret/calc/Stationary Freeze Speed MPS", () -> stationaryAimFreezeSpeedMps);
+        GreenLogger.periodicLog(NAME + "/turret/calc/Stationary Freeze Angular Speed RadPerSec", () -> stationaryAimFreezeAngularSpeedRadPerSec);
     }
 
     @Override
@@ -522,14 +551,39 @@ private Translation2d flipTranslation2dBasedOnAlliance(Translation2d blueTransla
     /**
      * Automatically points the turret at the passed in target.
      * <p>
-     * Applies a deadzone ({@link #turretAimDeadzoneDegrees}): if the newly computed aim
-     * angle differs from the last commanded aim angle by less than the deadzone, the new
-     * command is suppressed. This prevents pose estimator jitter from causing turret
-     * jitter when the robot is effectively stationary.
+     * When {@link #freezeAimWhenStationary} is true and both translational and angular
+     * speeds are below their respective thresholds, turret commands are suppressed entirely
+     * as long as {@link BaseRobotState#hasAccuratePoseEstimate} is true. The turret holds
+     * the last aim it was given while moving, so pose-estimator jitter while stopped cannot
+     * translate to turret jitter.
+     * <p>
+     * If not frozen, applies the deadzone ({@link #turretAimDeadzoneDegrees}): if the newly
+     * computed aim angle differs from the last commanded aim angle by less than the
+     * deadzone, the new command is suppressed.
      *
      * @param targetTranslation2d The {@link Translation2d} of the target to aim at.
      */
     private void aimTurretAtTarget(Translation2d targetTranslation2d) {
+        // Freeze the turret when the robot is stationary and we have a trusted pose.
+        // This prevents pose-estimator jitter from causing turret jitter while stopped.
+        double translationalSpeedMps = Math.hypot(
+            BaseRobotState.robotSpeeds.vxMetersPerSecond,
+            BaseRobotState.robotSpeeds.vyMetersPerSecond
+        );
+        double angularSpeedRadPerSec = Math.abs(
+            BaseRobotState.robotSpeeds.omegaRadiansPerSecond
+        );
+        boolean stationary = translationalSpeedMps < stationaryAimFreezeSpeedMps
+            && angularSpeedRadPerSec < stationaryAimFreezeAngularSpeedRadPerSec;
+
+        if (freezeAimWhenStationary
+            && stationary
+            && BaseRobotState.hasAccuratePoseEstimate) {
+            aimIsFrozen = true;
+            return;
+        }
+        aimIsFrozen = false;
+
         Rotation2d robotRelativeRotation2dToTarget = shooterTableCalculator.getTurretAngle(getCurrentTurretPose2d().getTranslation(),
             targetTranslation2d, useChassisSpeedForHoodAngleAndSpeed);
         double robotRelativeDegreesToTarget = robotRelativeRotation2dToTarget.getDegrees();
@@ -549,6 +603,32 @@ private void aimTurretAtTarget(Translation2d targetTranslation2d) {
         setTurretAngle(robotRelativeDegreesToTarget);
     }
 
+    /**
+     * @return True if auto-aim is currently frozen because the robot is stationary.
+     */
+    public boolean isAimFrozen() {
+        return aimIsFrozen;
+    }
+
+    /**
+     * @return Whether auto-aim will freeze when the robot is stationary and has a good
+     * pose estimate.
+     */
+    public boolean getFreezeAimWhenStationary() {
+        return freezeAimWhenStationary;
+    }
+
+    /**
+     * Controls whether auto-aim freezes when the robot is stationary and has an accurate
+     * pose estimate. When false, auto-aim always tracks the target regardless of robot
+     * speed.
+     *
+     * @param freeze True to enable freeze-when-stationary, false to always track.
+     */
+    public void setFreezeAimWhenStationary(boolean freeze) {
+        freezeAimWhenStationary = freeze;
+    }
+
     /**
      * Gets the current turret auto-aim deadzone (in degrees). See {@link
      * #turretAimDeadzoneDegrees}.

From 10888237f06a41cebb864024c97480bbe1cf21b1 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Thu, 16 Apr 2026 23:17:47 -0500
Subject: [PATCH 20/36] Many changes.  Have fun, Shishir..

---
 .../com/team1816/lib/subsystems/Vision.java   |   2 +-
 .../team1816/season/subsystems/Shooter.java   | 142 +-----------------
 src/main/resources/yaml/ztldr.yml             |  16 +-
 3 files changed, 18 insertions(+), 142 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index 7aa1a641..fb6d17a2 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -56,7 +56,7 @@ public class Vision extends SubsystemBase implements ITestableSubsystem {
     /**
      * The base standard deviations to use for multi-tag estimates
      */
-    private final Matrix<N3, N1> multiTagStdDevs = VecBuilder.fill(0.1, 0.1, 0.5);
+    private final Matrix<N3, N1> multiTagStdDevs = VecBuilder.fill(0.2, 0.2, 0.5);
     /**
      * The standard deviations to use for an estimate that we should just throw out
      */
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 31b8f989..7958af8b 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -80,42 +80,7 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
     /**
      * An adjustment value added to all requests to the turret (in degrees).
      */
-    private double turretAngleAdjustmentDegrees = 0;
-    /**
-     * The deadzone applied to auto-aim turret commands (in degrees). If a newly computed
-     * aim angle differs from the last commanded aim angle by less than this amount, the
-     * new command is suppressed. This prevents pose estimator jitter from causing turret
-     * jitter. Configurable at runtime via {@link #setTurretAimDeadzoneDegrees}.
-     */
-    private double turretAimDeadzoneDegrees = 0.0;
-    /**
-     * The last auto-aim angle actually commanded to the turret (in degrees). Used to
-     * apply the {@link #turretAimDeadzoneDegrees}.
-     */
-    private double lastCommandedAimAngleDegrees = 0;
-
-    /**
-     * Translational speed (m/s) below which the robot is considered stationary for the
-     * purposes of freezing turret auto-aim.
-     */
-    private double stationaryAimFreezeSpeedMps = 0.15;
-    /**
-     * Angular speed (rad/s) below which the robot is considered rotationally stationary
-     * for the purposes of freezing turret auto-aim.
-     */
-    private double stationaryAimFreezeAngularSpeedRadPerSec = 0.2;
-    /**
-     * If true, turret auto-aim updates are suppressed when the robot is stationary and
-     * {@link BaseRobotState#hasAccuratePoseEstimate} is true. The turret holds the last
-     * commanded aim. This avoids pose-estimator jitter translating to turret jitter when
-     * the robot is physically still.
-     */
-    private boolean freezeAimWhenStationary = true;
-    /**
-     * If the most recent call to {@link #aimTurretAtTarget} froze the turret because the
-     * robot was stationary. Used for logging/debugging.
-     */
-    private boolean aimIsFrozen = false;
+    private double turretAngleAdjustmentDegrees = -1.0;
 
     private boolean useChassisSpeedForHoodAngleAndSpeed = false;
 
@@ -130,7 +95,9 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
 
     private final VelocityVoltage topLaunchMotorVelocityRequest = new VelocityVoltage(0);
     private final VelocityVoltage bottomLaunchMotorVelocityRequest = new VelocityVoltage(0);
-    private final NeutralOut neutralModeRequest = new NeutralOut();
+    //private final NeutralOut neutralModeRequest = new NeutralOut();
+    private final VelocityVoltage neutralModeRequest = new VelocityVoltage(10);
+
     private final MotionMagicExpoVoltage inclineMotorPositionRequest = new MotionMagicExpoVoltage(0);
     private final MotionMagicExpoVoltage turretMotorPositionRequest = new MotionMagicExpoVoltage(0);
 
@@ -283,10 +250,6 @@ public Shooter() {
         INCLINE_ANGLE_ADJUSTMENT_AMOUNT_DEGREES = factory.getConstant(NAME, "inclineAngleAdjustmentAmountDegrees", 0);
         TURRET_ANGLE_ADJUSTMENT_AMOUNT_DEGREES = factory.getConstant(NAME, "turretAngleAdjustmentAmountDegrees", 0);
 
-        turretAimDeadzoneDegrees = factory.getConstant(NAME, "turretAimDeadzoneDegrees", 0.0);
-        stationaryAimFreezeSpeedMps = factory.getConstant(NAME, "stationaryAimFreezeSpeedMps", 0.15);
-        stationaryAimFreezeAngularSpeedRadPerSec = factory.getConstant(NAME, "stationaryAimFreezeAngularSpeedRadPerSec", 0.2);
-
         TOP_LAUNCH_MOTOR_BACKSPIN_MULTIPLIER = factory.getConstant(NAME, "topLaunchMotorBackspinMultiplier", 1);
 
         GreenLogger.periodicLog(NAME + "/Wanted Distance State", () -> wantedDistanceState);
@@ -324,12 +287,6 @@ public Shooter() {
         GreenLogger.periodicLog(NAME + "/turret/calc/Distance to Target", () -> turretPose.getTranslation().getDistance(turretTarget));
         GreenLogger.periodicLog(NAME + "/turret/calc/Wanted Angle Degrees", () -> wantedTurretAngleDegrees);
         GreenLogger.periodicLog(NAME + "/turret/calc/Current Angle Degrees", () -> getCurrentRobotRelativeTurretRotation2d().getDegrees());
-        GreenLogger.periodicLog(NAME + "/turret/calc/Aim Deadzone Degrees", () -> turretAimDeadzoneDegrees);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Last Commanded Aim Degrees", () -> lastCommandedAimAngleDegrees);
-        GreenLogger.periodicLog(NAME + "/turret/Aim Frozen", () -> aimIsFrozen);
-        GreenLogger.periodicLog(NAME + "/turret/Freeze Aim When Stationary", () -> freezeAimWhenStationary);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Stationary Freeze Speed MPS", () -> stationaryAimFreezeSpeedMps);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Stationary Freeze Angular Speed RadPerSec", () -> stationaryAimFreezeAngularSpeedRadPerSec);
     }
 
     @Override
@@ -550,107 +507,16 @@ private Translation2d flipTranslation2dBasedOnAlliance(Translation2d blueTransla
 
     /**
      * Automatically points the turret at the passed in target.
-     * <p>
-     * When {@link #freezeAimWhenStationary} is true and both translational and angular
-     * speeds are below their respective thresholds, turret commands are suppressed entirely
-     * as long as {@link BaseRobotState#hasAccuratePoseEstimate} is true. The turret holds
-     * the last aim it was given while moving, so pose-estimator jitter while stopped cannot
-     * translate to turret jitter.
-     * <p>
-     * If not frozen, applies the deadzone ({@link #turretAimDeadzoneDegrees}): if the newly
-     * computed aim angle differs from the last commanded aim angle by less than the
-     * deadzone, the new command is suppressed.
      *
      * @param targetTranslation2d The {@link Translation2d} of the target to aim at.
      */
     private void aimTurretAtTarget(Translation2d targetTranslation2d) {
-        // Freeze the turret when the robot is stationary and we have a trusted pose.
-        // This prevents pose-estimator jitter from causing turret jitter while stopped.
-        double translationalSpeedMps = Math.hypot(
-            BaseRobotState.robotSpeeds.vxMetersPerSecond,
-            BaseRobotState.robotSpeeds.vyMetersPerSecond
-        );
-        double angularSpeedRadPerSec = Math.abs(
-            BaseRobotState.robotSpeeds.omegaRadiansPerSecond
-        );
-        boolean stationary = translationalSpeedMps < stationaryAimFreezeSpeedMps
-            && angularSpeedRadPerSec < stationaryAimFreezeAngularSpeedRadPerSec;
-
-        if (freezeAimWhenStationary
-            && stationary
-            && BaseRobotState.hasAccuratePoseEstimate) {
-            aimIsFrozen = true;
-            return;
-        }
-        aimIsFrozen = false;
-
         Rotation2d robotRelativeRotation2dToTarget = shooterTableCalculator.getTurretAngle(getCurrentTurretPose2d().getTranslation(),
             targetTranslation2d, useChassisSpeedForHoodAngleAndSpeed);
         double robotRelativeDegreesToTarget = robotRelativeRotation2dToTarget.getDegrees();
-
-        // Apply deadzone. Wrap the delta to [-180, 180] so wrap-around near ±180 is
-        // handled correctly.
-        double deltaDegrees = MathUtil.inputModulus(
-            robotRelativeDegreesToTarget - lastCommandedAimAngleDegrees,
-            -180.0,
-            180.0
-        );
-        if (Math.abs(deltaDegrees) < turretAimDeadzoneDegrees) {
-            return;
-        }
-
-        lastCommandedAimAngleDegrees = robotRelativeDegreesToTarget;
         setTurretAngle(robotRelativeDegreesToTarget);
     }
 
-    /**
-     * @return True if auto-aim is currently frozen because the robot is stationary.
-     */
-    public boolean isAimFrozen() {
-        return aimIsFrozen;
-    }
-
-    /**
-     * @return Whether auto-aim will freeze when the robot is stationary and has a good
-     * pose estimate.
-     */
-    public boolean getFreezeAimWhenStationary() {
-        return freezeAimWhenStationary;
-    }
-
-    /**
-     * Controls whether auto-aim freezes when the robot is stationary and has an accurate
-     * pose estimate. When false, auto-aim always tracks the target regardless of robot
-     * speed.
-     *
-     * @param freeze True to enable freeze-when-stationary, false to always track.
-     */
-    public void setFreezeAimWhenStationary(boolean freeze) {
-        freezeAimWhenStationary = freeze;
-    }
-
-    /**
-     * Gets the current turret auto-aim deadzone (in degrees). See {@link
-     * #turretAimDeadzoneDegrees}.
-     *
-     * @return The current turret auto-aim deadzone, in degrees.
-     */
-    public double getTurretAimDeadzoneDegrees() {
-        return turretAimDeadzoneDegrees;
-    }
-
-    /**
-     * Sets the turret auto-aim deadzone (in degrees). Auto-aim commands that differ from
-     * the last commanded aim angle by less than this amount will be suppressed. Set to 0
-     * to disable the deadzone entirely. See {@link #turretAimDeadzoneDegrees}.
-     *
-     * @param deadzoneDegrees The new deadzone value, in degrees. Negative values are
-     *                        clamped to 0.
-     */
-    public void setTurretAimDeadzoneDegrees(double deadzoneDegrees) {
-        turretAimDeadzoneDegrees = Math.max(0.0, deadzoneDegrees);
-    }
-
     /**
      * Automatically points the incline and spins up the launchers to shoot at the passed in target
      * at hub height using the shooter lookup table.
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index de2ce800..75b1a0a9 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -18,8 +18,8 @@ shooterSettings:
         - 0.1027 # 264
         - 0.1027 # 360
     launchVelocitiesRPS:
-        - 37  # 48
-        - 40 # 96
+        - 39 # 48
+        - 42 # 96
         - 45 #120
         - 47 # 156
         - 49 # 204
@@ -239,7 +239,7 @@ subsystems:
                         kV: 0.081
         constants:
             topClosedVelocity: 0
-            topOpenVelocity: 60
+            topOpenVelocity: 40
     shooter:
         implemented: true
         canBusName: shootercanivore
@@ -331,6 +331,16 @@ subsystems:
         cameras:
             forwardLeft: # Pi IP: 10.18.16.11
                 photonVisionUIName: Forward_Left
+                robotToCamera:
+                    xInches: -12.66
+                    yInches: 12.1
+                    zInches: 16
+                    rollDegrees: 0
+                    pitchDegrees: -8
+                    yawDegrees: 55
+                detectionType: APRIL_TAG
+            topCenter: #Pi IP: 10.18.16.13
+                photonVisionUIName: Top_Center
                 robotToCamera:
                     xInches: -10.114
                     yInches: 3.587

From a496a944d05853a276e8aec3b7a02fb5a923a063 Mon Sep 17 00:00:00 2001
From: David Day <dcday@themilwaukeeroad.com>
Date: Sat, 18 Apr 2026 11:29:52 -0500
Subject: [PATCH 21/36] Delay logging till DS is connected wait till ds
 connected

---
 .../com/team1816/lib/util/GreenLogger.java    | 25 +++++++++++++------
 src/main/java/com/team1816/season/Robot.java  |  1 -
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/src/main/java/com/team1816/lib/util/GreenLogger.java b/src/main/java/com/team1816/lib/util/GreenLogger.java
index 1f9a146e..0f80dfa2 100644
--- a/src/main/java/com/team1816/lib/util/GreenLogger.java
+++ b/src/main/java/com/team1816/lib/util/GreenLogger.java
@@ -32,18 +32,13 @@ public class GreenLogger {
     private static final NetworkTable netTable;
     private static final StringPublisher msg;
     private static Notifier mLogNotifier;
+    private static boolean mLogFirstStart = true;
+    static Notifier delay = null;
 
     static {
         if (Robot.isSimulation()) {
             DriverStation.silenceJoystickConnectionWarning(true);
         }
-
-        // Start DatalogManager first Default is to Log network tables then we can use advantage scope on a live robot
-        // and use the same layout for the logs
-        DataLogManager.start();
-        // now tell DS not to log joysticks
-        DriverStation.startDataLog(DataLogManager.getLog(), false);
-
         netTable = NetworkTableInstance.getDefault().getTable("");
         msg = netTable.getStringTopic("messages").publish();
     }
@@ -332,8 +327,22 @@ public static void logToElastic(String title, Object content, Elastic.Notificati
     }
 
     public static void startLogging(){
+        // don't log until DS is attached
         if(mLogNotifier != null || !DriverStation.isDSAttached()) return;
-        GreenLogger.log(periodicLogs.size() + " periodic logs registered");
+        // once we are attached, delay and then log to give WPI time to rename file
+        if(delay == null){
+            DataLogManager.logNetworkTables(true);
+            // this will trigger rename
+            DataLogManager.start();
+            delay = new Notifier(()->{
+                GreenLogger.log(periodicLogs.size() + " periodic logs registered");
+                DriverStation.startDataLog(DataLogManager.getLog(), false);
+                mLogFirstStart = false;
+            });
+            delay.startSingle(5);
+        }
+        // if log init is complete update periodic logs
+        if(mLogFirstStart) return;
         mLogNotifier = new Notifier(() -> {
             updatePeriodic();
         });
diff --git a/src/main/java/com/team1816/season/Robot.java b/src/main/java/com/team1816/season/Robot.java
index 26a273b3..72351fae 100644
--- a/src/main/java/com/team1816/season/Robot.java
+++ b/src/main/java/com/team1816/season/Robot.java
@@ -31,7 +31,6 @@ public void robotInit() {
             // used to serve elastic dashboards must be port 5800
             WebServer.start(5800, Filesystem.getDeployDirectory().getPath());
             GreenLogger.periodicLog("timings/RobotLoop (ms)", () -> periodicLoopTime);
-            SignalLogger.enableAutoLogging(false);
         } catch (Throwable t) {
             robotStatusEvent.Publish(LedManager.RobotLEDStatus.ERROR);
             GreenLogger.log(t);

From bfad1b42ed1adc87e3f107bbb2eafc5c5f7aacaa Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sat, 18 Apr 2026 12:11:07 -0500
Subject: [PATCH 22/36] Revert some changes to start

---
 .../hardware/components/sensor/Camera.java    |  1 -
 .../lib/subsystems/BaseSuperstructure.java    |  2 +-
 .../com/team1816/lib/subsystems/Vision.java   | 43 ++++++++++++++-----
 .../lib/util/RectangularBoundingBox.java      | 26 +++++++++++
 4 files changed, 60 insertions(+), 12 deletions(-)
 create mode 100644 src/main/java/com/team1816/lib/util/RectangularBoundingBox.java

diff --git a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
index 831321b7..c2f4086e 100644
--- a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
+++ b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
@@ -67,7 +67,6 @@ public class Camera {
      */
     private Pose3d latestPoseEstimate = Pose3d.kZero;
 
-    private List<PhotonPipelineResult> photonPipelineResults = List.of();
     /**
      * The latest vision standard deviations from this camera, for logging purposes.
      */
diff --git a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
index 8db54fdc..21f66107 100644
--- a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
+++ b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
@@ -169,7 +169,7 @@ public void addVisionMeasurementsToDrivetrain() {
 
                 // The minimum number of good vision pose estimates to wait for until we decide we
                 // are confident in our pose estimate again.
-                final int minGoodPoseEstimatesUntilConfident = 5;
+                final int minGoodPoseEstimatesUntilConfident = 10;
 
                 // If we've gotten enough good vision pose estimates since losing pose, we know
                 // where we are again.
diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index fb6d17a2..a14c9d2e 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -3,6 +3,7 @@
 import com.team1816.lib.BaseRobotState;
 import com.team1816.lib.hardware.components.sensor.Camera;
 import com.team1816.lib.util.GreenLogger;
+import com.team1816.lib.util.RectangularBoundingBox;
 import com.team1816.season.Robot;
 import com.team1816.season.RobotState;
 import edu.wpi.first.math.MathUtil;
@@ -11,9 +12,11 @@
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonPoseEstimator;
@@ -26,6 +29,7 @@
 
 import static com.team1816.lib.BaseConstants.VisionConstants.*;
 import static com.team1816.lib.Singleton.factory;
+import static edu.wpi.first.units.Units.Inches;
 
 /**
  * This subsystem handles reading and interpreting data from cameras and simulating camera
@@ -69,6 +73,19 @@ public class Vision extends SubsystemBase implements ITestableSubsystem {
      */
     private int consecutiveDiscardedEstimates = 0;
 
+    public static final Distance fieldLength = Inches.of(651.2);
+    public static final Distance fieldWidth =  Inches.of(317.7);
+
+    private final RectangularBoundingBox acceptableFieldBox = new RectangularBoundingBox(
+        new Translation2d(
+
+        ),
+        new Translation2d(
+            fieldLength,
+            fieldWidth
+        )
+    );
+
     /**
      * Constructs a Vision subsystem.
      */
@@ -120,16 +137,22 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
             for (EstimatedRobotPose estimatedRobotPose : results) {
                 Pose2d visionEstimatedPose2d = estimatedRobotPose.estimatedPose.toPose2d();
 
-                if (!isMultiTag(estimatedRobotPose.strategy)) {
-                    double headingError = Math.abs(MathUtil.angleModulus(
-                        visionEstimatedPose2d.getRotation()
-                            .minus(BaseRobotState.robotPose.getRotation())
-                            .getRadians()
-                    ));
-                    if (headingError > SINGLE_TAG_MAX_HEADING_ERROR_RADIANS) {
-                        continue; // Silently discard ambiguous reflection
-                    }
+                var inField = acceptableFieldBox.withinBounds(estimatedRobotPose.estimatedPose.toPose2d().getTranslation());
+
+                if (!inField){
+                    continue;
                 }
+
+//                if (!isMultiTag(estimatedRobotPose.strategy)) {
+//                    double headingError = Math.abs(MathUtil.angleModulus(
+//                        visionEstimatedPose2d.getRotation()
+//                            .minus(BaseRobotState.robotPose.getRotation())
+//                            .getRadians()
+//                    ));
+//                    if (headingError > SINGLE_TAG_MAX_HEADING_ERROR_RADIANS) {
+//                        continue; // Silently discard ambiguous reflection
+//                    }
+//                }
                 // Only add the vision measurement to the list to return if it is within the
                 // distance and angle thresholds from the current pose estimate. This is to filter
                 // out unreasonable estimates caused by pose ambiguity (see here:
@@ -181,7 +204,7 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                     consecutiveDiscardedEstimates ++;
                     // The number of estimates to allow to be discarded before determining that we
                     // have lost a good pose estimate.
-                    int discardsBeforePoseLoss = 3;
+                    int discardsBeforePoseLoss = 5;
                     if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
                         BaseRobotState.hasAccuratePoseEstimate = false;
                     }
diff --git a/src/main/java/com/team1816/lib/util/RectangularBoundingBox.java b/src/main/java/com/team1816/lib/util/RectangularBoundingBox.java
new file mode 100644
index 00000000..fa634901
--- /dev/null
+++ b/src/main/java/com/team1816/lib/util/RectangularBoundingBox.java
@@ -0,0 +1,26 @@
+package com.team1816.lib.util;
+
+import edu.wpi.first.math.geometry.Translation2d;
+
+public class RectangularBoundingBox  {
+    private final Translation2d bottomLeftCorner;
+    private final Translation2d topRightCorner;
+
+    public RectangularBoundingBox(Translation2d corner1, Translation2d corner2) {
+        this.bottomLeftCorner = new Translation2d(Math.min(corner1.getX(), corner2.getX()), Math.min(corner1.getY(), corner2.getY()));
+        this.topRightCorner = new Translation2d(Math.max(corner1.getX(), corner2.getX()), Math.max(corner1.getY(), corner2.getY()));
+    }
+
+    public boolean withinBounds(Translation2d trans) {
+        return this.withinBounds(trans.getX(), trans.getY());
+    }
+
+    public boolean withinBounds(double xMeters, double yMeters) {
+        return
+            xMeters >= this.bottomLeftCorner.getX()
+                && xMeters <= this.topRightCorner.getX()
+                && yMeters >= this.bottomLeftCorner.getY()
+                && yMeters <= this.topRightCorner.getY()
+            ;
+    }
+}

From df2a06b2cf1ff96819ad592ccd6abb815952cd5e Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sat, 18 Apr 2026 14:26:12 -0500
Subject: [PATCH 23/36] Updated shooter ranges.

---
 src/main/resources/yaml/ztldr.yml | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 75b1a0a9..681e959e 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -15,17 +15,17 @@ shooterSettings:
         - 0.08 # 156
         - 0.09 # 204
         - 0.09 #210
-        - 0.1027 # 264
-        - 0.1027 # 360
+        - 0.1113 # 264
+        - 0.108 # 360
     launchVelocitiesRPS:
-        - 39 # 48
-        - 42 # 96
-        - 45 #120
-        - 47 # 156
-        - 49 # 204
-        - 50 #210
-        - 51 # 264
-        - 52 # 360
+        - 31 # 48
+        - 38 # 96
+        - 40 #120
+        - 42 # 156
+        - 45 # 204
+        - 47 #210
+        - 48 # 264
+        - 49 # 360
 subsystems:
     drivetrain:
         implemented: true

From 03e2e7c931527104b1e1f9c46a48a832067e1a31 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Sat, 18 Apr 2026 14:30:43 -0500
Subject: [PATCH 24/36] Set the top open velocity

---
 src/main/resources/yaml/ztldr.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 681e959e..97731ff2 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -239,7 +239,7 @@ subsystems:
                         kV: 0.081
         constants:
             topClosedVelocity: 0
-            topOpenVelocity: 40
+            topOpenVelocity: 60
     shooter:
         implemented: true
         canBusName: shootercanivore

From 7ef9179a1ea1267184d800e2aace2091ea195801 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Sun, 19 Apr 2026 23:36:31 -0500
Subject: [PATCH 25/36] use tight angle cutoff and exponential std devs

---
 simgui.json                                   |   9 +
 .../java/com/team1816/lib/BaseConstants.java  |   4 +-
 .../hardware/components/sensor/Camera.java    |   1 -
 .../lib/subsystems/BaseSuperstructure.java    | 181 +-----------------
 .../com/team1816/lib/subsystems/Vision.java   | 137 ++++++-------
 src/main/resources/yaml/ztldr.yml             |   2 +-
 6 files changed, 75 insertions(+), 259 deletions(-)

diff --git a/simgui.json b/simgui.json
index 79983658..fad303f3 100644
--- a/simgui.json
+++ b/simgui.json
@@ -218,6 +218,15 @@
         },
         "right": 3942,
         "top": 118,
+        "topCenter/visionPoseEstimate": {
+          "arrowColor": [
+            0.0,
+            0.0,
+            1.0,
+            255.0
+          ],
+          "style": "Hidden"
+        },
         "visibleTargetPoses": {
           "image": "field_images\\visible-vision-target.png"
         },
diff --git a/src/main/java/com/team1816/lib/BaseConstants.java b/src/main/java/com/team1816/lib/BaseConstants.java
index 627b5b39..afb0f329 100644
--- a/src/main/java/com/team1816/lib/BaseConstants.java
+++ b/src/main/java/com/team1816/lib/BaseConstants.java
@@ -22,6 +22,8 @@ public static final class VisionConstants {
     }
 
     public static final class DrivetrainConstants {
+        // TODO: Adjust these values to determine how much to trust the current estimate over
+        //  vision estimates.
         /**
          * The default values to use as the state/odometry standard deviations for the drivetrain.
          * They represent the pose estimator's trust in the current state of the odometry estimate,
@@ -29,6 +31,6 @@ public static final class DrivetrainConstants {
          * used by the drivetrain can be set by using {@link
          * com.team1816.lib.subsystems.drivetrain.Swerve#setStateStdDevs(Matrix)}.
          */
-        public static final Matrix<N3, N1> defaultStateStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
+        public static final Matrix<N3, N1> defaultStateStdDevs = VecBuilder.fill(0.01, 0.01, 0.001);
     }
 }
diff --git a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
index c2f4086e..0e549e5d 100644
--- a/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
+++ b/src/main/java/com/team1816/lib/hardware/components/sensor/Camera.java
@@ -66,7 +66,6 @@ public class Camera {
      * vision estimates and odometry data.
      */
     private Pose3d latestPoseEstimate = Pose3d.kZero;
-
     /**
      * The latest vision standard deviations from this camera, for logging purposes.
      */
diff --git a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
index 21f66107..08e5f8e9 100644
--- a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
+++ b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
@@ -5,21 +5,13 @@
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.photonvision.EstimatedRobotPose;
-import org.photonvision.targeting.PhotonTrackedTarget;
 
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.HashMap;
 import java.util.List;
-import java.util.Map;
 
 import static com.team1816.lib.BaseConstants.DrivetrainConstants.defaultStateStdDevs;
 
@@ -27,33 +19,6 @@ public abstract class BaseSuperstructure extends SubsystemBase {
     protected final Swerve swerve;
     protected final Vision vision;
 
-    /**
-     * The size (in seconds) of the timestamp bucket used to group nearly-simultaneous
-     * vision measurements from multiple cameras for inverse-variance fusion. Measurements
-     * whose timestamps fall into the same bucket are fused into a single measurement
-     * before being passed to the Kalman filter. This prevents multiple cameras from
-     * fighting each other in the filter, which causes pose jitter when stationary.
-     */
-    private static final double FUSION_TIMESTAMP_BUCKET_SECONDS = 0.1;
-
-    /**
-     * Minimum standard deviation (in meters) reported to the Kalman filter for the XY
-     * components of a fused vision measurement. Inverse-variance fusion mathematically
-     * reduces standard deviation by √N for N independent measurements, but our cameras'
-     * disagreements are dominated by systematic bias (mount tolerance, intrinsic
-     * calibration) rather than random noise. Without a floor, the fused std dev drops
-     * below the bias-limited accuracy, causing the Kalman filter to over-trust the fused
-     * measurement and chase bucket-to-bucket variation.
-     */
-    private static final double FUSED_MIN_XY_STD_DEV_METERS = 0.2;
-
-    /**
-     * Minimum standard deviation (in radians) reported to the Kalman filter for the
-     * rotation component of a fused vision measurement. See
-     * {@link #FUSED_MIN_XY_STD_DEV_METERS}.
-     */
-    private static final double FUSED_MIN_THETA_STD_DEV_RADIANS = 0.3;
-
     /**
      * The number of good vision pose estimates we have gotten toward reestablishing our pose
      * estimate since losing an accurate pose estimate.
@@ -103,12 +68,6 @@ private void handlePoseLossFromTilting() {
      * Updates the drivetrain's pose estimate by passing in unread vision pose estimates from the
      * {@link Vision} subsystem. Also handles deciding when we have gotten enough good vision
      * estimates to be confident in our combined pose estimate again after losing pose.
-     * <p>
-     * Before passing measurements to the drivetrain's Kalman filter, nearly-simultaneous
-     * measurements from multiple cameras are fused into a single inverse-variance-weighted
-     * estimate per time bucket. This prevents cameras from fighting each other in the
-     * filter, which causes pose jitter when stationary. See
-     * {@link #fuseVisionMeasurements(List)}.
      *
      * Synchronized because this method is called from the vision thread (via
      * {@link com.team1816.lib.BaseRobot}'s addPeriodic) while {@link #handlePoseLossFromTilting()}
@@ -117,14 +76,9 @@ private void handlePoseLossFromTilting() {
      * and {@link BaseRobotState#hasAccuratePoseEstimate}).
      */
     public void addVisionMeasurementsToDrivetrain() {
-        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> rawMeasurements = vision
+        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> visionMeasurements = vision
             .getVisionEstimatedPosesWithStdDevs();
 
-        // Fuse nearly-simultaneous measurements from multiple cameras before feeding them
-        // to the Kalman filter.
-        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> visionMeasurements =
-            fuseVisionMeasurements(rawMeasurements);
-
         for (Pair<EstimatedRobotPose, Matrix<N3, N1>> visionMeasurement : visionMeasurements) {
             Matrix<N3, N1> visionStdDevs = visionMeasurement.getSecond();
 
@@ -198,137 +152,4 @@ public void addVisionMeasurementsToDrivetrain() {
             }
         }
     }
-
-    /**
-     * Fuses nearly-simultaneous vision measurements from multiple cameras into a single
-     * inverse-variance-weighted measurement per timestamp bucket.
-     * <p>
-     * Measurements are grouped into buckets of width {@link #FUSION_TIMESTAMP_BUCKET_SECONDS}.
-     * Buckets with a single measurement are passed through unchanged. Buckets with multiple
-     * measurements are fused using inverse-variance weighting:
-     * <ul>
-     *     <li>X and Y are weighted averages, weighted by 1/σ² of each measurement.</li>
-     *     <li>Rotation is computed as a circular weighted mean (using sin/cos averaging)
-     *         so wrap-around at ±π is handled correctly.</li>
-     *     <li>Combined standard deviations follow the statistical rule for independent
-     *         measurements: σ_fused = sqrt(1 / Σ(1/σ²)).</li>
-     * </ul>
-     * <p>
-     * The returned list is sorted chronologically by timestamp bucket.
-     *
-     * @param measurements Raw measurements from all cameras.
-     * @return One measurement per timestamp bucket, fused across all cameras that
-     * contributed to that bucket.
-     */
-    private static List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> fuseVisionMeasurements(
-        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> measurements
-    ) {
-        if (measurements.isEmpty()) {
-            return measurements;
-        }
-
-        // Group by timestamp bucket.
-        Map<Long, List<Pair<EstimatedRobotPose, Matrix<N3, N1>>>> buckets = new HashMap<>();
-        for (Pair<EstimatedRobotPose, Matrix<N3, N1>> vm : measurements) {
-            long bucketKey = (long) Math.floor(
-                vm.getFirst().timestampSeconds / FUSION_TIMESTAMP_BUCKET_SECONDS
-            );
-            buckets.computeIfAbsent(bucketKey, k -> new ArrayList<>()).add(vm);
-        }
-
-        // Process buckets in chronological order.
-        List<Long> sortedKeys = new ArrayList<>(buckets.keySet());
-        Collections.sort(sortedKeys);
-
-        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> fused = new ArrayList<>(sortedKeys.size());
-        for (Long key : sortedKeys) {
-            List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> bucket = buckets.get(key);
-            if (bucket.size() == 1) {
-                fused.add(bucket.get(0));
-            }
-            else {
-                fused.add(fuseBucket(bucket));
-            }
-        }
-        return fused;
-    }
-
-    /**
-     * Performs inverse-variance fusion of two or more vision measurements captured at
-     * nearly the same time.
-     *
-     * @param bucket Measurements to fuse.
-     * @return A single fused measurement.
-     */
-    private static Pair<EstimatedRobotPose, Matrix<N3, N1>> fuseBucket(
-        List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> bucket
-    ) {
-        double sumWeightX = 0, sumWeightedX = 0;
-        double sumWeightY = 0, sumWeightedY = 0;
-        double sumWeightTheta = 0, sumSinWeighted = 0, sumCosWeighted = 0;
-        double sumTimestamps = 0;
-
-        List<PhotonTrackedTarget> combinedTargets = new ArrayList<>();
-
-        for (Pair<EstimatedRobotPose, Matrix<N3, N1>> vm : bucket) {
-            Pose2d pose2d = vm.getFirst().estimatedPose.toPose2d();
-            Matrix<N3, N1> stdDevs = vm.getSecond();
-
-            double sigmaX = stdDevs.get(0, 0);
-            double sigmaY = stdDevs.get(1, 0);
-            double sigmaTheta = stdDevs.get(2, 0);
-
-            double weightX = 1.0 / (sigmaX * sigmaX);
-            double weightY = 1.0 / (sigmaY * sigmaY);
-            double weightTheta = 1.0 / (sigmaTheta * sigmaTheta);
-
-            sumWeightX += weightX;
-            sumWeightedX += weightX * pose2d.getX();
-
-            sumWeightY += weightY;
-            sumWeightedY += weightY * pose2d.getY();
-
-            // Circular weighted mean for theta. Measurements with very large sigmaTheta
-            // (e.g. single-tag's 999999) have negligible weight and effectively do not
-            // contribute to the fused rotation, which is the desired behavior.
-            double thetaRadians = pose2d.getRotation().getRadians();
-            sumWeightTheta += weightTheta;
-            sumSinWeighted += weightTheta * Math.sin(thetaRadians);
-            sumCosWeighted += weightTheta * Math.cos(thetaRadians);
-
-            sumTimestamps += vm.getFirst().timestampSeconds;
-            combinedTargets.addAll(vm.getFirst().targetsUsed);
-        }
-
-        double fusedX = sumWeightedX / sumWeightX;
-        double fusedY = sumWeightedY / sumWeightY;
-        // atan2(0, 0) returns 0, which is a safe default if all theta weights were zero.
-        double fusedTheta = Math.atan2(sumSinWeighted, sumCosWeighted);
-
-        // Apply floors: mathematical √N reduction is optimal for independent noise,
-        // but our cameras' disagreements are dominated by bias (mount tolerance, per-camera
-        // calibration) that doesn't average out. Flooring prevents the Kalman filter from
-        // over-trusting the fused measurement.
-        double fusedSigmaX = Math.max(Math.sqrt(1.0 / sumWeightX), FUSED_MIN_XY_STD_DEV_METERS);
-        double fusedSigmaY = Math.max(Math.sqrt(1.0 / sumWeightY), FUSED_MIN_XY_STD_DEV_METERS);
-        double fusedSigmaTheta = sumWeightTheta > 0
-            ? Math.max(Math.sqrt(1.0 / sumWeightTheta), FUSED_MIN_THETA_STD_DEV_RADIANS)
-            : Double.POSITIVE_INFINITY;
-
-        double fusedTimestamp = sumTimestamps / bucket.size();
-
-        Pose3d fusedPose = new Pose3d(new Pose2d(fusedX, fusedY, new Rotation2d(fusedTheta)));
-
-        EstimatedRobotPose fusedEstimate = new EstimatedRobotPose(
-            fusedPose,
-            fusedTimestamp,
-            combinedTargets,
-            bucket.get(0).getFirst().strategy
-        );
-
-        return Pair.of(
-            fusedEstimate,
-            VecBuilder.fill(fusedSigmaX, fusedSigmaY, fusedSigmaTheta)
-        );
-    }
 }
diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index a14c9d2e..98732661 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -2,7 +2,6 @@
 
 import com.team1816.lib.BaseRobotState;
 import com.team1816.lib.hardware.components.sensor.Camera;
-import com.team1816.lib.util.GreenLogger;
 import com.team1816.lib.util.RectangularBoundingBox;
 import com.team1816.season.Robot;
 import com.team1816.season.RobotState;
@@ -40,8 +39,6 @@
  * We use <a href="https://docs.photonvision.org/">PhotonVision</a> for vision processing.
  */
 public class Vision extends SubsystemBase implements ITestableSubsystem {
-    private static final double SINGLE_TAG_MAX_HEADING_ERROR_RADIANS = Units.degreesToRadians(60.0);
-
     private static final String NAME = "vision";
     /**
      * All cameras in the Vision subsystem.
@@ -52,15 +49,28 @@ public class Vision extends SubsystemBase implements ITestableSubsystem {
      */
     private final List<Camera> aprilTagCameras;
     private VisionSystemSim visionSim;
+    // TODO: Find and set values for singleTagStdDevs a and b. Currently just using the multi-tag
+    //  values and multiplying a by three.
+    /**
+     * The initial value, a, for the standard deviation exponential growth formula (in the form a *
+     * b ^ distance) to use for non-multi-tag estimates. (x meters, y meters, theta radians)
+     */
+    private final Matrix<N3, N1> singleTagStdDevsA = VecBuilder.fill(0.00149636 * 3, 0.00149636 * 3, 0.00128821 * 3);
+    /**
+     * The growth factor, b, for the standard deviation exponential growth formula (in the form a *
+     * b ^ distance) to use for non-multi-tag estimates. (x meters, y meters, theta radians)
+     */
+    private final Matrix<N3, N1> singleTagStdDevsB = VecBuilder.fill(2.08045, 2.08045, 1.59073);
     /**
-     * The base standard deviations to use for non-multi-tag estimates
+     * The initial value, a, for the standard deviation exponential growth formula (in the form a *
+     * b ^ distance) to use for multi-tag estimates. (x meters, y meters, theta radians)
      */
-    // Ignore single tag data. Previously set to 4, 4, 8.
-    private final Matrix<N3, N1> singleTagStdDevs = VecBuilder.fill(0.5, 0.5, 999999);
+    private final Matrix<N3, N1> multiTagStdDevsA = VecBuilder.fill(0.00149636, 0.00149636, 0.00128821);
     /**
-     * The base standard deviations to use for multi-tag estimates
+     * The growth factor, b, for the standard deviation exponential growth formula (in the form a *
+     * b ^ distance) to use for multi-tag estimates. (x meters, y meters, theta radians)
      */
-    private final Matrix<N3, N1> multiTagStdDevs = VecBuilder.fill(0.2, 0.2, 0.5);
+    private final Matrix<N3, N1> multiTagStdDevsB = VecBuilder.fill(2.08045, 2.08045, 1.59073);
     /**
      * The standard deviations to use for an estimate that we should just throw out
      */
@@ -102,8 +112,6 @@ public Vision() {
                 camera.addToSim(visionSim);
             }
         }
-
-        GreenLogger.periodicLog(NAME + "/HasAccuratePoseEstimate", () -> BaseRobotState.hasAccuratePoseEstimate, null);
     }
 
     /**
@@ -124,12 +132,9 @@ private static boolean isMultiTag(PhotonPoseEstimator.PoseStrategy strategy) {
     public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWithStdDevs() {
         List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> posesWithStdDevs = new ArrayList<>();
 
-        // The maximum distance a vision pose estimate can be from the current robot pose
-        // estimate to allow the vision estimate to be used.
-        double visionEstimateDistanceThresholdMeters = 1.5;
         // The maximum difference the angle of a vision pose estimate can be from the angle
         // of the current robot pose estimate to allow the vision estimate to be used.
-        double visionEstimateAngleThresholdRadians = Units.degreesToRadians(15.0);
+        double visionEstimateAngleThresholdRadians = Units.degreesToRadians(5.0);
 
         for (Camera camera : aprilTagCameras) {
             var results = camera.getEstimatedRobotPosesFromAllUnreadResults();
@@ -143,43 +148,27 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                     continue;
                 }
 
-//                if (!isMultiTag(estimatedRobotPose.strategy)) {
-//                    double headingError = Math.abs(MathUtil.angleModulus(
-//                        visionEstimatedPose2d.getRotation()
-//                            .minus(BaseRobotState.robotPose.getRotation())
-//                            .getRadians()
-//                    ));
-//                    if (headingError > SINGLE_TAG_MAX_HEADING_ERROR_RADIANS) {
-//                        continue; // Silently discard ambiguous reflection
-//                    }
-//                }
-                // Only add the vision measurement to the list to return if it is within the
-                // distance and angle thresholds from the current pose estimate. This is to filter
-                // out unreasonable estimates caused by pose ambiguity (see here:
+                // Only add the vision measurement to the list to return if it is within the angle
+                // threshold from the current pose estimate. This is to filter out unreasonable
+                // estimates caused by pose ambiguity (see here:
                 // https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/3D-tracking.html#ambiguity
                 // ).
-                if (!BaseRobotState.hasAccuratePoseEstimate ||
+                if (
                     // If we don't currently have an accurate pose estimate, we can't use current
                     // pose estimate to throw out far off vision estimates, so we'll just add the
                     // vision estimate to the list no matter where it is.
-                    (
-                            // Check if the vision estimate is within the distance threshold of the
-                            // current pose estimate.
-                            visionEstimatedPose2d.getTranslation().getDistance(
-                                BaseRobotState.robotPose.getTranslation()
-                            ) < visionEstimateDistanceThresholdMeters
-                                // Check if the vision estimate is within the angle threshold of
-                                // the current pose estimate. Get the absolute value of the
-                                // difference between the angles constrained from -pi radians to pi
-                                // radians to find the positive shortest difference.
-                                && Math.abs(
-                                    MathUtil.angleModulus(
-                                        visionEstimatedPose2d.getRotation()
-                                            .minus(BaseRobotState.robotPose.getRotation())
-                                            .getRadians()
-                                    )
-                                ) < visionEstimateAngleThresholdRadians
-                        )
+                    !BaseRobotState.hasAccuratePoseEstimate
+                        // Check if the vision estimate is within the angle threshold of
+                        // the current pose estimate. Get the absolute value of the
+                        // difference between the angles constrained from -pi radians to pi
+                        // radians to find the positive shortest difference.
+                        || Math.abs(
+                            MathUtil.angleModulus(
+                                visionEstimatedPose2d.getRotation()
+                                    .minus(BaseRobotState.robotPose.getRotation())
+                                    .getRadians()
+                            )
+                        ) < visionEstimateAngleThresholdRadians
                 ) {
                     // We didn't discard this estimate for being too far off from the combined
                     // estimate, so reset the counter.
@@ -201,12 +190,16 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                 // this is the case, say that we don't trust the current estimate to allow vision
                 // to fully recorrect.
                 else {
-                    consecutiveDiscardedEstimates ++;
-                    // The number of estimates to allow to be discarded before determining that we
-                    // have lost a good pose estimate.
-                    int discardsBeforePoseLoss = 5;
-                    if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
-                        BaseRobotState.hasAccuratePoseEstimate = false;
+                    // Only use multi-tag estimates for incrementing if we don't trust the current
+                    // estimate, since single-tag estimates often have some normal flickering.
+                    if (isMultiTag(estimatedRobotPose.strategy)) {
+                        consecutiveDiscardedEstimates++;
+                        // The number of estimates to allow to be discarded before determining that we
+                        // have lost a good pose estimate.
+                        int discardsBeforePoseLoss = 5;
+                        if (consecutiveDiscardedEstimates >= discardsBeforePoseLoss) {
+                            BaseRobotState.hasAccuratePoseEstimate = false;
+                        }
                     }
                 }
             }
@@ -233,11 +226,6 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
      * that are not accounted for by the algorithm. Some known flaws, some of which could
      * potentially be improved in the future, are listed below:
      * <ul>
-     *     <li>The base values used for {@link #singleTagStdDevs} and {@link #multiTagStdDevs}
-     *     could be adjusted if different values make more sense.</li>
-     *     <li>The formula of multiplying the standard deviations by one plus the square of the
-     *     distance over 30 could be changed if a different formula is found to be more accurate.
-     *     </li>
      *     <li>Estimates from camera frames captured while the robot is moving may be less
      *     trustworthy due to effects like
      *     <a href="https://docs.photonvision.org/en/latest/docs/quick-start/quick-configure.html#apriltags-and-motion-blur-and-rolling-shutter">
@@ -246,7 +234,7 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
      *     place.</li>
      *     <li>For non-multi-tag estimates, we could somehow use the pose ambiguity to scale the
      *     standard deviations, not just as a hard cutoff.</li>
-     *     <li>For non-multi-tag estimates, four meters may or may not be a good distance cutoff
+     *     <li>For non-multi-tag estimates, six meters may or may not be a good distance cutoff
      *     value. We also could add a distance cutoff for multi-tag, but the value would likely be
      *     different from non-multi-tag, and could depend on closest tag distance, average of
      *     closest two distance, or something else.</li>
@@ -262,24 +250,25 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
      *     <li>For the distance calculations, it would probably be slightly more accurate to use
      *     the position of the camera than that of the robot, but that probably isn't significant.
      *     </li>
+     *     <li>Because the calculations are based off of the distance between the tag in the layout
+     *     and the estimated robot position, it is biased to trust estimates that think they are
+     *     closer to the tag more than estimates from the same true position that think they are
+     *     farther from the tag. This has the effect of biasing the estimated position toward the
+     *     seen tags. This could be solved by using the combined position to determine the
+     *     distance, but that would be problematic when the combined position is not accurate, and
+     *     therefore is probably not worth it.</li>
      * </ul>
      *
      * @param estimatedRobotPose The {@link EstimatedRobotPose} from a {@link PhotonPoseEstimator}
      *                           to calculate standard deviations for.
      * @return The calculated standard deviations for the vision pose estimate (x position in
-     * meters, y position in meters, and heading in radians, although the units are somewhat
-     * ambiguous). Returns a matrix of {@link Double#NaN} if the estimate should be completely
-     * thrown out.
+     * meters, y position in meters, and heading in radians). Returns a matrix of {@link
+     * Double#NaN} if the estimate should be completely thrown out.
      */
     private Matrix<N3, N1> calculateEstimateStandardDeviations(EstimatedRobotPose estimatedRobotPose) {
-        PhotonPoseEstimator.PoseStrategy strategy = estimatedRobotPose.strategy;
-
         // If we didn't use a multi-tag strategy. This would happen if we only saw one tag, or
         // decided for some other reason not to use multi-tag.
-        if (
-            strategy != PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR
-                && strategy != PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_RIO
-        ) {
+        if (!isMultiTag(estimatedRobotPose.strategy)) {
             double closestDistance = Double.MAX_VALUE;
             double lowestAmbiguity = 1;
 
@@ -313,12 +302,9 @@ private Matrix<N3, N1> calculateEstimateStandardDeviations(EstimatedRobotPose es
 
             // If we trust the estimate enough to consider it, decrease our trust (increase the
             // standard deviations) with distance, because farther away tags give us less reliable
-            // readings. I couldn't tell you why we are using the square of the distance over 30,
-            // but that's the equation PhotonVision's example project uses, and it works well
-            // enough. Again, this is just a heuristic algorithm.
-            int numTags = estimatedRobotPose.targetsUsed.size();
-
-            return singleTagStdDevs.times(1 + (closestDistance * closestDistance / 30)).div(numTags);
+            // readings. We are using an exponential growth equation (a * b ^ distance) as that was
+            // a good fit for the data we found through empirical testing.
+            return singleTagStdDevsA.elementTimes(singleTagStdDevsB.elementPower(closestDistance));
         }
 
         // Otherwise, if we were able to use multi-tag:
@@ -355,9 +341,8 @@ else if (distance < secondClosestDistance) {
             double averageDistance = (closestDistance + secondClosestDistance) / 2;
 
             // Decrease trust (increase standard deviations) with average distance of the closest
-            // two tags. Use a higher base trust (lower standard deviations) for multi-tag, as it
-            // enables a more reliable estimate.
-            return multiTagStdDevs.times(1 + (averageDistance * averageDistance / 30));
+            // two tags using an exponential growth equation (a * b ^ distance).
+            return multiTagStdDevsA.elementTimes(multiTagStdDevsB.elementPower(averageDistance));
         }
     }
 
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 97731ff2..cf97aef7 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -218,7 +218,7 @@ subsystems:
                 id: 10
                 deviceType: CANcoder
         constants:
-            intakeOnSpeed: .52
+            intakeOnSpeed: .35
             intakeSlowSpeed: .1
             outtakeSpeed: -0.6
             flipperMotorOutPosition: 0.164 #0.166

From ce857131daeebe45746dc1e2780c222e87d2998e Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Mon, 20 Apr 2026 20:50:12 -0500
Subject: [PATCH 26/36] Created Depot Auto Paths

---
 src/main/deploy/choreo/CenterstartBackup.traj | 339 ++++++++++----
 src/main/deploy/choreo/DepotPickup.traj       | 166 +++++++
 .../deploy/choreo/PlayerStationPickup.traj    | 430 ++++++++++++++++++
 src/main/deploy/choreo/ZTLDR.chor             | 114 +----
 .../pathplanner/autos/[DM] Depot Pickup.auto  |  37 ++
 .../components/motor/TalonFXImpl.java         |   5 +
 src/main/resources/yaml/ztldr.yml             |   2 +-
 7 files changed, 921 insertions(+), 172 deletions(-)
 create mode 100644 src/main/deploy/choreo/DepotPickup.traj
 create mode 100644 src/main/deploy/choreo/PlayerStationPickup.traj
 create mode 100644 src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto

diff --git a/src/main/deploy/choreo/CenterstartBackup.traj b/src/main/deploy/choreo/CenterstartBackup.traj
index 973aca2c..f9b81c84 100644
--- a/src/main/deploy/choreo/CenterstartBackup.traj
+++ b/src/main/deploy/choreo/CenterstartBackup.traj
@@ -3,22 +3,26 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.95, "y":4.035, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.6, "y":4.035, "heading":-1.5707963267948966, "intervals":248, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.005
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.95 m", "val":2.95}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":248, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CenterStop.x", "val":2.4}, "y":{"exp":"CenterStop.y", "val":4.035}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
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+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.005 s",
    "val":0.005
@@ -49,80 +53,257 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
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+  "waypoints":[0.0,1.27133],
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diff --git a/src/main/deploy/choreo/DepotPickup.traj b/src/main/deploy/choreo/DepotPickup.traj
new file mode 100644
index 00000000..f239ee4e
--- /dev/null
+++ b/src/main/deploy/choreo/DepotPickup.traj
@@ -0,0 +1,166 @@
+{
+ "name":"DepotPickup",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.4, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7, "y":5.4, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.4, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
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+    {"t":3.87738, "x":2.0, "y":5.4, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PlayerStationPickup.traj b/src/main/deploy/choreo/PlayerStationPickup.traj
new file mode 100644
index 00000000..42f9c9dc
--- /dev/null
+++ b/src/main/deploy/choreo/PlayerStationPickup.traj
@@ -0,0 +1,430 @@
+{
+ "name":"PlayerStationPickup",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":210, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6, "y":0.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":0.45194926857948303, "y":4.002979144454002, "r":1.0}}, "enabled":true}],
+  "targetDt":0.005
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":210, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"0.5 m", "val":0.5}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"0.45194926857948303 m", "val":0.45194926857948303}, "y":{"exp":"4.002979144454002 m", "val":4.002979144454002}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.005 s",
+   "val":0.005
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2525,
+    "y":0.2525
+   },
+   "backLeft":{
+    "x":-0.2525,
+    "y":0.2525
+   },
+   "mass":56.7,
+   "inertia":1.5,
+   "gearing":6.03,
+   "radius":0.0508,
+   "vmax":314.1592653589793,
+   "tmax":3.0,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4305,
+    "side":0.4305,
+    "back":0.4305
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.07582,1.86003],
+  "samples":[
+    {"t":0.0, "x":2.4, "y":4.035, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.63482, "ay":-12.42362, "alpha":0.38937, "fx":[-108.05947,-108.89528,-108.38714,-107.55231], "fy":[-176.19894,-175.68935,-176.01249,-176.51822]},
+    {"t":0.00512, "x":2.3999, "y":4.03484, "heading":-1.5708, "vx":-0.03911, "vy":-0.06365, "omega":0.00199, "ax":-7.63543, "ay":-12.41917, "alpha":0.38309, "fx":[-108.07084,-108.89286,-108.39305,-107.57197], "fy":[-176.1341,-175.63289,-175.95111,-176.44859]},
+    {"t":0.01025, "x":2.3996, "y":4.03435, "heading":-1.57079, "vx":-0.07823, "vy":-0.12727, "omega":0.00396, "ax":-7.63594, "ay":-12.41453, "alpha":0.37664, "fx":[-108.08092,-108.88876,-108.39752,-107.59059], "fy":[-176.06655,-175.57397,-175.88712,-176.3761]},
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+    {"t":1.76573, "x":0.59757, "y":0.56468, "heading":-1.57085, "vx":0.05246, "vy":-1.36975, "omega":0.00097, "ax":-0.58575, "ay":14.452, "alpha":-0.00669, "fx":[-8.31319,-8.29366,-8.29288,-8.31241], "fy":[204.85648,204.85726,204.8576,204.85683]},
+    {"t":1.77069, "x":0.59782, "y":0.55806, "heading":-1.57084, "vx":0.04956, "vy":-1.29802, "omega":0.00094, "ax":-0.58238, "ay":14.46448, "alpha":-0.00729, "fx":[-8.26638,-8.24508,-8.24423,-8.26553], "fy":[205.03346,205.0343,205.03467,205.03382]},
+    {"t":1.77565, "x":0.59806, "y":0.55179, "heading":-1.57084, "vx":0.04667, "vy":-1.22623, "omega":0.0009, "ax":-0.57904, "ay":14.47576, "alpha":-0.00784, "fx":[-8.21986,-8.19695,-8.19604,-8.21895], "fy":[205.19323,205.19414,205.19451,205.1936]},
+    {"t":1.78062, "x":0.59829, "y":0.54588, "heading":-1.57083, "vx":0.04379, "vy":-1.15438, "omega":0.00086, "ax":-0.57573, "ay":14.48599, "alpha":-0.00834, "fx":[-8.17359,-8.1492,-8.14825,-8.17263], "fy":[205.33821,205.33916,205.33954,205.33858]},
+    {"t":1.78558, "x":0.5985, "y":0.54033, "heading":-1.57083, "vx":0.04093, "vy":-1.08248, "omega":0.00082, "ax":-0.57243, "ay":14.49531, "alpha":-0.00879, "fx":[-8.12754,-8.1018,-8.1008,-8.12653], "fy":[205.47035,205.47136,205.47174,205.47073]},
+    {"t":1.79054, "x":0.59869, "y":0.53514, "heading":-1.57083, "vx":0.03809, "vy":-1.01054, "omega":0.00077, "ax":-0.56915, "ay":14.50385, "alpha":-0.00921, "fx":[-8.08168,-8.0547,-8.05366,-8.08063], "fy":[205.59132,205.59236,205.59275,205.5917]},
+    {"t":1.79551, "x":0.59888, "y":0.5303, "heading":-1.57082, "vx":0.03527, "vy":-0.93855, "omega":0.00073, "ax":-0.56588, "ay":14.51169, "alpha":-0.0096, "fx":[-8.03599,-8.00786,-8.00678,-8.03491], "fy":[205.70248,205.70356,205.70395,205.70286]},
+    {"t":1.80047, "x":0.59904, "y":0.52582, "heading":-1.57082, "vx":0.03246, "vy":-0.86652, "omega":0.00068, "ax":-0.56263, "ay":14.51892, "alpha":-0.00996, "fx":[-7.99045,-7.96126,-7.96014,-7.98933], "fy":[205.80499,205.80611,205.80649,205.80537]},
+    {"t":1.80543, "x":0.5992, "y":0.5217, "heading":-1.57082, "vx":0.02967, "vy":-0.79446, "omega":0.00063, "ax":-0.55939, "ay":14.52562, "alpha":-0.01029, "fx":[-7.94505,-7.91487,-7.91372,-7.9439], "fy":[205.89983,205.90098,205.90136,205.90021]},
+    {"t":1.8104, "x":0.59934, "y":0.51794, "heading":-1.57081, "vx":0.02689, "vy":-0.72236, "omega":0.00058, "ax":-0.55616, "ay":14.53183, "alpha":-0.0106, "fx":[-7.89976,-7.86866,-7.86748,-7.89858], "fy":[205.98785,205.98902,205.9894,205.98823]},
+    {"t":1.81536, "x":0.59947, "y":0.51453, "heading":-1.57081, "vx":0.02413, "vy":-0.65024, "omega":0.00053, "ax":-0.55295, "ay":14.5376, "alpha":-0.01089, "fx":[-7.85458,-7.82262,-7.82142,-7.85337], "fy":[206.06976,206.07096,206.07134,206.07014]},
+    {"t":1.82032, "x":0.59958, "y":0.51148, "heading":-1.57081, "vx":0.02139, "vy":-0.57808, "omega":0.00047, "ax":-0.54974, "ay":14.543, "alpha":-0.01116, "fx":[-7.80949,-7.77673,-7.7755,-7.80826], "fy":[206.14619,206.14741,206.14779,206.14656]},
+    {"t":1.82529, "x":0.59968, "y":0.50879, "heading":-1.5708, "vx":0.01866, "vy":-0.5059, "omega":0.00042, "ax":-0.54653, "ay":14.54804, "alpha":-0.01141, "fx":[-7.76449,-7.73097,-7.72972,-7.76324], "fy":[206.21768,206.21892,206.2193,206.21805]},
+    {"t":1.83025, "x":0.59976, "y":0.50646, "heading":-1.5708, "vx":0.01594, "vy":-0.43369, "omega":0.00036, "ax":-0.54334, "ay":14.55277, "alpha":-0.01165, "fx":[-7.71957,-7.68533,-7.68407,-7.7183], "fy":[206.2847,206.28596,206.28633,206.28507]},
+    {"t":1.83521, "x":0.59984, "y":0.50449, "heading":-1.5708, "vx":0.01325, "vy":-0.36146, "omega":0.0003, "ax":-0.54015, "ay":14.55721, "alpha":-0.01187, "fx":[-7.67472,-7.63981,-7.63853,-7.67343], "fy":[206.34767,206.34895,206.34931,206.34803]},
+    {"t":1.84018, "x":0.5999, "y":0.50287, "heading":-1.5708, "vx":0.01057, "vy":-0.28921, "omega":0.00025, "ax":-0.53697, "ay":14.5614, "alpha":-0.01208, "fx":[-7.62993,-7.59439,-7.5931,-7.62863], "fy":[206.40694,206.40824,206.4086,206.40731]},
+    {"t":1.84514, "x":0.59994, "y":0.50162, "heading":-1.5708, "vx":0.0079, "vy":-0.21693, "omega":0.00019, "ax":-0.53379, "ay":14.56534, "alpha":-0.01229, "fx":[-7.58521,-7.54907,-7.54776,-7.58389], "fy":[206.46285,206.46417,206.46452,206.46321]},
+    {"t":1.8501, "x":0.59997, "y":0.50072, "heading":-1.5708, "vx":0.00525, "vy":-0.14464, "omega":0.00012, "ax":-0.53062, "ay":14.56907, "alpha":-0.01248, "fx":[-7.54054,-7.50383,-7.50251,-7.53921], "fy":[206.51568,206.51701,206.51736,206.51603]},
+    {"t":1.85507, "x":0.59999, "y":0.50018, "heading":-1.5708, "vx":0.00262, "vy":-0.07233, "omega":0.00006, "ax":-0.52745, "ay":14.57259, "alpha":-0.01266, "fx":[-7.49593,-7.45868,-7.45735,-7.49459], "fy":[206.56568,206.56702,206.56736,206.56603]},
+    {"t":1.86003, "x":0.6, "y":0.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index ce3283f7..62f87eeb 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -33,77 +33,49 @@
      "val":3.141592653589793
     }
    },
-   "CloserShoot":{
-    "x":{
-     "exp":"2.6558 m",
-     "val":2.6558
-    },
-    "y":{
-     "exp":"5.7011 m",
-     "val":5.7011
-    },
-    "heading":{
-     "exp":"180 deg",
-     "val":3.141592653589793
-    }
-   },
-   "HubInnerFuel":{
-    "x":{
-     "exp":"HubOuterFuel.x",
-     "val":5.9
-    },
-    "y":{
-     "exp":"5 m",
-     "val":5.0
-    },
-    "heading":{
-     "exp":"250 deg",
-     "val":4.363323129985824
-    }
-   },
-   "HubOuterFuel":{
+   "CenterStop":{
     "x":{
-     "exp":"5.9 m",
-     "val":5.9
+     "exp":"2.4 m",
+     "val":2.4
     },
     "y":{
-     "exp":"6.83 m",
-     "val":6.83
+     "exp":"CenterStart.y",
+     "val":4.035
     },
     "heading":{
-     "exp":"250 deg",
-     "val":4.363323129985824
+     "exp":"-90 deg",
+     "val":-1.5707963267948966
     }
    },
-   "IIInnerFuel":{
+   "CloserShoot":{
     "x":{
-     "exp":"7.74509859085083 m",
-     "val":7.74509859085083
+     "exp":"2.6558 m",
+     "val":2.6558
     },
     "y":{
-     "exp":"8.07 m - 3.343446445465088 m",
-     "val":4.726553554534912
+     "exp":"5.7011 m",
+     "val":5.7011
     },
     "heading":{
-     "exp":"240 deg",
-     "val":4.1887902047863905
+     "exp":"180 deg",
+     "val":3.141592653589793
     }
    },
-   "IIOuterFuel":{
+   "DepotPickup":{
     "x":{
-     "exp":"7.924712657928467 m",
-     "val":7.924712657928467
+     "exp":"0.7 m",
+     "val":0.7
     },
     "y":{
-     "exp":"6.82694191456 m",
-     "val":6.82694191456
+     "exp":"5.4 m",
+     "val":5.4
     },
     "heading":{
-     "exp":"250 deg",
-     "val":4.363323129985824
+     "exp":"180 deg",
+     "val":3.141592653589793
     }
    },
-   "IOuterFuel":{
+   "GreedyEnterFuel":{
     "x":{
      "exp":"8.65 m",
      "val":8.65
@@ -131,34 +103,6 @@
      "val":-0.7853981633974483
     }
    },
-   "ReenterTrench":{
-    "x":{
-     "exp":"6.536667346954346 m",
-     "val":6.536667346954346
-    },
-    "y":{
-     "exp":"8.07 m - 0.9666962027549744 m",
-     "val":7.103303797245026
-    },
-    "heading":{
-     "exp":"180 deg",
-     "val":3.141592653589793
-    }
-   },
-   "ShootExitTrench":{
-    "x":{
-     "exp":"5.829519748687744 m",
-     "val":5.829519748687744
-    },
-    "y":{
-     "exp":"7.437780857086182 m",
-     "val":7.437780857086182
-    },
-    "heading":{
-     "exp":"SideShoot.heading",
-     "val":3.141592653589793
-    }
-   },
    "SideShoot":{
     "x":{
      "exp":"4.002538681030273 m",
@@ -186,20 +130,6 @@
      "exp":"180 deg",
      "val":3.141592653589793
     }
-   },
-   "StartExitTrench":{
-    "x":{
-     "exp":"5.70665979385376 m",
-     "val":5.70665979385376
-    },
-    "y":{
-     "exp":"SideStart.y",
-     "val":7.51403624535
-    },
-    "heading":{
-     "exp":"SideStart.heading",
-     "val":3.141592653589793
-    }
    }
   }
  },
diff --git a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto b/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto
new file mode 100644
index 00000000..1d7a9325
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto	
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CenterstartBackup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootWithIntake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "DepotPickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootWithIntake"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
index 9839fabe..2efca5ca 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/TalonFXImpl.java
@@ -25,6 +25,11 @@ public TalonFXImpl(int deviceId, CANBus canbus) {
     @Override
     public StatusCode applyConfiguration(ParentConfiguration config, String logPath, boolean logDetails) {
         this.config = (TalonFXConfiguration) config;
+        // add default logging for target and actual position/velocities
+        if (logDetails) {
+            GreenLogger.periodicLog(logPath + "Actual Position (rotations)", this::getMotorPosition);
+            GreenLogger.periodicLog(logPath + "Actual Velocity (rps)", this::getMotorVelocity);
+        }
         if(Robot.isSimulation()){
             simState = getSimState();
             var clockwise = ((TalonFXConfiguration) config).MotorOutput.Inverted == InvertedValue.Clockwise_Positive;
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index cf97aef7..e7340fb7 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -239,7 +239,7 @@ subsystems:
                         kV: 0.081
         constants:
             topClosedVelocity: 0
-            topOpenVelocity: 60
+            topOpenVelocity: 30
     shooter:
         implemented: true
         canBusName: shootercanivore

From a76dae7eb8e9ff8a922fa0a26ff696e0ccd48e75 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Mon, 20 Apr 2026 21:49:27 -0500
Subject: [PATCH 27/36] Fixed Choreo max RPM and rethought Depot path - all
 center start poses rotated 180 degrees!!

---
 src/main/deploy/choreo/BumpIIfuelShoot.traj   | 1316 +++++------
 src/main/deploy/choreo/CentershootDepot.traj  |  256 +--
 src/main/deploy/choreo/CenterstartBackup.traj |  617 ++---
 .../deploy/choreo/CenterstartCentershoot.traj |  158 +-
 .../deploy/choreo/CloserShootIIfuelPark.traj  | 1268 +++++------
 .../deploy/choreo/CloserShootIfuelPark.traj   | 1455 ++++++------
 .../choreo/ClosershootIfuelOutpost.traj       | 1984 +++++++----------
 src/main/deploy/choreo/DepotPickup.traj       |  219 +-
 src/main/deploy/choreo/DepotPickup_MWT.traj   |  166 ++
 src/main/deploy/choreo/Orbit.traj             | 1428 ++++++------
 .../deploy/choreo/PlayerStationPickup.traj    |  630 +++---
 src/main/deploy/choreo/ShootHubfuelShoot.traj |  323 ++-
 src/main/deploy/choreo/ShootIIfuelPark.traj   |  844 +++----
 src/main/deploy/choreo/ShootIIfuelShoot.traj  | 1022 ++++-----
 src/main/deploy/choreo/ShootIfuelPark.traj    | 1031 ++++-----
 src/main/deploy/choreo/ShootIfuelShoot.traj   | 1208 +++++-----
 src/main/deploy/choreo/ShootPark.traj         |  140 +-
 .../choreo/SnowblowingStartIIfuelShoot.traj   | 1002 ++++-----
 .../deploy/choreo/StartIIfuelClosershoot.traj | 1224 +++++-----
 src/main/deploy/choreo/StartIIfuelShoot.traj  |  352 ++-
 src/main/deploy/choreo/ZTLDR.chor             |   22 +-
 21 files changed, 7552 insertions(+), 9113 deletions(-)
 create mode 100644 src/main/deploy/choreo/DepotPickup_MWT.traj

diff --git a/src/main/deploy/choreo/BumpIIfuelShoot.traj b/src/main/deploy/choreo/BumpIIfuelShoot.traj
index 8b30cad0..f7f093a5 100644
--- a/src/main/deploy/choreo/BumpIIfuelShoot.traj
+++ b/src/main/deploy/choreo/BumpIIfuelShoot.traj
@@ -3,13 +3,13 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":3.428030252456665, "y":6.918483734130859, "heading":3.141592653589793, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":98, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":143, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":151, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":65, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -23,13 +23,13 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"3.428030252456665 m", "val":3.428030252456665}, "y":{"exp":"6.918483734130859 m", "val":6.918483734130859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.399157762527466 m", "val":3.399157762527466}, "y":{"exp":"7.452416896820068 m", "val":7.452416896820068}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":98, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.70665979385376 m", "val":5.70665979385376}, "y":{"exp":"7.41403624535 m", "val":7.41403624535}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":143, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -58,7 +58,7 @@
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-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
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+    {"t":4.36595, "x":4.00528, "y":7.41745, "heading":3.14159, "vx":-0.28286, "vy":-0.01526, "omega":0.00027, "ax":14.61554, "ay":0.79054, "alpha":-0.01396, "fx":[207.174,207.17622,207.17651,207.1743], "fy":[11.22758,11.1864,11.18419,11.22536]},
+    {"t":4.37562, "x":4.00322, "y":7.41734, "heading":3.14159, "vx":-0.14144, "vy":-0.00762, "omega":0.00014, "ax":14.61745, "ay":0.787, "alpha":-0.01419, "fx":[207.20105,207.2033,207.20359,207.20135], "fy":[11.17774,11.13588,11.13364,11.17549]},
+    {"t":4.3853, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0,115]
  },
  "events":[]
 }
diff --git a/src/main/deploy/choreo/CentershootDepot.traj b/src/main/deploy/choreo/CentershootDepot.traj
index 5c33347b..865f6ee7 100644
--- a/src/main/deploy/choreo/CentershootDepot.traj
+++ b/src/main/deploy/choreo/CentershootDepot.traj
@@ -50,7 +50,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -61,134 +61,134 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.42751,3.71017,6.02471],
+  "waypoints":[0.0,1.41199,3.69555,6.00941],
   "samples":[
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-    {"t":0.04605, "x":2.84788, "y":4.03867, "heading":3.14159, "vx":-0.09198, "vy":0.15949, "omega":-0.00736, "ax":-1.99781, "ay":3.46426, "alpha":-0.23651, "fx":[-28.07096,-28.1595,-28.51166,-28.53398], "fy":[49.67147,47.02268,50.07892,49.6503]},
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+    {"t":5.91095, "x":1.58062, "y":5.9653, "heading":-3.14049, "vx":0.3937, "vy":0.00015, "omega":-0.00819, "ax":-3.99794, "ay":-0.00156, "alpha":-0.12394, "fx":[-56.78634,-56.78622,-56.55514,-56.55527], "fy":[0.04641,-0.05717,-0.12411,0.04651]},
+    {"t":5.96018, "x":1.59515, "y":5.96531, "heading":-3.14089, "vx":0.19687, "vy":0.00008, "omega":-0.0143, "ax":-3.99897, "ay":-0.00156, "alpha":0.29038, "fx":[-57.73606,-54.27457,-57.36549,-57.36536], "fy":[0.22616,-0.27022,-0.27033,0.22604]},
+    {"t":6.00941, "x":1.6, "y":5.96531, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/CenterstartBackup.traj b/src/main/deploy/choreo/CenterstartBackup.traj
index f9b81c84..947d973f 100644
--- a/src/main/deploy/choreo/CenterstartBackup.traj
+++ b/src/main/deploy/choreo/CenterstartBackup.traj
@@ -3,26 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":4.035, "heading":-1.5707963267948966, "intervals":248, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.6, "y":4.035, "heading":1.5707963267948966, "intervals":349, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
-    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true}],
   "targetDt":0.005
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":248, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CenterStop.x", "val":2.4}, "y":{"exp":"CenterStop.y", "val":4.035}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":349, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
-    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.005 s",
    "val":0.005
@@ -42,7 +40,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -53,257 +51,358 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.27133],
+  "waypoints":[0.0,1.76604],
   "samples":[
-    {"t":0.0, "x":3.6, "y":4.035, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-14.58372, "ay":0.0, "alpha":0.0, "fx":[-206.72429,-206.72429,-206.72429,-206.72429], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.00513, "x":3.59981, "y":4.035, "heading":-1.5708, "vx":-0.07476, "vy":0.0, "omega":0.0, "ax":-14.57412, "ay":0.0, "alpha":0.0, "fx":[-206.58818,-206.58818,-206.58818,-206.58818], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":1.75592, "x":2.40075, "y":4.04, "heading":1.5708, "vx":-0.14748, "vy":0.00061, "omega":0.0, "ax":14.56503, "ay":-0.06069, "alpha":0.0, "fx":[206.45929,206.45929,206.45929,206.45929], "fy":[-0.86025,-0.86025,-0.86025,-0.86025]},
+    {"t":1.76098, "x":2.40019, "y":4.04, "heading":1.5708, "vx":-0.07378, "vy":0.00031, "omega":0.0, "ax":14.57982, "ay":-0.06075, "alpha":0.0, "fx":[206.669,206.669,206.669,206.669], "fy":[-0.86112,-0.86112,-0.86112,-0.86112]},
+    {"t":1.76604, "x":2.4, "y":4.04, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/CenterstartCentershoot.traj b/src/main/deploy/choreo/CenterstartCentershoot.traj
index ca279ec5..582af907 100644
--- a/src/main/deploy/choreo/CenterstartCentershoot.traj
+++ b/src/main/deploy/choreo/CenterstartCentershoot.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":78, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.85, "y":4.035, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":78, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"CenterShoot.x", "val":2.85}, "y":{"exp":"CenterShoot.y", "val":4.035}, "heading":{"exp":"CenterShoot.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -38,7 +38,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -49,87 +49,79 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.46654],
+  "waypoints":[0.0,0.45449],
   "samples":[
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-    {"t":0.00598, "x":3.59974, "y":4.035, "heading":3.14159, "vx":-0.08733, "vy":0.0, "omega":0.0, "ax":-14.59762, "ay":0.0, "alpha":0.0, "fx":[-206.92132,-206.92132,-206.92132,-206.92132], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.01196, "x":3.59896, "y":4.035, "heading":3.14159, "vx":-0.17465, "vy":0.0, "omega":0.0, "ax":-14.59393, "ay":0.0, "alpha":0.0, "fx":[-206.86897,-206.86897,-206.86897,-206.86897], "fy":[0.0,0.0,0.0,0.0]},
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/CloserShootIIfuelPark.traj b/src/main/deploy/choreo/CloserShootIIfuelPark.traj
index c458d96a..74ddaabf 100644
--- a/src/main/deploy/choreo/CloserShootIIfuelPark.traj
+++ b/src/main/deploy/choreo/CloserShootIIfuelPark.traj
@@ -4,10 +4,10 @@
  "snapshot":{
   "waypoints":[
     {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":197, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.4878811836242676, "y":7.437780857086182, "heading":3.141592653589793, "intervals":100, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":138, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.4878811836242676, "y":7.437780857086182, "heading":3.141592653589793, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":116, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -21,10 +21,10 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"CloserShoot.x", "val":2.6558}, "y":{"exp":"CloserShoot.y", "val":5.7011}, "heading":{"exp":"CloserShoot.heading", "val":3.141592653589793}, "intervals":197, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.4878811836242676 m", "val":3.4878811836242676}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":100, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.829519748687744 m", "val":5.829519748687744}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":138, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.4878811836242676 m", "val":3.4878811836242676}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.829519748687744 m", "val":5.829519748687744}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":116, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -52,7 +52,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -63,695 +63,569 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.9666,2.894,3.90262,4.7712,5.94835],
+  "waypoints":[0.0,1.9679,2.53506,3.13037,3.72172,4.56143],
   "samples":[
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-    {"t":0.01997, "x":2.65704, "y":5.70374, "heading":-3.14159, "vx":0.12414, "vy":0.26438, "omega":0.0, "ax":6.20693, "ay":13.21942, "alpha":0.0, "fx":[87.98321,87.98321,87.9832,87.9832], "fy":[187.38525,187.38526,187.38526,187.38526]},
-    {"t":0.02995, "x":2.65859, "y":5.70704, "heading":-3.14159, "vx":0.1861, "vy":0.39634, "omega":0.0, "ax":6.194, "ay":13.1923, "alpha":0.0, "fx":[87.80003,87.80002,87.80001,87.80002], "fy":[187.00088,187.00088,187.00089,187.00089]},
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-    {"t":0.0599, "x":2.66693, "y":5.72481, "heading":-3.14159, "vx":0.37046, "vy":0.78902, "omega":0.0, "ax":5.40959, "ay":11.52617, "alpha":0.00004, "fx":[76.68093,76.6809,76.68082,76.68085], "fy":[163.38343,163.38346,163.38349,163.38346]},
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diff --git a/src/main/deploy/choreo/CloserShootIfuelPark.traj b/src/main/deploy/choreo/CloserShootIfuelPark.traj
index b5b57f08..d9e53f81 100644
--- a/src/main/deploy/choreo/CloserShootIfuelPark.traj
+++ b/src/main/deploy/choreo/CloserShootIfuelPark.traj
@@ -4,11 +4,11 @@
  "snapshot":{
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-    {"x":3.4878811836242676, "y":7.437780857086182, "heading":3.141592653589793, "intervals":100, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":125, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -23,11 +23,11 @@
  "params":{
   "waypoints":[
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-    {"x":{"exp":"3.4878811836242676 m", "val":3.4878811836242676}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":100, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"3.4878811836242676 m", "val":3.4878811836242676}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.829519748687744 m", "val":5.829519748687744}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.913897609710693 m", "val":7.913897609710693}, "y":{"exp":"7.092910289764404 m", "val":7.092910289764404}, "heading":{"exp":"250 deg", "val":4.363323129985824}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":125, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -56,7 +56,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -67,794 +67,657 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.96661,2.89398,3.85683,4.61749,5.49726,6.88666],
+  "waypoints":[0.0,1.96766,2.53493,3.08395,3.84595,4.5027,5.45462],
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diff --git a/src/main/deploy/choreo/ClosershootIfuelOutpost.traj b/src/main/deploy/choreo/ClosershootIfuelOutpost.traj
index fe44c19a..c290e16d 100644
--- a/src/main/deploy/choreo/ClosershootIfuelOutpost.traj
+++ b/src/main/deploy/choreo/ClosershootIfuelOutpost.traj
@@ -4,11 +4,11 @@
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -25,11 +25,11 @@
  "params":{
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+    {"x":{"exp":"6.084970951080322 m", "val":6.084970951080322}, "y":{"exp":"7.395205497741699 m", "val":7.395205497741699}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":116, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"8.29848861694336 m", "val":8.29848861694336}, "y":{"exp":"0.6733983755111694 m", "val":0.6733983755111694}, "heading":{"exp":"181 deg", "val":3.1590459461097367}, "intervals":164, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -60,7 +60,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -71,1118 +71,864 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.84938,2.92327,4.10027,5.20541,7.07573,9.97806],
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+    {"t":7.34839, "x":0.92565, "y":0.56026, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[
-   {"name":"Stop Intake", "from":{"target":4, "targetTimestamp":5.20541, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"intake/stopOut"}}}]
+   {"name":"Stop Intake", "from":{"target":4, "targetTimestamp":3.80995, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"intake/stopOut"}}}]
 }
diff --git a/src/main/deploy/choreo/DepotPickup.traj b/src/main/deploy/choreo/DepotPickup.traj
index f239ee4e..b7e0b305 100644
--- a/src/main/deploy/choreo/DepotPickup.traj
+++ b/src/main/deploy/choreo/DepotPickup.traj
@@ -3,36 +3,28 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.0, "y":5.4, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7, "y":5.4, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.0, "y":5.4, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7, "y":6.0, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
-    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":false}],
+    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":1.0488639902323484, "y":4.764838369563222, "r":0.5}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterStop.x", "val":2.4}, "y":{"exp":"CenterStop.y", "val":4.035}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.4}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":5.4}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"5.4 m", "val":5.4}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":6.0}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
-    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":false}],
+    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"1.0488639902323484 m", "val":1.0488639902323484}, "y":{"exp":"4.764838369563222 m", "val":4.764838369563222}, "r":{"exp":"0.5 m", "val":0.5}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -52,7 +44,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -63,103 +55,100 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.01975,2.90987,3.87738],
+  "waypoints":[0.0,3.93364],
   "samples":[
-    {"t":0.0, "x":2.4, "y":4.035, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.86095, "ay":14.14968, "alpha":-4.28615, "fx":[-62.3929,-50.27472,-47.36073,-58.8876], "fy":[198.41518,201.81973,202.54631,199.5058]},
-    {"t":0.02756, "x":2.39853, "y":4.04037, "heading":-1.5708, "vx":-0.10641, "vy":0.38998, "omega":-0.11813, "ax":-3.85794, "ay":14.13668, "alpha":-4.40487, "fx":[-62.55813,-50.10693,-47.12619,-58.95398], "fy":[198.1663,201.66442,202.41698,199.30231]},
-    {"t":0.05512, "x":2.39414, "y":4.05649, "heading":-1.57405, "vx":-0.21274, "vy":0.7796, "omega":-0.23953, "ax":-3.8486, "ay":14.09809, "alpha":-4.8162, "fx":[-63.16324,-49.5671,-46.31344,-59.17207], "fy":[197.39019,201.21241,202.06235,198.69651]},
-    {"t":0.08268, "x":2.38681, "y":4.08333, "heading":-1.58065, "vx":-0.31881, "vy":1.16815, "omega":-0.37227, "ax":-2.74711, "ay":10.10343, "alpha":-49.64198, "fx":[-110.18955,17.26729,10.94045,-73.7796], "fy":[108.84923,136.16362,170.30568,157.54592]},
-    {"t":0.11024, "x":2.37698, "y":4.11936, "heading":-1.59091, "vx":-0.39452, "vy":1.44661, "omega":-1.74045, "ax":-0.00811, "ay":-0.00179, "alpha":-2.36505, "fx":[-1.90618,1.60555,1.67622,-1.83553], "fy":[-1.74586,-1.81655,1.69523,1.76585]},
-    {"t":0.1378, "x":2.3661, "y":4.15923, "heading":-1.63888, "vx":-0.39475, "vy":1.44656, "omega":-1.80563, "ax":-0.0016, "ay":-0.00044, "alpha":-0.01904, "fx":[-0.03772,-0.00951,-0.00759,-0.0358], "fy":[-0.01932,-0.02125,0.00696,0.00888]},
-    {"t":0.16537, "x":2.35522, "y":4.1991, "heading":-1.68865, "vx":-0.39479, "vy":1.44655, "omega":-1.80615, "ax":-0.00138, "ay":-0.00038, "alpha":0.00358, "fx":[-0.01666,-0.02194,-0.02256,-0.01728], "fy":[-0.00302,-0.0024,-0.00768,-0.0083]},
-    {"t":0.19293, "x":2.34434, "y":4.23897, "heading":-1.73843, "vx":-0.39483, "vy":1.44654, "omega":-1.80605, "ax":-0.0014, "ay":-0.00038, "alpha":0.00368, "fx":[-0.01664,-0.02203,-0.02294,-0.01755], "fy":[-0.00316,-0.00225,-0.00764,-0.00855]},
-    {"t":0.22049, "x":2.33346, "y":4.27884, "heading":-1.7882, "vx":-0.39487, "vy":1.44653, "omega":-1.80595, "ax":-0.00142, "ay":-0.00039, "alpha":0.00342, "fx":[-0.01705,-0.02201,-0.02311,-0.01814], "fy":[-0.00355,-0.00245,-0.00741,-0.00851]},
-    {"t":0.24805, "x":2.32258, "y":4.31871, "heading":-1.83798, "vx":-0.39491, "vy":1.44652, "omega":-1.80586, "ax":-0.00144, "ay":-0.00039, "alpha":0.00302, "fx":[-0.01759,-0.02192,-0.0231,-0.01878], "fy":[-0.00398,-0.0028,-0.00712,-0.00831]},
-    {"t":0.27561, "x":2.31169, "y":4.35857, "heading":-1.88775, "vx":-0.39495, "vy":1.44651, "omega":-1.80578, "ax":-0.00145, "ay":-0.0004, "alpha":0.00249, "fx":[-0.01825,-0.02177,-0.02292,-0.0194], "fy":[-0.00444,-0.00328,-0.0068,-0.00796]},
-    {"t":0.30317, "x":2.30081, "y":4.39844, "heading":-1.93752, "vx":-0.39499, "vy":1.4465, "omega":-1.80571, "ax":-0.00147, "ay":-0.0004, "alpha":0.00187, "fx":[-0.01899,-0.02158,-0.02258,-0.01999], "fy":[-0.00488,-0.00388,-0.00647,-0.00747]},
-    {"t":0.33073, "x":2.28992, "y":4.43831, "heading":-1.98728, "vx":-0.39503, "vy":1.44649, "omega":-1.80566, "ax":-0.00148, "ay":-0.0004, "alpha":0.00116, "fx":[-0.0198,-0.02138,-0.02208,-0.0205], "fy":[-0.00528,-0.00458,-0.00616,-0.00686]},
-    {"t":0.35829, "x":2.27903, "y":4.47817, "heading":-2.03705, "vx":-0.39507, "vy":1.44647, "omega":-1.80562, "ax":-0.00148, "ay":-0.00041, "alpha":0.00041, "fx":[-0.02064,-0.02118,-0.02146,-0.02091], "fy":[-0.00561,-0.00534,-0.00588,-0.00616]},
-    {"t":0.38585, "x":2.26814, "y":4.51804, "heading":-2.08681, "vx":-0.39511, "vy":1.44646, "omega":-1.80561, "ax":-0.00149, "ay":-0.00041, "alpha":-0.00036, "fx":[-0.02147,-0.021,-0.02074,-0.0212], "fy":[-0.00586,-0.00612,-0.00566,-0.0054]},
-    {"t":0.41341, "x":2.25725, "y":4.5579, "heading":-2.13658, "vx":-0.39515, "vy":1.44645, "omega":-1.80562, "ax":-0.00149, "ay":-0.00041, "alpha":-0.00111, "fx":[-0.02224,-0.02085,-0.01997,-0.02136], "fy":[-0.00602,-0.0069,-0.00551,-0.00462]},
-    {"t":0.44097, "x":2.24636, "y":4.59777, "heading":-2.18634, "vx":-0.39519, "vy":1.44644, "omega":-1.80565, "ax":-0.00149, "ay":-0.00041, "alpha":-0.00182, "fx":[-0.02294,-0.02074,-0.01918,-0.02138], "fy":[-0.00607,-0.00763,-0.00543,-0.00387]},
-    {"t":0.46853, "x":2.23547, "y":4.63763, "heading":-2.23611, "vx":-0.39523, "vy":1.44643, "omega":-1.8057, "ax":-0.00148, "ay":-0.0004, "alpha":-0.00245, "fx":[-0.02352,-0.02066,-0.01841,-0.02127], "fy":[-0.00603,-0.00828,-0.00542,-0.00317]},
-    {"t":0.4961, "x":2.22458, "y":4.6775, "heading":-2.28587, "vx":-0.39527, "vy":1.44642, "omega":-1.80577, "ax":-0.00147, "ay":-0.0004, "alpha":-0.00298, "fx":[-0.02395,-0.02061,-0.01771,-0.02105], "fy":[-0.00591,-0.00881,-0.00547,-0.00257]},
-    {"t":0.52366, "x":2.21368, "y":4.71736, "heading":-2.33564, "vx":-0.39531, "vy":1.44641, "omega":-1.80585, "ax":-0.00146, "ay":-0.0004, "alpha":-0.00338, "fx":[-0.02422,-0.02059,-0.01711,-0.02074], "fy":[-0.00572,-0.0092,-0.00557,-0.00209]},
-    {"t":0.55122, "x":2.20279, "y":4.75723, "heading":-2.38541, "vx":-0.39535, "vy":1.4464, "omega":-1.80595, "ax":-0.00144, "ay":-0.00039, "alpha":-0.00365, "fx":[-0.02431,-0.02059,-0.01664,-0.02036], "fy":[-0.00548,-0.00943,-0.0057,-0.00176]},
-    {"t":0.57878, "x":2.19189, "y":4.79709, "heading":-2.43519, "vx":-0.39539, "vy":1.44639, "omega":-1.80605, "ax":-0.00143, "ay":-0.00039, "alpha":-0.00378, "fx":[-0.02423,-0.02059,-0.01632,-0.01996], "fy":[-0.00522,-0.00949,-0.00585,-0.00158]},
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-    {"t":0.71658, "x":2.13739, "y":4.99641, "heading":-2.68409, "vx":-0.39559, "vy":1.44633, "omega":-1.80652, "ax":-0.00137, "ay":-0.00037, "alpha":-0.00225, "fx":[-0.02163,-0.02015,-0.01715,-0.01863], "fy":[-0.00454,-0.00754,-0.00606,-0.00306]},
-    {"t":0.74414, "x":2.12649, "y":5.03627, "heading":-2.73388, "vx":-0.39562, "vy":1.44632, "omega":-1.80658, "ax":-0.00136, "ay":-0.00037, "alpha":-0.00161, "fx":[-0.02088,-0.01993,-0.01773,-0.01868], "fy":[-0.00465,-0.00685,-0.0059,-0.0037]},
-    {"t":0.7717, "x":2.11558, "y":5.07613, "heading":-2.78367, "vx":-0.39566, "vy":1.44631, "omega":-1.80662, "ax":-0.00136, "ay":-0.00037, "alpha":-0.00091, "fx":[-0.02014,-0.01967,-0.0184,-0.01887], "fy":[-0.00487,-0.00614,-0.00566,-0.00439]},
-    {"t":0.79926, "x":2.10468, "y":5.11599, "heading":-2.83347, "vx":-0.3957, "vy":1.4463, "omega":-1.80665, "ax":-0.00136, "ay":-0.00037, "alpha":-0.00018, "fx":[-0.01948,-0.0194,-0.01915,-0.01923], "fy":[-0.00519,-0.00545,-0.00537,-0.00511]},
-    {"t":0.82683, "x":2.09377, "y":5.15585, "heading":-2.88326, "vx":-0.39574, "vy":1.44629, "omega":-1.80665, "ax":-0.00144, "ay":-0.00039, "alpha":0.00057, "fx":[-0.01992,-0.02014,-0.02095,-0.02074], "fy":[-0.00589,-0.00507,-0.00529,-0.0061]},
-    {"t":0.85439, "x":2.08286, "y":5.19571, "heading":-2.93305, "vx":-0.39578, "vy":1.44628, "omega":-1.80664, "ax":-0.00347, "ay":-0.00095, "alpha":0.00174, "fx":[-0.04767,-0.04821,-0.05074,-0.0502], "fy":[-0.01446,-0.01193,-0.01246,-0.01499]},
-    {"t":0.88195, "x":2.07195, "y":5.23557, "heading":-2.98285, "vx":-0.39587, "vy":1.44625, "omega":-1.80659, "ax":-0.05831, "ay":-0.01599, "alpha":0.04996, "fx":[-0.784,-0.79573,-0.86899,-0.85726], "fy":[-0.25749,-0.18422,-0.19595,-0.26922]},
-    {"t":0.90951, "x":2.06102, "y":5.27543, "heading":-3.03264, "vx":-0.39748, "vy":1.44581, "omega":-1.80521, "ax":-1.51922, "ay":-0.44172, "alpha":4.8601, "fx":[-17.57474,-18.39511,-25.49655,-24.67345], "fy":[-9.52602,-2.24873,-3.02382,-10.24702]},
-    {"t":0.93707, "x":2.04949, "y":5.31511, "heading":-3.08239, "vx":-0.43935, "vy":1.43364, "omega":-1.67127, "ax":-9.68572, "ay":-6.3495, "alpha":49.2068, "fx":[-79.96337,-144.12487,-179.41467,-145.67747], "fy":[-157.93353,-52.28506,-32.92073,-116.87758]},
-    {"t":0.96463, "x":2.0337, "y":5.35221, "heading":-3.12845, "vx":-0.7063, "vy":1.25864, "omega":-0.31508, "ax":3.382, "ay":-14.21295, "alpha":5.56386, "fx":[53.7403,57.73049,41.60263,38.68572], "fy":[-200.2214,-199.02044,-202.98327,-203.64903]},
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  "events":[]
diff --git a/src/main/deploy/choreo/DepotPickup_MWT.traj b/src/main/deploy/choreo/DepotPickup_MWT.traj
new file mode 100644
index 00000000..b613c57e
--- /dev/null
+++ b/src/main/deploy/choreo/DepotPickup_MWT.traj
@@ -0,0 +1,166 @@
+{
+ "name":"DepotPickup_MWT",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.4, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7, "y":5.4, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.4, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
+    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"CenterStop.x", "val":2.4}, "y":{"exp":"CenterStop.y", "val":4.035}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.4}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":5.4}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"5.4 m", "val":5.4}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
+    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2525,
+    "y":0.2525
+   },
+   "backLeft":{
+    "x":-0.2525,
+    "y":0.2525
+   },
+   "mass":56.7,
+   "inertia":1.5,
+   "gearing":6.03,
+   "radius":0.0508,
+   "vmax":314.1592653589793,
+   "tmax":3.0,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4305,
+    "side":0.4305,
+    "back":0.4305
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.01975,2.90987,3.87738],
+  "samples":[
+    {"t":0.0, "x":2.4, "y":4.035, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.86095, "ay":14.14968, "alpha":-4.28615, "fx":[-62.3929,-50.27472,-47.36073,-58.8876], "fy":[198.41518,201.81973,202.54631,199.5058]},
+    {"t":0.02756, "x":2.39853, "y":4.04037, "heading":-1.5708, "vx":-0.10641, "vy":0.38998, "omega":-0.11813, "ax":-3.85794, "ay":14.13668, "alpha":-4.40487, "fx":[-62.55813,-50.10693,-47.12619,-58.95398], "fy":[198.1663,201.66442,202.41698,199.30231]},
+    {"t":0.05512, "x":2.39414, "y":4.05649, "heading":-1.57405, "vx":-0.21274, "vy":0.7796, "omega":-0.23953, "ax":-3.8486, "ay":14.09809, "alpha":-4.8162, "fx":[-63.16324,-49.5671,-46.31344,-59.17207], "fy":[197.39019,201.21241,202.06235,198.69651]},
+    {"t":0.08268, "x":2.38681, "y":4.08333, "heading":-1.58065, "vx":-0.31881, "vy":1.16815, "omega":-0.37227, "ax":-2.74711, "ay":10.10343, "alpha":-49.64198, "fx":[-110.18955,17.26729,10.94045,-73.7796], "fy":[108.84923,136.16362,170.30568,157.54592]},
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+    {"t":0.1378, "x":2.3661, "y":4.15923, "heading":-1.63888, "vx":-0.39475, "vy":1.44656, "omega":-1.80563, "ax":-0.0016, "ay":-0.00044, "alpha":-0.01904, "fx":[-0.03772,-0.00951,-0.00759,-0.0358], "fy":[-0.01932,-0.02125,0.00696,0.00888]},
+    {"t":0.16537, "x":2.35522, "y":4.1991, "heading":-1.68865, "vx":-0.39479, "vy":1.44655, "omega":-1.80615, "ax":-0.00138, "ay":-0.00038, "alpha":0.00358, "fx":[-0.01666,-0.02194,-0.02256,-0.01728], "fy":[-0.00302,-0.0024,-0.00768,-0.0083]},
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+    {"t":0.22049, "x":2.33346, "y":4.27884, "heading":-1.7882, "vx":-0.39487, "vy":1.44653, "omega":-1.80595, "ax":-0.00142, "ay":-0.00039, "alpha":0.00342, "fx":[-0.01705,-0.02201,-0.02311,-0.01814], "fy":[-0.00355,-0.00245,-0.00741,-0.00851]},
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+    {"t":2.90987, "x":0.7, "y":5.4, "heading":3.14159, "vx":0.02897, "vy":-0.01976, "omega":0.00008, "ax":14.67787, "ay":0.03148, "alpha":-0.00005, "fx":[208.05881,208.05881,208.05881,208.05881], "fy":[0.4463,0.44616,0.44615,0.44629]},
+    {"t":2.9608, "x":0.7205, "y":5.39903, "heading":-3.14159, "vx":0.77638, "vy":-0.01816, "omega":0.00008, "ax":14.2044, "ay":0.35478, "alpha":-0.00051, "fx":[201.34731,201.34735,201.3474,201.34736], "fy":[5.02982,5.02836,5.02832,5.02978]},
+    {"t":3.01172, "x":0.77846, "y":5.39857, "heading":-3.14158, "vx":1.49969, "vy":-0.00009, "omega":0.00005, "ax":0.00026, "ay":0.03413, "alpha":-0.0012, "fx":[0.00283,0.00283,0.00461,0.00461], "fy":[0.48472,0.48294,0.48294,0.48472]},
+    {"t":3.06264, "x":0.85482, "y":5.39861, "heading":-3.14158, "vx":1.4997, "vy":0.00164, "omega":-0.00001, "ax":0.0, "ay":0.00065, "alpha":-0.00009, "fx":[-0.00009,-0.00009,0.00005,0.00005], "fy":[0.00923,0.0091,0.0091,0.00923]},
+    {"t":3.11356, "x":0.93119, "y":5.39869, "heading":-3.14158, "vx":1.4997, "vy":0.00168, "omega":-0.00002, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00001,-0.00001], "fy":[0.00621,0.0062,0.0062,0.00621]},
+    {"t":3.16448, "x":1.00756, "y":5.39878, "heading":-3.14158, "vx":1.4997, "vy":0.0017, "omega":-0.00002, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00002,-0.00002], "fy":[0.00618,0.00618,0.00618,0.00618]},
+    {"t":3.2154, "x":1.08392, "y":5.39887, "heading":-3.14158, "vx":1.4997, "vy":0.00172, "omega":-0.00002, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00618,0.00618,0.00618,0.00618]},
+    {"t":3.26632, "x":1.16029, "y":5.39896, "heading":-3.14159, "vx":1.4997, "vy":0.00174, "omega":-0.00002, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00618,0.00618,0.00618,0.00618]},
+    {"t":3.31724, "x":1.23666, "y":5.39904, "heading":-3.14159, "vx":1.4997, "vy":0.00177, "omega":-0.00002, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00618,0.00618,0.00618,0.00618]},
+    {"t":3.36817, "x":1.31302, "y":5.39914, "heading":-3.14159, "vx":1.4997, "vy":0.00179, "omega":-0.00002, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00618,0.00618,0.00618,0.00618]},
+    {"t":3.41909, "x":1.38939, "y":5.39923, "heading":-3.14159, "vx":1.4997, "vy":0.00181, "omega":-0.00001, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00618,0.00618,0.00618,0.00618]},
+    {"t":3.47001, "x":1.46576, "y":5.39932, "heading":-3.14159, "vx":1.4997, "vy":0.00183, "omega":-0.00001, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00617,0.00618,0.00618,0.00617]},
+    {"t":3.52093, "x":1.54212, "y":5.39941, "heading":-3.14159, "vx":1.4997, "vy":0.00186, "omega":-0.00001, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00617,0.00617,0.00617,0.00617]},
+    {"t":3.57185, "x":1.61849, "y":5.39951, "heading":-3.14159, "vx":1.4997, "vy":0.00188, "omega":-0.00001, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00617,0.00617,0.00617,0.00617]},
+    {"t":3.62277, "x":1.69486, "y":5.3996, "heading":-3.14159, "vx":1.4997, "vy":0.0019, "omega":-0.00001, "ax":0.0, "ay":0.00044, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.00617,0.00618,0.00618,0.00617]},
+    {"t":3.67369, "x":1.77123, "y":5.3997, "heading":-3.14159, "vx":1.4997, "vy":0.00192, "omega":-0.00001, "ax":0.0, "ay":0.00044, "alpha":0.00002, "fx":[0.0,0.0,-0.00003,-0.00003], "fy":[0.00617,0.0062,0.0062,0.00617]},
+    {"t":3.72462, "x":1.84759, "y":5.3998, "heading":-3.14159, "vx":1.4997, "vy":0.00194, "omega":-0.00001, "ax":-0.08802, "ay":0.00042, "alpha":0.00026, "fx":[-1.2475,-1.2475,-1.24789,-1.24789], "fy":[0.00581,0.0062,0.0062,0.00581]},
+    {"t":3.77554, "x":1.92384, "y":5.3999, "heading":-3.14159, "vx":1.49522, "vy":0.00197, "omega":0.0, "ax":-14.67532, "ay":-0.01923, "alpha":0.00001, "fx":[-208.02269,-208.02269,-208.02269,-208.02269], "fy":[-0.27263,-0.27261,-0.27261,-0.27263]},
+    {"t":3.82646, "x":1.98096, "y":5.39997, "heading":-3.14159, "vx":0.74793, "vy":0.00099, "omega":0.0, "ax":-14.68804, "ay":-0.01936, "alpha":0.00001, "fx":[-208.203,-208.203,-208.203,-208.203], "fy":[-0.27449,-0.27448,-0.27448,-0.27449]},
+    {"t":3.87738, "x":2.0, "y":5.4, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Orbit.traj b/src/main/deploy/choreo/Orbit.traj
index 094ea4ea..a532ecc8 100644
--- a/src/main/deploy/choreo/Orbit.traj
+++ b/src/main/deploy/choreo/Orbit.traj
@@ -3,23 +3,23 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":16, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":8.65, "y":6.8, "heading":4.363323129985824, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.74509859085083, "y":4.726553554534912, "heading":-4.363323129985824, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":6.82694191456, "heading":-4.1887902047863905, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":6.82694191456, "heading":-4.1887902047863905, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.178424835205078, "y":7.279176139831543, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.0, "y":7.5, "heading":3.01941960595019, "intervals":92, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":0.99, "y":7.5, "heading":3.01941960595019, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":0.59, "y":7.1, "heading":4.590215932745087, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.59, "y":5.47, "heading":4.590215932745087, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.59, "y":5.47, "heading":4.590215932745087, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.779710292816162, "y":7.168367862701416, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.75, "y":6.457767105102539, "heading":4.537856055185257, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.75, "y":4.930652618408203, "heading":4.537856055185257, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.75, "y":6.457767105102539, "heading":4.537856055185257, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.75, "y":4.930652618408203, "heading":4.537856055185257, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -40,23 +40,23 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":20, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":16, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"IOuterFuel.y", "val":6.8}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"-IIOuterFuel.heading", "val":-4.363323129985824}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"-IIInnerFuel.heading", "val":-4.1887902047863905}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"-IIInnerFuel.heading", "val":-4.1887902047863905}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"x":{"exp":"5 m", "val":5.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"173 deg", "val":3.01941960595019}, "intervals":92, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"0.99 m", "val":0.99}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"173 deg", "val":3.01941960595019}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"0.59 m", "val":0.59}, "y":{"exp":"7.1 m", "val":7.1}, "heading":{"exp":"263 deg", "val":4.590215932745087}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"0.59 m", "val":0.59}, "y":{"exp":"5.47 m", "val":5.47}, "heading":{"exp":"263 deg", "val":4.590215932745087}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.59 m", "val":0.59}, "y":{"exp":"5.47 m", "val":5.47}, "heading":{"exp":"263 deg", "val":4.590215932745087}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"2.779710292816162 m", "val":2.779710292816162}, "y":{"exp":"7.168367862701416 m", "val":7.168367862701416}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.75 m", "val":5.75}, "y":{"exp":"6.457767105102539 m", "val":6.457767105102539}, "heading":{"exp":"260 deg", "val":4.537856055185257}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.75 m", "val":5.75}, "y":{"exp":"4.930652618408203 m", "val":4.930652618408203}, "heading":{"exp":"260 deg", "val":4.537856055185257}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.75 m", "val":5.75}, "y":{"exp":"6.457767105102539 m", "val":6.457767105102539}, "heading":{"exp":"260 deg", "val":4.537856055185257}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.75 m", "val":5.75}, "y":{"exp":"4.930652618408203 m", "val":4.930652618408203}, "heading":{"exp":"260 deg", "val":4.537856055185257}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -92,7 +92,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -103,742 +103,668 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.576,1.89632,2.97177,3.72866,4.81823,5.57865,6.77815,9.45875,9.98277,11.08183,12.35036,13.18296,13.90989,14.47238,15.10243,16.23615,17.31066],
+  "waypoints":[0.0,0.42307,1.15069,2.2253,2.98217,4.07021,4.63153,5.83122,8.51183,9.03584,10.15026,10.94997,11.7839,12.277,12.74295,13.16628,13.92486,14.66856],
   "samples":[
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+    {"t":14.54461, "x":4.10965, "y":7.45238, "heading":3.10639, "vx":-1.73158, "vy":-0.55561, "omega":0.43983, "ax":14.03564, "ay":4.26587, "alpha":-3.17594, "fx":[197.15407,199.85067,200.64536,198.17067], "fy":[66.2566,57.59267,54.82257,63.20303]},
+    {"t":14.5756, "x":4.06274, "y":7.43722, "heading":3.12002, "vx":-1.29665, "vy":-0.42342, "omega":0.34142, "ax":13.98694, "ay":4.42982, "alpha":-3.45289, "fx":[196.23006,199.28522,200.16685,197.3776], "fy":[69.06369,59.65766,56.68841,65.761]},
+    {"t":14.60659, "x":4.02927, "y":7.42622, "heading":3.1306, "vx":-0.86322, "vy":-0.28615, "omega":0.23442, "ax":13.94596, "ay":4.56246, "alpha":-3.68394, "fx":[195.44608,198.81235,199.76886,196.7087], "fy":[71.34559,61.32452,58.1889,67.83235]},
+    {"t":14.63758, "x":4.00922, "y":7.41954, "heading":3.13787, "vx":-0.43107, "vy":-0.14477, "omega":0.12026, "ax":13.91105, "ay":4.67194, "alpha":-3.88105, "fx":[194.7713,198.40938,199.43526,196.1404], "fy":[73.24328,62.70495,59.41409,69.53645]},
+    {"t":14.66856, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[
-   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.576, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
-   {"name":"stopShooting", "from":{"target":6, "targetTimestamp":5.57865, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
-   {"name":"startShooting", "from":{"target":7, "targetTimestamp":6.77815, "offset":{"exp":"0.8 s", "val":0.8}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
-   {"name":"stopShooting", "from":{"target":11, "targetTimestamp":12.35036, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}]
+   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.42307, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
+   {"name":"stopShooting", "from":{"target":6, "targetTimestamp":4.63153, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
+   {"name":"startShooting", "from":{"target":7, "targetTimestamp":5.83122, "offset":{"exp":"0.8 s", "val":0.8}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
+   {"name":"stopShooting", "from":{"target":11, "targetTimestamp":10.94997, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}]
 }
diff --git a/src/main/deploy/choreo/PlayerStationPickup.traj b/src/main/deploy/choreo/PlayerStationPickup.traj
index 42f9c9dc..a9b147fa 100644
--- a/src/main/deploy/choreo/PlayerStationPickup.traj
+++ b/src/main/deploy/choreo/PlayerStationPickup.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":210, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":137, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":0.6, "y":0.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -15,8 +15,8 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":210, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":137, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"0.5 m", "val":0.5}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -42,7 +42,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -53,377 +53,257 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.07582,1.86003],
+  "waypoints":[0.0,0.71185,1.28655],
   "samples":[
-    {"t":0.0, "x":2.4, "y":4.035, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.63482, "ay":-12.42362, "alpha":0.38937, "fx":[-108.05947,-108.89528,-108.38714,-107.55231], "fy":[-176.19894,-175.68935,-176.01249,-176.51822]},
-    {"t":0.00512, "x":2.3999, "y":4.03484, "heading":-1.5708, "vx":-0.03911, "vy":-0.06365, "omega":0.00199, "ax":-7.63543, "ay":-12.41917, "alpha":0.38309, "fx":[-108.07084,-108.89286,-108.39305,-107.57197], "fy":[-176.1341,-175.63289,-175.95111,-176.44859]},
-    {"t":0.01025, "x":2.3996, "y":4.03435, "heading":-1.57079, "vx":-0.07823, "vy":-0.12727, "omega":0.00396, "ax":-7.63594, "ay":-12.41453, "alpha":0.37664, "fx":[-108.08092,-108.88876,-108.39752,-107.59059], "fy":[-176.06655,-175.57397,-175.88712,-176.3761]},
-    {"t":0.01537, "x":2.3991, "y":4.03353, "heading":-1.57077, "vx":-0.11735, "vy":-0.19087, "omega":0.00589, "ax":-7.63635, "ay":-12.40968, "alpha":0.36999, "fx":[-108.08961,-108.88284,-108.40043,-107.60808], "fy":[-175.99602,-175.51234,-175.82026,-176.30047]},
-    {"t":0.02049, "x":2.3984, "y":4.03239, "heading":-1.57074, "vx":-0.15647, "vy":-0.25444, "omega":0.00778, "ax":-7.63664, "ay":-12.40461, "alpha":0.36311, "fx":[-108.09676,-108.87489,-108.40161,-107.62432], "fy":[-175.92223,-175.44776,-175.75026,-176.22139]},
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+    {"t":1.15712, "x":0.57617, "y":0.61971, "heading":-1.57076, "vx":0.36535, "vy":-1.8489, "omega":-0.0006, "ax":-2.73536, "ay":14.26494, "alpha":0.00603, "fx":[-38.76363,-38.78071,-38.78395,-38.76687], "fy":[202.20757,202.20433,202.2035,202.20674]},
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+    {"t":1.17783, "x":0.58315, "y":0.58448, "heading":-1.57077, "vx":0.30834, "vy":-1.55342, "omega":-0.00048, "ax":-2.77865, "ay":14.27154, "alpha":0.00546, "fx":[-39.37818,-39.39364,-39.39662,-39.38116], "fy":[202.30094,202.29796,202.29721,202.30018]},
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+    {"t":1.2762, "x":0.59985, "y":0.50077, "heading":-1.5708, "vx":0.02968, "vy":-0.1481, "omega":-0.00004, "ax":-2.86604, "ay":14.30132, "alpha":0.00363, "fx":[-40.62002,-40.6303,-40.63235,-40.62206], "fy":[202.72244,202.72039,202.7199,202.72194]},
+    {"t":1.28138, "x":0.59996, "y":0.50019, "heading":-1.5708, "vx":0.01484, "vy":-0.07405, "omega":-0.00002, "ax":-2.86706, "ay":14.30288, "alpha":0.00356, "fx":[-40.63451,-40.64462,-40.64662,-40.63652], "fy":[202.74453,202.74252,202.74204,202.74405]},
+    {"t":1.28655, "x":0.6, "y":0.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ShootHubfuelShoot.traj b/src/main/deploy/choreo/ShootHubfuelShoot.traj
index 4510d187..26d5a39b 100644
--- a/src/main/deploy/choreo/ShootHubfuelShoot.traj
+++ b/src/main/deploy/choreo/ShootHubfuelShoot.traj
@@ -7,7 +7,7 @@
     {"x":5.942527770996094, "y":7.364141941070557, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":6.1915669441223145, "y":6.411297798156738, "heading":4.363323129985824, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.9, "y":5.0, "heading":4.363323129985824, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.516400337219238, "y":7.342486381530762, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.516400337219238, "y":7.342486381530762, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -25,7 +25,7 @@
     {"x":{"exp":"5.942527770996094 m", "val":5.942527770996094}, "y":{"exp":"7.364141941070557 m", "val":7.364141941070557}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"6.1915669441223145 m", "val":6.1915669441223145}, "y":{"exp":"6.411297798156738 m", "val":6.411297798156738}, "heading":{"exp":"HubOuterFuel.heading", "val":4.363323129985824}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"HubInnerFuel.x", "val":5.9}, "y":{"exp":"HubInnerFuel.y", "val":5.0}, "heading":{"exp":"HubInnerFuel.heading", "val":4.363323129985824}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.516400337219238 m", "val":6.516400337219238}, "y":{"exp":"7.342486381530762 m", "val":7.342486381530762}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.516400337219238 m", "val":6.516400337219238}, "y":{"exp":"7.342486381530762 m", "val":7.342486381530762}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -54,7 +54,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -65,166 +65,165 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.2145,1.83451,2.6775,4.25345,5.70053],
+  "waypoints":[0.0,1.20049,1.79909,2.62916,4.16603,5.5642],
   "samples":[
-    {"t":0.0, "x":4.00254, "y":7.4173, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.99799, "ay":-0.05912, "alpha":-2.34536, "fx":[54.92583,54.92499,58.41715,58.418], "fy":[0.89932,-2.58357,-2.56661,0.89898]},
-    {"t":0.0368, "x":4.00525, "y":7.41726, "heading":-3.14159, "vx":0.14714, "vy":-0.00218, "omega":-0.08632, "ax":3.99913, "ay":-0.03172, "alpha":-2.04827, "fx":[55.16158,55.15913,58.21375,58.2162], "fy":[1.06609,-1.96093,-1.96769,1.06399]},
-    {"t":0.07361, "x":4.01337, "y":7.41716, "heading":3.13842, "vx":0.29432, "vy":-0.00334, "omega":-0.1617, "ax":3.99919, "ay":-0.01617, "alpha":-1.83997, "fx":[55.31957,55.31178,58.05752,58.06531], "fy":[1.13433,-1.57808,-1.59993,1.12663]},
-    {"t":0.11041, "x":4.02691, "y":7.41703, "heading":3.13246, "vx":0.4415, "vy":-0.00394, "omega":-0.22941, "ax":3.99918, "ay":-0.00656, "alpha":-1.50981, "fx":[55.56501,55.55301,57.81187,57.82387], "fy":[1.02565,-1.18198,-1.22961,1.01383]},
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+    {"t":4.64665, "x":5.61689, "y":7.44687, "heading":-2.97348, "vx":-2.64633, "vy":-0.33278, "omega":-1.81586, "ax":-3.99168, "ay":-0.10075, "alpha":-1.9827, "fx":[-58.19937,-57.76047,-54.956,-55.41253], "fy":[-0.14965,-3.29671,-2.56122,0.29502]},
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+    {"t":4.82142, "x":5.10501, "y":7.40464, "heading":2.99307, "vx":-2.96244, "vy":-0.05515, "omega":-1.51675, "ax":3.89148, "ay":0.87967, "alpha":4.69918, "fx":[58.19498,59.08132,52.11121,51.25916], "fy":[8.51826,14.93363,16.8129,9.61258]},
+    {"t":4.86512, "x":4.97928, "y":7.40307, "heading":2.9268, "vx":-2.79241, "vy":-0.01672, "omega":-1.31143, "ax":3.96533, "ay":0.47402, "alpha":5.02845, "fx":[59.0795,60.36772,53.3333,52.0536], "fy":[2.08476,10.30808,10.8792,3.60471]},
+    {"t":4.90881, "x":4.86106, "y":7.40279, "heading":2.8695, "vx":-2.61915, "vy":0.00399, "omega":-1.09173, "ax":3.98498, "ay":0.28748, "alpha":5.12038, "fx":[59.23114,60.90681,53.74234,52.06824], "fy":[-0.7454,7.29036,8.57088,1.18446]},
+    {"t":4.9525, "x":4.75043, "y":7.40324, "heading":2.8218, "vx":-2.44504, "vy":0.01655, "omega":-0.868, "ax":3.99228, "ay":0.18029, "alpha":5.33564, "fx":[59.23953,61.26764,53.94817,51.90708], "fy":[-2.66307,6.05356,7.18301,-0.35082]},
+    {"t":4.99619, "x":4.64741, "y":7.40413, "heading":2.78388, "vx":-2.27061, "vy":0.02443, "omega":-0.63488, "ax":3.99548, "ay":0.11044, "alpha":5.52538, "fx":[59.25441,61.64273,54.02732,51.61911], "fy":[-3.82351,4.4591,6.73843,-1.11196]},
+    {"t":5.03989, "x":4.55201, "y":7.40531, "heading":2.75614, "vx":-2.09603, "vy":0.02926, "omega":-0.39346, "ax":3.99699, "ay":0.06109, "alpha":5.86448, "fx":[59.28136,62.00689,54.05413,51.28703], "fy":[-4.97238,3.89235,6.40936,-1.86527]},
+    {"t":5.08358, "x":4.46425, "y":7.40664, "heading":2.73895, "vx":-1.92139, "vy":0.03193, "omega":-0.13722, "ax":3.99772, "ay":0.02422, "alpha":6.17922, "fx":[59.32378,62.36109,54.04394,50.94191], "fy":[-5.81672,3.1323,6.41107,-2.35364]},
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+    {"t":5.21466, "x":4.24674, "y":7.41091, "heading":2.75679, "vx":-1.39735, "vy":0.03158, "omega":0.66976, "ax":3.99815, "ay":-0.04669, "alpha":4.93838, "fx":[58.69405,61.1667,54.6811,52.15303], "fy":[-5.60894,1.66113,4.25227,-2.95171]},
+    {"t":5.25835, "x":4.1895, "y":7.41224, "heading":2.78605, "vx":-1.22266, "vy":0.02954, "omega":0.88553, "ax":3.99806, "ay":-0.06275, "alpha":3.88302, "fx":[58.27043,60.14061,55.08493,53.19419], "fy":[-4.79935,1.38308,2.76902,-2.91047]},
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+    {"t":5.38943, "x":4.06359, "y":7.41551, "heading":2.92249, "vx":-0.69862, "vy":0.01959, "omega":1.2705, "ax":3.99763, "ay":-0.09898, "alpha":1.26401, "fx":[57.23038,57.74154,56.08757,55.60597], "fy":[-2.62779,-0.31973,-0.42112,-2.24349]},
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+    {"t":5.5205, "x":4.00635, "y":7.41718, "heading":3.09358, "vx":-0.17464, "vy":0.00543, "omega":1.09885, "ax":3.99712, "ay":-0.12433, "alpha":-25.14967, "fx":[38.81669,36.63324,72.47769,78.7088], "fy":[17.26623,-20.13241,-20.0783,15.89523]},
+    {"t":5.5642, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ShootIIfuelPark.traj b/src/main/deploy/choreo/ShootIIfuelPark.traj
index c8285509..8f2c1abf 100644
--- a/src/main/deploy/choreo/ShootIIfuelPark.traj
+++ b/src/main/deploy/choreo/ShootIIfuelPark.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":80, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":138, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":56, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":116, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -18,10 +18,10 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":80, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":138, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":56, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":116, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -48,7 +48,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -59,478 +59,362 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.78382,1.79247,2.66104,3.83819],
+  "waypoints":[0.0,5.40826,13.09174,15.84805,22.75112],
   "samples":[
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-    {"t":0.0098, "x":4.00324, "y":7.41731, "heading":3.14159, "vx":0.14342, "vy":0.00078, "omega":-0.00002, "ax":14.63473, "ay":0.08132, "alpha":-0.00172, "fx":[207.44725,207.44728,207.44731,207.44728], "fy":[1.1553,1.1502,1.15017,1.15527]},
-    {"t":0.0196, "x":4.00535, "y":7.41732, "heading":3.14159, "vx":0.28681, "vy":0.00157, "omega":-0.00003, "ax":14.63062, "ay":0.08336, "alpha":-0.00167, "fx":[207.38906,207.38909,207.38912,207.38909], "fy":[1.18411,1.17918,1.17915,1.18409]},
-    {"t":0.02939, "x":4.00886, "y":7.41734, "heading":3.14159, "vx":0.43016, "vy":0.00239, "omega":-0.00005, "ax":14.62597, "ay":0.08541, "alpha":-0.00161, "fx":[207.32311,207.32314,207.32316,207.32313], "fy":[1.21309,1.20833,1.2083,1.21306]},
-    {"t":0.03919, "x":4.01378, "y":7.41736, "heading":3.14159, "vx":0.57346, "vy":0.00323, "omega":-0.00007, "ax":14.62065, "ay":0.08747, "alpha":-0.00154, "fx":[207.24772,207.24775,207.24777,207.24775], "fy":[1.24225,1.23769,1.23766,1.24222]},
-    {"t":0.04899, "x":4.0201, "y":7.4174, "heading":3.14159, "vx":0.71671, "vy":0.00408, "omega":-0.00008, "ax":14.61451, "ay":0.08956, "alpha":-0.00147, "fx":[207.16072,207.16075,207.16078,207.16075], "fy":[1.27163,1.2673,1.26728,1.27161]},
-    {"t":0.05879, "x":4.02782, "y":7.41744, "heading":3.14159, "vx":0.8599, "vy":0.00496, "omega":-0.0001, "ax":14.60735, "ay":0.09166, "alpha":-0.00138, "fx":[207.05921,207.05924,207.05926,207.05924], "fy":[1.3013,1.29723,1.2972,1.30128]},
-    {"t":0.06858, "x":4.03695, "y":7.4175, "heading":3.14159, "vx":1.00302, "vy":0.00586, "omega":-0.00011, "ax":14.59889, "ay":0.09379, "alpha":-0.00128, "fx":[206.93922,206.93924,206.93927,206.93925], "fy":[1.33133,1.32755,1.32752,1.3313]},
-    {"t":0.07838, "x":4.04748, "y":7.41756, "heading":3.14159, "vx":1.14606, "vy":0.00678, "omega":-0.00012, "ax":14.58873, "ay":0.09595, "alpha":-0.00116, "fx":[206.79521,206.79523,206.79526,206.79524], "fy":[1.3618,1.35837,1.35835,1.36178]},
-    {"t":0.08818, "x":4.05941, "y":7.41763, "heading":3.14159, "vx":1.289, "vy":0.00772, "omega":-0.00013, "ax":14.57631, "ay":0.09816, "alpha":-0.00102, "fx":[206.61918,206.6192,206.61923,206.61921], "fy":[1.39287,1.38986,1.38984,1.39285]},
-    {"t":0.09798, "x":4.07273, "y":7.41771, "heading":3.14159, "vx":1.43181, "vy":0.00868, "omega":-0.00014, "ax":14.56079, "ay":0.10042, "alpha":-0.00085, "fx":[206.39915,206.39917,206.39919,206.39917], "fy":[1.42476,1.42225,1.42223,1.42474]},
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-    {"t":0.12737, "x":4.12111, "y":7.41801, "heading":3.14158, "vx":1.85915, "vy":0.0117, "omega":-0.00016, "ax":14.47708, "ay":0.10793, "alpha":0.00001, "fx":[205.21262,205.21262,205.21262,205.21262], "fy":[1.52984,1.52986,1.52986,1.52984]},
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diff --git a/src/main/deploy/choreo/ShootIIfuelShoot.traj b/src/main/deploy/choreo/ShootIIfuelShoot.traj
index 1d0cdf63..5e31238e 100644
--- a/src/main/deploy/choreo/ShootIIfuelShoot.traj
+++ b/src/main/deploy/choreo/ShootIIfuelShoot.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
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@@ -19,11 +19,11 @@
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ShootIfuelPark.traj b/src/main/deploy/choreo/ShootIfuelPark.traj
index 120e2ab0..7d916807 100644
--- a/src/main/deploy/choreo/ShootIfuelPark.traj
+++ b/src/main/deploy/choreo/ShootIfuelPark.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.913897609710693, "y":7.092910289764404, "heading":4.363323129985824, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":125, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -20,11 +20,11 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.913897609710693 m", "val":7.913897609710693}, "y":{"exp":"7.092910289764404 m", "val":7.092910289764404}, "heading":{"exp":"250 deg", "val":4.363323129985824}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":125, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -52,7 +52,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -63,577 +63,450 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.7838,1.74665,2.50731,3.38709,4.77648],
+  "waypoints":[0.0,0.5277,1.07675,1.83875,2.4955,3.44742],
   "samples":[
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-    {"t":0.0098, "x":4.00324, "y":7.4173, "heading":3.14159, "vx":0.14342, "vy":0.00064, "omega":-0.00001, "ax":14.6348, "ay":0.06736, "alpha":-0.00132, "fx":[207.44826,207.44828,207.44829,207.44827], "fy":[0.95681,0.95291,0.95289,0.95679]},
-    {"t":0.01959, "x":4.00535, "y":7.41731, "heading":3.14159, "vx":0.2868, "vy":0.0013, "omega":-0.00003, "ax":14.6307, "ay":0.0694, "alpha":-0.00128, "fx":[207.3901,207.39011,207.39013,207.39011], "fy":[0.98569,0.98191,0.9819,0.98567]},
-    {"t":0.02939, "x":4.00886, "y":7.41733, "heading":3.14159, "vx":0.43015, "vy":0.00198, "omega":-0.00004, "ax":14.62604, "ay":0.07146, "alpha":-0.00123, "fx":[207.32417,207.32419,207.3242,207.32419], "fy":[1.01474,1.0111,1.01108,1.01472]},
-    {"t":0.03919, "x":4.01378, "y":7.41735, "heading":3.14159, "vx":0.57345, "vy":0.00268, "omega":-0.00005, "ax":14.62073, "ay":0.07353, "alpha":-0.00118, "fx":[207.24881,207.24883,207.24885,207.24883], "fy":[1.04398,1.0405,1.04048,1.04397]},
-    {"t":0.04899, "x":4.0201, "y":7.41738, "heading":3.14159, "vx":0.71669, "vy":0.0034, "omega":-0.00006, "ax":14.61459, "ay":0.07561, "alpha":-0.00112, "fx":[207.16184,207.16186,207.16188,207.16186], "fy":[1.07347,1.07015,1.07014,1.07345]},
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+    {"t":3.30272, "x":6.68963, "y":6.73579, "heading":-0.91559, "vx":-1.29608, "vy":1.66019, "omega":1.57893, "ax":8.95829, "ay":-11.46539, "alpha":-7.95956, "fx":[118.29901,135.69112,136.68967,117.25541], "fy":[-169.47506,-155.90041,-154.75802,-169.95437]},
+    {"t":3.31034, "x":6.68002, "y":6.7481, "heading":-0.90357, "vx":-1.22786, "vy":1.57288, "omega":1.51831, "ax":8.95893, "ay":-11.46727, "alpha":-8.34985, "fx":[118.02922,136.21129,137.09012,116.6407], "fy":[-169.73887,-155.52614,-154.4797,-170.44949]},
+    {"t":3.31795, "x":6.67093, "y":6.75975, "heading":-0.89201, "vx":-1.15964, "vy":1.48555, "omega":1.45473, "ax":8.95939, "ay":-11.46891, "alpha":-8.72633, "fx":[117.78081,136.71634,137.46574,116.03425], "fy":[-169.98198,-155.15711,-154.21719,-170.93105]},
+    {"t":3.32557, "x":6.66236, "y":6.77073, "heading":-0.88093, "vx":-1.09141, "vy":1.39821, "omega":1.38827, "ax":8.95968, "ay":-11.47035, "alpha":-9.08992, "fx":[117.55137,137.20646,137.81905,115.43686], "fy":[-170.20672,-154.79387,-153.96894,-171.39907]},
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+    {"t":3.34842, "x":6.63976, "y":6.79968, "heading":-0.85081, "vx":-0.88671, "vy":1.13613, "omega":1.17266, "ax":8.95974, "ay":-11.47359, "alpha":-10.11102, "fx":[116.95467,138.58811,138.76807,113.70637], "fy":[-170.79122,-153.74442,-153.29499,-172.72217]},
+    {"t":3.35603, "x":6.63327, "y":6.808, "heading":-0.84188, "vx":-0.81848, "vy":1.04875, "omega":1.09566, "ax":8.95953, "ay":-11.47438, "alpha":-10.43037, "fx":[116.77939,139.01917,139.05453,113.15228], "fy":[-170.96228,-153.40978,-153.08911,-173.13633]},
+    {"t":3.36365, "x":6.62729, "y":6.81565, "heading":-0.83354, "vx":-0.75025, "vy":0.96137, "omega":1.01623, "ax":8.95922, "ay":-11.47505, "alpha":-10.74021, "fx":[116.6127,139.43546,139.32938,112.6105], "fy":[-171.12425,-153.08357,-152.89022,-173.53713]},
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/ShootIfuelShoot.traj b/src/main/deploy/choreo/ShootIfuelShoot.traj
index 51c2bcee..44fe98af 100644
--- a/src/main/deploy/choreo/ShootIfuelShoot.traj
+++ b/src/main/deploy/choreo/ShootIfuelShoot.traj
@@ -3,12 +3,12 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.913897609710693, "y":7.092910289764404, "heading":4.363323129985824, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":170, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":121, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -21,12 +21,12 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":136, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.913897609710693 m", "val":7.913897609710693}, "y":{"exp":"7.092910289764404 m", "val":7.092910289764404}, "heading":{"exp":"250 deg", "val":4.363323129985824}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":170, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":121, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -54,7 +54,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -65,684 +65,516 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.7838,1.74665,2.50752,3.39187,4.7833,5.8442],
+  "waypoints":[0.0,0.5277,1.07675,1.83875,2.50297,3.31716,3.98749],
   "samples":[
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-    {"t":0.0098, "x":4.00324, "y":7.4173, "heading":3.14159, "vx":0.14342, "vy":0.00064, "omega":-0.00001, "ax":14.6348, "ay":0.06736, "alpha":-0.00132, "fx":[207.44826,207.44828,207.44829,207.44827], "fy":[0.95678,0.95288,0.95287,0.95677]},
-    {"t":0.01959, "x":4.00535, "y":7.41731, "heading":3.14159, "vx":0.2868, "vy":0.0013, "omega":-0.00003, "ax":14.6307, "ay":0.0694, "alpha":-0.00128, "fx":[207.3901,207.39011,207.39013,207.39011], "fy":[0.98567,0.98189,0.98187,0.98565]},
-    {"t":0.02939, "x":4.00886, "y":7.41733, "heading":3.14159, "vx":0.43015, "vy":0.00198, "omega":-0.00004, "ax":14.62604, "ay":0.07146, "alpha":-0.00123, "fx":[207.32417,207.32419,207.3242,207.32419], "fy":[1.01471,1.01107,1.01106,1.0147]},
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+    {"t":3.98749, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ShootPark.traj b/src/main/deploy/choreo/ShootPark.traj
index 2608c083..420a4a60 100644
--- a/src/main/deploy/choreo/ShootPark.traj
+++ b/src/main/deploy/choreo/ShootPark.traj
@@ -44,7 +44,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -55,76 +55,76 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.04825,1.85057],
+  "waypoints":[0.0,5.13935,8.3792],
   "samples":[
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj b/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj
index 9711b8ea..dcb0e613 100644
--- a/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj
+++ b/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":144, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":151, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":46, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -19,11 +19,11 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":59, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":144, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":151, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":46, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -50,7 +50,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -61,575 +61,421 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.57682,1.63562,2.50007,3.68909,4.75235],
+  "waypoints":[0.0,0.42407,1.04194,1.63696,2.34988,3.02721],
   "samples":[
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-    {"t":0.00978, "x":4.42593, "y":7.51403, "heading":3.14159, "vx":0.14311, "vy":-0.00053, "omega":-0.00002, "ax":14.63471, "ay":-0.05169, "alpha":-0.00177, "fx":[207.44696,207.44695,207.44697,207.44699], "fy":[-0.73008,-0.73531,-0.73529,-0.73006]},
-    {"t":0.01955, "x":4.42802, "y":7.51403, "heading":3.14159, "vx":0.28619, "vy":-0.00104, "omega":-0.00004, "ax":14.63062, "ay":-0.04865, "alpha":-0.00171, "fx":[207.38903,207.38902,207.38904,207.38906], "fy":[-0.68713,-0.6922,-0.69218,-0.68711]},
-    {"t":0.02933, "x":4.43152, "y":7.51401, "heading":3.14159, "vx":0.42923, "vy":-0.00152, "omega":-0.00005, "ax":14.62599, "ay":-0.04559, "alpha":-0.00165, "fx":[207.32334,207.32333,207.32335,207.32337], "fy":[-0.64386,-0.64875,-0.64873,-0.64385]},
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+    {"t":3.02721, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[
-   {"name":"stopShooting", "from":{"target":3, "targetTimestamp":2.50007, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
-   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.57682, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}]
+   {"name":"stopShooting", "from":{"target":3, "targetTimestamp":1.63696, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
+   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.42407, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}]
 }
diff --git a/src/main/deploy/choreo/StartIIfuelClosershoot.traj b/src/main/deploy/choreo/StartIIfuelClosershoot.traj
index 60eff034..d4762b78 100644
--- a/src/main/deploy/choreo/StartIIfuelClosershoot.traj
+++ b/src/main/deploy/choreo/StartIIfuelClosershoot.traj
@@ -3,13 +3,13 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":144, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":101, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.962134838104248, "y":7.32969856262207, "heading":3.141592653589793, "intervals":74, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.962134838104248, "y":7.32969856262207, "heading":3.141592653589793, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -21,13 +21,13 @@
  },
  "params":{
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/StartIIfuelShoot.traj b/src/main/deploy/choreo/StartIIfuelShoot.traj
index 412ed28c..aef86447 100644
--- a/src/main/deploy/choreo/StartIIfuelShoot.traj
+++ b/src/main/deploy/choreo/StartIIfuelShoot.traj
@@ -6,8 +6,8 @@
     {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":23, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -24,8 +24,8 @@
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-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -54,7 +54,7 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":314.1592653589793,
+   "vmax":628.3185307179587,
    "tmax":3.0,
    "cof":1.5,
    "bumper":{
@@ -65,179 +65,177 @@
    "differentialTrackWidth":0.5588
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   "sampleType":"Swerve",
-  "waypoints":[0.0,0.81561,1.97381,3.16599,4.5363,5.85351],
+  "waypoints":[0.0,1.46873,3.58265,5.92084,8.17811,10.62397],
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+    {"t":10.54753, "x":4.00959, "y":7.41643, "heading":3.14124, "vx":-0.18456, "vy":0.02273, "omega":0.00459, "ax":2.41468, "ay":-0.29741, "alpha":-0.06009, "fx":[34.18376,34.18353,34.27269,34.27243], "fy":[-4.17105,-4.26053,-4.26065,-4.17099]},
+    {"t":10.62397, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 62f87eeb..85995383 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -19,6 +19,20 @@
      "val":3.141592653589793
     }
    },
+   "CSMT":{
+    "x":{
+     "exp":"2.4 m",
+     "val":2.4
+    },
+    "y":{
+     "exp":"4.04 m",
+     "val":4.04
+    },
+    "heading":{
+     "exp":"90 deg",
+     "val":1.5707963267948966
+    }
+   },
    "CenterStart":{
     "x":{
      "exp":"3.6 m",
@@ -67,8 +81,8 @@
      "val":0.7
     },
     "y":{
-     "exp":"5.4 m",
-     "val":5.4
+     "exp":"6 m",
+     "val":6.0
     },
     "heading":{
      "exp":"180 deg",
@@ -171,8 +185,8 @@
    "val":0.0508
   },
   "vmax":{
-   "exp":"3000 RPM",
-   "val":314.1592653589793
+   "exp":"6000 RPM",
+   "val":628.3185307179587
   },
   "tmax":{
    "exp":"3 N * m",

From 885f438072b7eca69212c282b2e652dee464cc04 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Tue, 21 Apr 2026 22:12:29 -0500
Subject: [PATCH 28/36] remove pose loss from tilting, use pose at timestamp
 for vision cutoff, and change max trustworthy std devs

---
 .../lib/subsystems/BaseSuperstructure.java    | 11 +++++-----
 .../com/team1816/lib/subsystems/Vision.java   | 21 +++++++++++++++++--
 .../drivetrain/CTRESwerveDrivetrainImpl.java  | 13 ++++++++++++
 .../subsystems/drivetrain/IDrivetrain.java    | 10 +++++++++
 .../lib/subsystems/drivetrain/Swerve.java     | 12 +++++++++++
 5 files changed, 60 insertions(+), 7 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
index 08e5f8e9..c44c0803 100644
--- a/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
+++ b/src/main/java/com/team1816/lib/subsystems/BaseSuperstructure.java
@@ -38,7 +38,8 @@ protected BaseSuperstructure(Swerve swerve, Vision vision) {
 
     @Override
     public void periodic() {
-        handlePoseLossFromTilting();
+        // TODO: Add this back if it is decided to be necessary, or remove it fully if it isn't.
+//        handlePoseLossFromTilting();
     }
 
     /**
@@ -77,7 +78,7 @@ private void handlePoseLossFromTilting() {
      */
     public void addVisionMeasurementsToDrivetrain() {
         List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> visionMeasurements = vision
-            .getVisionEstimatedPosesWithStdDevs();
+            .getVisionEstimatedPosesWithStdDevs(swerve::samplePoseAt);
 
         for (Pair<EstimatedRobotPose, Matrix<N3, N1>> visionMeasurement : visionMeasurements) {
             Matrix<N3, N1> visionStdDevs = visionMeasurement.getSecond();
@@ -108,10 +109,10 @@ public void addVisionMeasurementsToDrivetrain() {
 
             // The maximum x and y standard deviations to allow for a vision estimate to count it
             // as trustworthy enough to work toward reestablishing our pose estimate.
-            final double maxTrustworthyTranslationStdDev = 2.0;
+            final double maxTrustworthyTranslationStdDev = 1.0;
             // The maximum rotation standard deviations to allow for a vision estimate to count it
             // as trustworthy enough to work toward reestablishing our pose estimate.
-            final double maxTrustworthyRotationStdDev = 4.0;
+            final double maxTrustworthyRotationStdDev = Units.degreesToRadians(5);
 
             if (
                 !BaseRobotState.hasAccuratePoseEstimate
@@ -123,7 +124,7 @@ public void addVisionMeasurementsToDrivetrain() {
 
                 // The minimum number of good vision pose estimates to wait for until we decide we
                 // are confident in our pose estimate again.
-                final int minGoodPoseEstimatesUntilConfident = 10;
+                final int minGoodPoseEstimatesUntilConfident = 8;
 
                 // If we've gotten enough good vision pose estimates since losing pose, we know
                 // where we are again.
diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index 98732661..a98890d7 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -25,6 +25,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
+import java.util.function.Function;
 
 import static com.team1816.lib.BaseConstants.VisionConstants.*;
 import static com.team1816.lib.Singleton.factory;
@@ -129,7 +130,9 @@ private static boolean isMultiTag(PhotonPoseEstimator.PoseStrategy strategy) {
      *
      * @return All unread vision pose estimates with corresponding standard deviations.
      */
-    public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWithStdDevs() {
+    public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWithStdDevs(
+        Function<Double, Optional<Pose2d>> samplePoseAtTimestampFunction
+    ) {
         List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> posesWithStdDevs = new ArrayList<>();
 
         // The maximum difference the angle of a vision pose estimate can be from the angle
@@ -165,7 +168,21 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                         || Math.abs(
                             MathUtil.angleModulus(
                                 visionEstimatedPose2d.getRotation()
-                                    .minus(BaseRobotState.robotPose.getRotation())
+                                    .minus(
+                                        // Get the rotation of the robot at the timestamp when the
+                                        // estimate was from. This will prevent us from discarding
+                                        // estimates that are just behind from the current
+                                        // position, since the Kalman filter correctly handles old
+                                        // estimates using the timestamp.
+                                        samplePoseAtTimestampFunction
+                                            // Get the pose at the timestamp using the passed in
+                                            // function.
+                                            .apply(estimatedRobotPose.timestampSeconds)
+                                            // If the pose was empty, default to the current pose.
+                                            .orElse(BaseRobotState.robotPose)
+                                            // Get the rotation of the pose.
+                                            .getRotation()
+                                    )
                                     .getRadians()
                             )
                         ) < visionEstimateAngleThresholdRadians
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/CTRESwerveDrivetrainImpl.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/CTRESwerveDrivetrainImpl.java
index dd0c26c9..cebce4d7 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/CTRESwerveDrivetrainImpl.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/CTRESwerveDrivetrainImpl.java
@@ -30,6 +30,8 @@
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 
+import java.util.Optional;
+
 import static com.team1816.lib.BaseConstants.DrivetrainConstants;
 import static com.team1816.lib.Singleton.factory;
 import static com.team1816.lib.util.FormatUtils.GetDisplay;
@@ -249,6 +251,17 @@ private void configureAutoBuilder() {
         );
     }
 
+    /**
+     * Return the pose at a given timestamp, if the buffer is not empty.
+     *
+     * @param timestampSeconds The pose's timestamp. This should be an FGPA timestamp.
+     * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
+     */
+    @Override
+    public Optional<Pose2d> samplePoseAt(double timestampSeconds) {
+        return super.samplePoseAt(Utils.fpgaToCurrentTime(timestampSeconds));
+    }
+
     /**
      * Adds vision measurements to CTRE's SwerveDrivetrain to combine with odometry data to
      * estimate the drivetrain pose. This method takes in an FGPA timestamp for the vision estimate
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java
index 70aac426..bed65429 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java
@@ -10,6 +10,8 @@
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 
+import java.util.Optional;
+
 import static com.team1816.lib.Singleton.factory;
 
 public interface IDrivetrain extends ITestableSubsystem {
@@ -61,6 +63,14 @@ default KinematicsConfig getKinematicsConfig() {
 
     default void setSwerveState(SwerveRequest request) {}
 
+    /**
+     * Return the pose at a given timestamp, if the buffer is not empty.
+     *
+     * @param timestampSeconds The pose's timestamp. This should be an FGPA timestamp.
+     * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
+     */
+    Optional<Pose2d> samplePoseAt(double timestampSeconds);
+
     /**
      * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
      * while still accounting for measurement noise.
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
index 28d366c3..8ee4ce72 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
@@ -16,6 +16,8 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
+import java.util.Optional;
+
 import static com.team1816.lib.Singleton.factory;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
@@ -156,6 +158,16 @@ public void resetPose(Pose2d pose) {
         drivetrain.resetPose(pose);
     }
 
+    /**
+     * Return the pose at a given timestamp, if the buffer is not empty.
+     *
+     * @param timestampSeconds The pose's timestamp. This should be an FGPA timestamp.
+     * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
+     */
+    public Optional<Pose2d> samplePoseAt(double timestampSeconds) {
+        return drivetrain.samplePoseAt(timestampSeconds);
+    }
+
     /**
      * Adds a vision measurement to the Kalman Filter. This will correct the
      * odometry pose estimate while still accounting for measurement noise.

From 4a3e3150d2684bd0b59aecef5e2a96f520e8641d Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Tue, 21 Apr 2026 22:40:11 -0500
Subject: [PATCH 29/36] remove turret dead zone

---
 .../com/team1816/season/subsystems/Shooter.java    | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 1513c18c..2a96b53f 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -62,7 +62,6 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
      */
     private double wantedTurretAngleDegrees = 0;
     private boolean isTurretCalibrated = false;
-    private boolean isTurretAimingInDeadZone = false;
     /**
      * The angle to point the turret at when {@link #autoAimTurret} is false (in degrees).
      */
@@ -263,7 +262,6 @@ public Shooter() {
 
         GreenLogger.periodicLog(NAME + "/turret/Aimed", this::isTurretAimed);
         GreenLogger.periodicLog(NAME + "/turret/Calibrated", () -> isTurretCalibrated);
-        GreenLogger.periodicLog(NAME + "/turret/Aiming in Dead Zone", () -> isTurretAimingInDeadZone);
         GreenLogger.periodicLog(NAME + "/turret/Left Sensor Triggered", () -> leftSensorTriggered);
         GreenLogger.periodicLog(NAME + "/turret/Right Sensor Triggered", () -> rightSensorTriggered);
         GreenLogger.periodicLog(NAME + "/turret/Fixed Angle Degrees", () -> turretFixedAngleDegrees);
@@ -688,17 +686,7 @@ private void setTurretAngle(double wantedAngleDegrees) {
                 OPPOSITE_OF_DEAD_ZONE_POSITION_ROTATIONS + 0.5
             );
 
-            // Clamp the position between the first and fourth beam break positions.
-            double lowerLimitRotations = FIRST_BEAM_BREAK_POSITION_ROTATIONS;
-            double upperLimitRotations = FOURTH_BEAM_BREAK_POSITION_ROTATIONS;
-            isTurretAimingInDeadZone = wrappedWantedRotations < lowerLimitRotations || wrappedWantedRotations > upperLimitRotations;
-            double clampedMotorRotations = MathUtil.clamp(
-                wrappedWantedRotations,
-                lowerLimitRotations,
-                upperLimitRotations
-            );
-
-            turretMotor.setControl(turretMotorPositionRequest.withPosition(clampedMotorRotations));
+            turretMotor.setControl(turretMotorPositionRequest.withPosition(wrappedWantedRotations));
         }
     }
 

From ff7f8cda11709caa686fd196d8c4036263011be7 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Tue, 21 Apr 2026 23:13:39 -0500
Subject: [PATCH 30/36] add angular speed limit while shooting

---
 .../lib/subsystems/drivetrain/Swerve.java     | 20 ++++++++++++-------
 .../season/subsystems/Superstructure.java     |  5 +++--
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
index b639b1ba..d8ca2ff5 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
@@ -51,7 +51,8 @@ public class Swerve extends SubsystemBase implements ITestableSubsystem {
     private final double SLOW_MODE_TRANSLATIONAL_MULTIPLIER;
     private final double SLOW_MODE_ROTATIONAL_MULTIPLIER;
 
-    private double speedLimitMPS = 0;
+    private double linearSpeedLimitMPS = 0;
+    private double angularSpeedLimitRadPerSec = 0;
     private boolean limitSpeed = false;
 
     public Swerve(CommandXboxController controller) {
@@ -126,13 +127,15 @@ private SwerveRequest GetSwerverCommand(SwerveRequest.FieldCentric drive) {
             double speedSquared = x * x + y * y;
             // Compare the speeds squared because it is slightly faster than using Math.sqrt() if
             // we don't need to
-            if (speedSquared > speedLimitMPS * speedLimitMPS) {
+            if (speedSquared > linearSpeedLimitMPS * linearSpeedLimitMPS) {
                 double speed = Math.sqrt(speedSquared);
-                double ratio = speedLimitMPS / speed;
+                double ratio = linearSpeedLimitMPS / speed;
                 // Scale down the x and y velocity components to limit the overall speed
                 x *= ratio;
                 y *= ratio;
             }
+            // Cap the angular speed
+            rot = Math.min(rot, angularSpeedLimitRadPerSec);
         }
 
         return drive.withVelocityX(x) // Drive forward with negative Y (forward)
@@ -186,18 +189,21 @@ public void resetPose(Pose2d pose) {
      * slowing down driving for more precise control, use the slow mode and normal mode multipliers
      * instead.
      *
-     * @param speedLimitMPS The speed to limit driving to, in meters per second.
+     * @param linearSpeedLimitMPS The linear speed to limit driving to, in meters per second.
+     * @param angularSpeedLimitRadPerSec The angular speed to limit turning to, in radians per
+     *                                   second.
      * @see #stopLimitingDriveSpeed()
      */
-    public void limitDriveSpeed(double speedLimitMPS) {
-        this.speedLimitMPS = speedLimitMPS;
+    public void limitDriveSpeed(double linearSpeedLimitMPS, double angularSpeedLimitRadPerSec) {
+        this.linearSpeedLimitMPS = linearSpeedLimitMPS;
+        this.angularSpeedLimitRadPerSec = angularSpeedLimitRadPerSec;
         limitSpeed = true;
     }
 
     /**
      * Stop applying the hard maximum to the drive speed.
      *
-     * @see #limitDriveSpeed(double)
+     * @see #limitDriveSpeed(double, double)
      */
     public void stopLimitingDriveSpeed() {
         limitSpeed = false;
diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java
index 1c611971..97e02830 100644
--- a/src/main/java/com/team1816/season/subsystems/Superstructure.java
+++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java
@@ -222,9 +222,10 @@ private void defaulting() {
 
         // Limit the drive speed if we are trying to shoot and in teleop. In auto, the speed should
         // be handled by the path.
-        double shootingSpeedLimitMPS = 3;
+        double shootingLinearSpeedLimitMPS = 3;
+        double shootingAngularSpeedLimitRadPerSec = 1.5;
         if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop()) {
-            swerve.limitDriveSpeed(shootingSpeedLimitMPS);
+            swerve.limitDriveSpeed(shootingLinearSpeedLimitMPS, shootingAngularSpeedLimitRadPerSec);
         }
         else {
             swerve.stopLimitingDriveSpeed();

From b32a18969b4005788f28f456e79648b74444b667 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Wed, 22 Apr 2026 14:55:29 -0500
Subject: [PATCH 31/36] Added some logging and turned the distance to feet to
 help us measure needed rps.

---
 .../com/team1816/lib/subsystems/Vision.java   | 20 +++++++++++++++----
 .../team1816/season/subsystems/Shooter.java   |  2 +-
 2 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index a98890d7..c7c09935 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -2,6 +2,7 @@
 
 import com.team1816.lib.BaseRobotState;
 import com.team1816.lib.hardware.components.sensor.Camera;
+import com.team1816.lib.util.GreenLogger;
 import com.team1816.lib.util.RectangularBoundingBox;
 import com.team1816.season.Robot;
 import com.team1816.season.RobotState;
@@ -151,6 +152,17 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                     continue;
                 }
 
+                var pose =
+                    // Get the rotation of the robot at the timestamp when the
+                    // estimate was from. This will prevent us from discarding
+                    // estimates that are just behind from the current
+                    // position, since the Kalman filter correctly handles old
+                    // estimates using the timestamp.
+                    samplePoseAtTimestampFunction
+                        // Get the pose at the timestamp using the passed in
+                        // function.
+                        .apply(estimatedRobotPose.timestampSeconds);
+
                 // Only add the vision measurement to the list to return if it is within the angle
                 // threshold from the current pose estimate. This is to filter out unreasonable
                 // estimates caused by pose ambiguity (see here:
@@ -174,10 +186,7 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                                         // estimates that are just behind from the current
                                         // position, since the Kalman filter correctly handles old
                                         // estimates using the timestamp.
-                                        samplePoseAtTimestampFunction
-                                            // Get the pose at the timestamp using the passed in
-                                            // function.
-                                            .apply(estimatedRobotPose.timestampSeconds)
+                                            pose
                                             // If the pose was empty, default to the current pose.
                                             .orElse(BaseRobotState.robotPose)
                                             // Get the rotation of the pose.
@@ -211,6 +220,9 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                     // estimate, since single-tag estimates often have some normal flickering.
                     if (isMultiTag(estimatedRobotPose.strategy)) {
                         consecutiveDiscardedEstimates++;
+                        GreenLogger.log("Missed angle check " + consecutiveDiscardedEstimates + " vision degrees: " +
+                            visionEstimatedPose2d.getRotation().getDegrees() + " drive degrees: " +
+                            (pose.isEmpty() ? "no pose" : pose.get().getRotation().getDegrees()));
                         // The number of estimates to allow to be discarded before determining that we
                         // have lost a good pose estimate.
                         int discardsBeforePoseLoss = 5;
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 2a96b53f..403b8ef5 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -272,7 +272,7 @@ public Shooter() {
         GreenLogger.periodicLog(NAME + "/turret/calc/Target Pose", () -> turretTarget, Translation2d.struct);
         GreenLogger.periodicLog(NAME + "/turret/calc/Robot Pose", () -> BaseRobotState.robotPose, Pose2d.struct);
         GreenLogger.periodicLog(NAME + "/turret/calc/Shooter Offset", () -> SHOOTER_OFFSET, Translation3d.struct);
-        GreenLogger.periodicLog(NAME + "/turret/calc/Distance to Target", () -> turretPose.getTranslation().getDistance(turretTarget));
+        GreenLogger.periodicLog(NAME + "/turret/calc/Distance to Target", () -> Units.metersToFeet(turretPose.getTranslation().getDistance(turretTarget)));
         GreenLogger.periodicLog(NAME + "/turret/calc/Wanted Angle Degrees", () -> wantedTurretAngleDegrees);
         GreenLogger.periodicLog(NAME + "/turret/calc/Current Angle Degrees", () -> getCurrentRobotRelativeTurretRotation2d().getDegrees());
     }

From 9ccfd2a53386b83d94f3846f70eed8cf76c63d02 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 22 Apr 2026 17:41:47 -0500
Subject: [PATCH 32/36] change state std devs and increase launch velocities in
 table

---
 .../java/com/team1816/lib/BaseConstants.java   |  2 +-
 src/main/resources/yaml/ztldr.yml              | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/java/com/team1816/lib/BaseConstants.java b/src/main/java/com/team1816/lib/BaseConstants.java
index afb0f329..ab8cdb50 100644
--- a/src/main/java/com/team1816/lib/BaseConstants.java
+++ b/src/main/java/com/team1816/lib/BaseConstants.java
@@ -31,6 +31,6 @@ public static final class DrivetrainConstants {
          * used by the drivetrain can be set by using {@link
          * com.team1816.lib.subsystems.drivetrain.Swerve#setStateStdDevs(Matrix)}.
          */
-        public static final Matrix<N3, N1> defaultStateStdDevs = VecBuilder.fill(0.01, 0.01, 0.001);
+        public static final Matrix<N3, N1> defaultStateStdDevs = VecBuilder.fill(0.003, 0.003, 0.0005);
     }
 }
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 679e0518..2e2cb83a 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -18,14 +18,14 @@ shooterSettings:
         - 0.1113 # 264
         - 0.108 # 360
     launchVelocitiesRPS:
-        - 31 # 48
-        - 38 # 96
-        - 40 #120
-        - 42 # 156
-        - 45 # 204
-        - 47 #210
-        - 48 # 264
-        - 49 # 360
+        - 31.25 # 48
+        - 38.25 # 96
+        - 40.25 #120
+        - 42.25 # 156
+        - 45.25 # 204
+        - 47.25 #210
+        - 48.25 # 264
+        - 49.25 # 360
 linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert.
     linearVelocitiesMPS:
         - 10
@@ -225,7 +225,7 @@ subsystems:
                 id: 10
                 deviceType: CANcoder
         constants:
-            intakeOnSpeed: .35
+            intakeOnSpeed: .45
             intakeSlowSpeed: .1
             outtakeSpeed: -0.6
             flipperMotorOutPosition: 0.164 #0.166

From 7ff9d1abc88b2f4d25e6c051621dd53025ef2335 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 22 Apr 2026 17:48:35 -0500
Subject: [PATCH 33/36] increase launch velocities and intake speed

---
 src/main/resources/yaml/ztldr.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 2e2cb83a..7df379a3 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -18,14 +18,14 @@ shooterSettings:
         - 0.1113 # 264
         - 0.108 # 360
     launchVelocitiesRPS:
-        - 31.25 # 48
-        - 38.25 # 96
-        - 40.25 #120
-        - 42.25 # 156
-        - 45.25 # 204
-        - 47.25 #210
-        - 48.25 # 264
-        - 49.25 # 360
+        - 32 # 48
+        - 39 # 96
+        - 41 #120
+        - 43 # 156
+        - 46 # 204
+        - 48 #210
+        - 49 # 264
+        - 50 # 360
 linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert.
     linearVelocitiesMPS:
         - 10
@@ -225,7 +225,7 @@ subsystems:
                 id: 10
                 deviceType: CANcoder
         constants:
-            intakeOnSpeed: .45
+            intakeOnSpeed: .55
             intakeSlowSpeed: .1
             outtakeSpeed: -0.6
             flipperMotorOutPosition: 0.164 #0.166

From 43c657ec6c5ef8f86dca11698d18d64a84f27899 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 22 Apr 2026 18:14:28 -0500
Subject: [PATCH 34/36] merging

---
 src/main/deploy/choreo/DepotPickup.traj     | 201 ++++++++++----------
 src/main/deploy/choreo/DepotPickup_MWT.traj |   4 +-
 src/main/deploy/choreo/ZTLDR.chor           |   4 +-
 src/main/resources/yaml/ztldr.yml           |  30 +--
 4 files changed, 121 insertions(+), 118 deletions(-)

diff --git a/src/main/deploy/choreo/DepotPickup.traj b/src/main/deploy/choreo/DepotPickup.traj
index b7e0b305..f162a794 100644
--- a/src/main/deploy/choreo/DepotPickup.traj
+++ b/src/main/deploy/choreo/DepotPickup.traj
@@ -3,28 +3,34 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7, "y":6.0, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7, "y":5.96, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true},
-    {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
-    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":1.0488639902323484, "y":4.764838369563222, "r":0.5}}, "enabled":true}],
+    {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":1.0488639902323484, "y":4.764838369563222, "r":0.5}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":6.0}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true},
-    {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
-    {"from":0, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"1.0488639902323484 m", "val":1.0488639902323484}, "y":{"exp":"4.764838369563222 m", "val":4.764838369563222}, "r":{"exp":"0.5 m", "val":0.5}}}, "enabled":true}],
+    {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"1.0488639902323484 m", "val":1.0488639902323484}, "y":{"exp":"4.764838369563222 m", "val":4.764838369563222}, "r":{"exp":"0.5 m", "val":0.5}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -55,100 +61,89 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,3.93364],
+  "waypoints":[0.0,1.07324,2.39969,3.20956],
   "samples":[
-    {"t":0.0, "x":2.4, "y":4.04, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.0245, "ay":13.39215, "alpha":-0.20571, "fx":[-85.02956,-85.53693,-85.76547,-85.2573], "fy":[189.9992,189.77161,189.6678,189.89649]},
-    {"t":0.04323, "x":2.39437, "y":4.05251, "heading":1.5708, "vx":-0.26042, "vy":0.5789, "omega":-0.00889, "ax":-0.61849, "ay":1.37209, "alpha":-21.86287, "fx":[7.4696,-24.75818,-25.47384,7.6938], "fy":[35.79334,35.3469,3.30568,3.35156]},
-    {"t":0.08645, "x":2.38254, "y":4.07882, "heading":1.57041, "vx":-0.28716, "vy":0.63821, "omega":-0.95395, "ax":-0.00109, "ay":-0.00049, "alpha":-0.13625, "fx":[0.08576,-0.11659,-0.11669,0.08565], "fy":[0.09418,0.09428,-0.10806,-0.10817]},
-    {"t":0.12968, "x":2.37012, "y":4.10641, "heading":1.52918, "vx":-0.2872, "vy":0.63819, "omega":-0.95984, "ax":-0.00113, "ay":-0.00051, "alpha":2.09363, "fx":[-1.63408,1.47257,1.60202,-1.50463], "fy":[-1.49581,-1.62527,1.48139,1.61084]},
-    {"t":0.17291, "x":2.35771, "y":4.13399, "heading":1.48768, "vx":-0.28725, "vy":0.63817, "omega":-0.86934, "ax":-0.00117, "ay":-0.00053, "alpha":2.74352, "fx":[-2.21594,1.84451,2.18285,-1.87761], "fy":[-1.8685,-2.20684,1.85362,2.19195]},
-    {"t":0.21613, "x":2.34529, "y":4.16158, "heading":1.45011, "vx":-0.2873, "vy":0.63814, "omega":-0.75075, "ax":-0.0012, "ay":-0.00054, "alpha":2.94804, "fx":[-2.45375,1.89267,2.41987,-1.92657], "fy":[-1.91724,-2.44444,1.902,2.42918]},
-    {"t":0.25936, "x":2.33287, "y":4.18916, "heading":1.41765, "vx":-0.28735, "vy":0.63812, "omega":-0.62331, "ax":-0.00122, "ay":-0.00055, "alpha":2.97366, "fx":[-2.53644,1.82819,2.50192,-1.86273], "fy":[-1.85323,-2.52695,1.83769,2.5114]},
-    {"t":0.30259, "x":2.32045, "y":4.21674, "heading":1.39071, "vx":-0.28741, "vy":0.6381, "omega":-0.49477, "ax":-0.00124, "ay":-0.00056, "alpha":2.89672, "fx":[-2.51913,1.71335,2.48389,-1.7486], "fy":[-1.7389,-2.50945,1.72304,2.49358]},
-    {"t":0.34581, "x":2.30802, "y":4.24433, "heading":1.36932, "vx":-0.28746, "vy":0.63807, "omega":-0.36956, "ax":-0.00127, "ay":-0.00057, "alpha":2.73692, "fx":[-2.41599,1.56652,2.3799,-1.60263], "fy":[-1.5927,-2.40607,1.57645,2.38981]},
-    {"t":0.38904, "x":2.29559, "y":4.27191, "heading":1.35335, "vx":-0.28751, "vy":0.63805, "omega":-0.25125, "ax":-0.00131, "ay":-0.00059, "alpha":2.51985, "fx":[-2.24932,1.40492,2.21222,-1.44203], "fy":[-1.43183,-2.23913,1.41512,2.22241]},
-    {"t":0.43227, "x":2.28316, "y":4.29949, "heading":1.34249, "vx":-0.28757, "vy":0.63802, "omega":-0.14232, "ax":-0.00135, "ay":-0.00061, "alpha":2.27221, "fx":[-2.04447,1.24254,2.00622,-1.2808], "fy":[-1.27028,-2.03397,1.25305,2.01673]},
-    {"t":0.47549, "x":2.27073, "y":4.32707, "heading":1.33633, "vx":-0.28763, "vy":0.638, "omega":-0.0441, "ax":-0.0014, "ay":-0.00063, "alpha":2.01836, "fx":[-1.82571,1.08986,1.78616,-1.12943], "fy":[-1.11856,-1.81485,1.10073,1.79702]},
-    {"t":0.51872, "x":2.2583, "y":4.35465, "heading":1.33443, "vx":-0.28769, "vy":0.63797, "omega":0.04314, "ax":-0.00145, "ay":-0.00065, "alpha":1.77559, "fx":[-1.61108,0.95264,1.57005,-0.99367], "fy":[-0.9824,-1.59981,0.96391,1.58132]},
-    {"t":0.56195, "x":2.24586, "y":4.38222, "heading":1.33629, "vx":-0.28775, "vy":0.63794, "omega":0.1199, "ax":-0.0015, "ay":-0.00068, "alpha":1.55385, "fx":[-1.41166,0.8329,1.36901,-0.87556], "fy":[-0.86384,-1.39995,0.84461,1.38072]},
-    {"t":0.60518, "x":2.23342, "y":4.4098, "heading":1.34148, "vx":-0.28782, "vy":0.63791, "omega":0.18706, "ax":-0.00157, "ay":-0.00071, "alpha":1.35814, "fx":[-1.23355,0.7307,1.18911,-0.77516], "fy":[-0.76295,-1.22135,0.74291,1.20131]},
-    {"t":0.6484, "x":2.22098, "y":4.43737, "heading":1.34956, "vx":-0.28789, "vy":0.63788, "omega":0.24577, "ax":-0.00164, "ay":-0.00074, "alpha":1.18877, "fx":[-1.07811,0.64438,1.0317,-0.6908], "fy":[-0.67806,-1.06538,0.65712,1.04443]},
-    {"t":0.69163, "x":2.20853, "y":4.46495, "heading":1.36019, "vx":-0.28796, "vy":0.63785, "omega":0.29716, "ax":-0.00171, "ay":-0.00077, "alpha":1.0447, "fx":[-0.94505,0.57222,0.89648,-0.62079], "fy":[-0.60746,-0.93173,0.58554,0.90981]},
-    {"t":0.73486, "x":2.19608, "y":4.49252, "heading":1.37303, "vx":-0.28803, "vy":0.63782, "omega":0.34232, "ax":-0.0018, "ay":-0.00081, "alpha":0.92314, "fx":[-0.83225,0.51205,0.78133,-0.56297], "fy":[-0.549,-0.81829,0.52601,0.7953]},
-    {"t":0.77808, "x":2.18363, "y":4.52009, "heading":1.38783, "vx":-0.28811, "vy":0.63778, "omega":0.38222, "ax":-0.00189, "ay":-0.00085, "alpha":0.8214, "fx":[-0.73745,0.4621,0.68398,-0.51557], "fy":[-0.50091,-0.72279,0.47676,0.69864]},
-    {"t":0.82131, "x":2.17117, "y":4.54766, "heading":1.40435, "vx":-0.28819, "vy":0.63774, "omega":0.41773, "ax":-0.00198, "ay":-0.0009, "alpha":0.73651, "fx":[-0.65806,0.42066,0.60181,-0.47692], "fy":[-0.46149,-0.64264,0.43608,0.61723]},
-    {"t":0.86454, "x":2.15872, "y":4.57522, "heading":1.42241, "vx":-0.28828, "vy":0.63771, "omega":0.44957, "ax":-0.00209, "ay":-0.00095, "alpha":0.66584, "fx":[-0.59172,0.3863,0.53243,-0.44559], "fy":[-0.42934,-0.57548,0.40255,0.54868]},
-    {"t":0.90776, "x":2.14625, "y":4.60279, "heading":1.44184, "vx":-0.28837, "vy":0.63767, "omega":0.47835, "ax":-0.00221, "ay":-0.001, "alpha":0.60697, "fx":[-0.53622,0.35775,0.47361,-0.42036], "fy":[-0.40321,-0.51907,0.3749,0.49076]},
-    {"t":0.95099, "x":2.13378, "y":4.63035, "heading":1.46252, "vx":-0.28846, "vy":0.63762, "omega":0.50459, "ax":-0.00234, "ay":-0.00106, "alpha":0.55775, "fx":[-0.48961,0.33389,0.42335,-0.40015], "fy":[-0.382,-0.47146,0.35203,0.44149]},
-    {"t":0.99422, "x":2.12131, "y":4.65791, "heading":1.48433, "vx":-0.28856, "vy":0.63758, "omega":0.5287, "ax":-0.00248, "ay":-0.00112, "alpha":0.51626, "fx":[-0.45015,0.31371,0.37987,-0.38399], "fy":[-0.36475,-0.43091,0.33295,0.39911]},
-    {"t":1.03744, "x":2.10884, "y":4.68547, "heading":1.50718, "vx":-0.28867, "vy":0.63753, "omega":0.55101, "ax":-0.00264, "ay":-0.00119, "alpha":0.48086, "fx":[-0.4164,0.29631,0.34165,-0.37105], "fy":[-0.3506,-0.39595,0.31676,0.36211]},
-    {"t":1.08067, "x":2.09636, "y":4.71303, "heading":1.531, "vx":-0.28878, "vy":0.63748, "omega":0.5718, "ax":-0.00281, "ay":-0.00127, "alpha":0.45003, "fx":[-0.38706,0.28077,0.30732,-0.36052], "fy":[-0.33871,-0.36525,0.30258,0.32913]},
-    {"t":1.1239, "x":2.08387, "y":4.74058, "heading":1.55572, "vx":-0.2889, "vy":0.63742, "omega":0.59125, "ax":-0.00301, "ay":-0.00137, "alpha":0.42255, "fx":[-0.36115,0.26633,0.27575,-0.35173], "fy":[-0.32838,-0.3378,0.28968,0.2991]},
-    {"t":1.16712, "x":2.07138, "y":4.76814, "heading":1.58128, "vx":-0.28904, "vy":0.63736, "omega":0.60952, "ax":-0.00324, "ay":-0.00147, "alpha":0.39723, "fx":[-0.33779,0.25213,0.24591,-0.34401], "fy":[-0.3189,-0.31268,0.27723,0.27102]},
-    {"t":1.21035, "x":2.05888, "y":4.79569, "heading":1.60762, "vx":-0.28918, "vy":0.6373, "omega":0.62669, "ax":-0.00351, "ay":-0.00159, "alpha":0.37322, "fx":[-0.31645,0.23746,0.21702,-0.3369], "fy":[-0.30974,-0.2893,0.26462,0.24417]},
-    {"t":1.25358, "x":2.04638, "y":4.82323, "heading":1.63471, "vx":-0.28933, "vy":0.63723, "omega":0.64282, "ax":-0.00382, "ay":-0.00174, "alpha":0.34966, "fx":[-0.29674,0.2215,0.1883,-0.32994], "fy":[-0.30034,-0.26714,0.2511,0.2179]},
-    {"t":1.2968, "x":2.03387, "y":4.85078, "heading":1.6625, "vx":-0.28949, "vy":0.63715, "omega":0.65794, "ax":-0.00421, "ay":-0.00191, "alpha":0.32606, "fx":[-0.27862,0.20359,0.15922,-0.32299], "fy":[-0.29042,-0.24605,0.23616,0.19179]},
-    {"t":1.34003, "x":2.02135, "y":4.87832, "heading":1.69094, "vx":-0.28967, "vy":0.63707, "omega":0.67203, "ax":-0.0047, "ay":-0.00214, "alpha":0.30194, "fx":[-0.2623,0.18288,0.12912,-0.31607], "fy":[-0.27976,-0.226,0.21919,0.16542]},
-    {"t":1.38326, "x":2.00883, "y":4.90585, "heading":1.71999, "vx":-0.28988, "vy":0.63698, "omega":0.68508, "ax":-0.00533, "ay":-0.00243, "alpha":0.27717, "fx":[-0.2485,0.15857,0.09737,-0.3097], "fy":[-0.26853,-0.20733,0.19974,0.13854]},
-    {"t":1.42648, "x":1.99629, "y":4.93339, "heading":1.74961, "vx":-0.29011, "vy":0.63687, "omega":0.69706, "ax":-0.00619, "ay":-0.00282, "alpha":0.25171, "fx":[-0.23842,0.12944,0.06294,-0.30492], "fy":[-0.25717,-0.19067,0.1772,0.1107]},
-    {"t":1.46971, "x":1.98374, "y":4.96091, "heading":1.77974, "vx":-0.29038, "vy":0.63675, "omega":0.70794, "ax":-0.00742, "ay":-0.00338, "alpha":0.22582, "fx":[-0.2344,0.09369,0.02411,-0.30397], "fy":[-0.2468,-0.17723,0.15085,0.08128]},
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+    {"t":2.15405, "x":0.92719, "y":5.96994, "heading":3.14137, "vx":-0.9997, "vy":-0.01347, "omega":0.00215, "ax":0.00006, "ay":-0.00411, "alpha":-0.0104, "fx":[-0.00693,-0.00693,0.00851,0.00851], "fy":[-0.05048,-0.06592,-0.06593,-0.05049]},
+    {"t":2.20318, "x":0.87807, "y":5.96928, "heading":3.14147, "vx":-0.9997, "vy":-0.01367, "omega":0.00164, "ax":0.00006, "ay":-0.00415, "alpha":-0.01302, "fx":[-0.00886,-0.00886,0.01048,0.01048], "fy":[-0.04911,-0.06845,-0.06845,-0.04911]},
+    {"t":2.25231, "x":0.82896, "y":5.9686, "heading":3.14156, "vx":-0.9997, "vy":-0.01388, "omega":0.001, "ax":0.00014, "ay":-0.00998, "alpha":-0.01538, "fx":[-0.00942,-0.00942,0.01342,0.01342], "fy":[-0.13002,-0.15286,-0.15286,-0.13002]},
+    {"t":2.30143, "x":0.77985, "y":5.96791, "heading":-3.14158, "vx":-0.99969, "vy":-0.01437, "omega":0.00025, "ax":0.18262, "ay":-1.83716, "alpha":-0.01499, "fx":[2.5774,2.57733,2.59993,2.6], "fy":[-26.03084,-26.05276,-26.05269,-26.03077]},
+    {"t":2.35056, "x":0.73095, "y":5.96498, "heading":-3.14157, "vx":-0.99072, "vy":-0.10462, "omega":-0.00049, "ax":14.68179, "ay":0.12848, "alpha":0.0074, "fx":[208.11446,208.11427,208.11424,208.11443], "fy":[1.81015,1.83209,1.83228,1.81034]},
+    {"t":2.39969, "x":0.7, "y":5.96, "heading":3.14159, "vx":-0.26944, "vy":-0.09831, "omega":-0.00013, "ax":14.68602, "ay":0.15901, "alpha":0.00005, "fx":[208.17432,208.17432,208.17432,208.17432], "fy":[2.25394,2.2541,2.2541,2.25394]},
+    {"t":2.45368, "x":0.70686, "y":5.95492, "heading":3.14159, "vx":0.52348, "vy":-0.08972, "omega":-0.00012, "ax":14.67293, "ay":0.17108, "alpha":0.00006, "fx":[207.98885,207.98884,207.98884,207.98885], "fy":[2.42499,2.42518,2.42518,2.42499]},
+    {"t":2.50767, "x":0.75651, "y":5.95033, "heading":3.14158, "vx":1.31569, "vy":-0.08049, "omega":-0.00012, "ax":12.66649, "ay":1.79693, "alpha":0.00167, "fx":[179.54816,179.54764,179.54696,179.54749], "fy":[25.46907,25.47335,25.47388,25.46959]},
+    {"t":2.56166, "x":0.84601, "y":5.9486, "heading":3.14157, "vx":1.99957, "vy":0.01653, "omega":-0.00003, "ax":-0.00048, "ay":0.06203, "alpha":0.00124, "fx":[-0.00587,-0.00587,-0.00771,-0.00771], "fy":[0.87835,0.88018,0.88018,0.87835]},
+    {"t":2.61565, "x":0.95396, "y":5.94959, "heading":3.14157, "vx":1.99954, "vy":0.01988, "omega":0.00004, "ax":-0.00001, "ay":0.00055, "alpha":0.00013, "fx":[0.00002,0.00002,-0.00017,-0.00017], "fy":[0.00773,0.00791,0.00791,0.00773]},
+    {"t":2.66965, "x":1.06192, "y":5.95066, "heading":3.14157, "vx":1.99954, "vy":0.01991, "omega":0.00004, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[0.00001,0.00001,-0.00001,-0.00001], "fy":[0.00006,0.00008,0.00008,0.00006]},
+    {"t":2.72364, "x":1.16988, "y":5.95173, "heading":3.14158, "vx":1.99954, "vy":0.01991, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.77763, "x":1.27784, "y":5.95281, "heading":3.14158, "vx":1.99954, "vy":0.01991, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.83162, "x":1.3858, "y":5.95388, "heading":3.14158, "vx":1.99954, "vy":0.01991, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.88561, "x":1.49375, "y":5.95496, "heading":3.14158, "vx":1.99954, "vy":0.01991, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.9396, "x":1.60171, "y":5.95603, "heading":3.14159, "vx":1.99954, "vy":0.01991, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[-0.00001,-0.00001,0.00001,0.00001], "fy":[0.00001,-0.00001,-0.00001,0.00001]},
+    {"t":2.99359, "x":1.70967, "y":5.95711, "heading":3.14159, "vx":1.99954, "vy":0.01991, "omega":0.00004, "ax":-0.00002, "ay":0.0, "alpha":-0.00012, "fx":[-0.00033,-0.00033,-0.00015,-0.00015], "fy":[0.00009,-0.00009,-0.00009,0.00009]},
+    {"t":3.04758, "x":1.81763, "y":5.95818, "heading":3.14159, "vx":1.99954, "vy":0.01991, "omega":0.00004, "ax":-7.67557, "ay":-0.07643, "alpha":-0.00068, "fx":[-108.80151,-108.80151,-108.80077,-108.80078], "fy":[-1.0827,-1.08399,-1.084,-1.08271]},
+    {"t":3.10158, "x":1.9144, "y":5.95915, "heading":3.14159, "vx":1.58513, "vy":0.01578, "omega":0.0, "ax":-14.67293, "ay":-0.1461, "alpha":-0.00001, "fx":[-207.98877,-207.98877,-207.98877,-207.98877], "fy":[-2.07096,-2.071,-2.071,-2.07096]},
+    {"t":3.15557, "x":1.97859, "y":5.95979, "heading":3.14159, "vx":0.79292, "vy":0.0079, "omega":0.0, "ax":-14.68608, "ay":-0.14623, "alpha":-0.00001, "fx":[-208.17521,-208.17521,-208.17521,-208.17521], "fy":[-2.07282,-2.07286,-2.07286,-2.07282]},
+    {"t":3.20956, "x":2.0, "y":5.96, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/DepotPickup_MWT.traj b/src/main/deploy/choreo/DepotPickup_MWT.traj
index b613c57e..d48feb6c 100644
--- a/src/main/deploy/choreo/DepotPickup_MWT.traj
+++ b/src/main/deploy/choreo/DepotPickup_MWT.traj
@@ -21,8 +21,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"CenterStop.x", "val":2.4}, "y":{"exp":"CenterStop.y", "val":4.035}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.4}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":5.4}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"5.4 m", "val":5.4}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 85995383..f9bf444f 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -81,8 +81,8 @@
      "val":0.7
     },
     "y":{
-     "exp":"6 m",
-     "val":6.0
+     "exp":"5.96 m",
+     "val":5.96
     },
     "heading":{
      "exp":"180 deg",
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index c5385317..afdc6f46 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -18,14 +18,21 @@ shooterSettings:
         - 0.1113 # 264
         - 0.108 # 360
     launchVelocitiesRPS:
-        - 31 # 48
-        - 38 # 96
-        - 40 #120
-        - 42 # 156
-        - 45 # 204
-        - 47 #210
-        - 48 # 264
-        - 49 # 360
+        - 32 # 48
+        - 39 # 96
+        - 41 #120
+        - 43 # 156
+        - 46 # 204
+        - 48 #210
+        - 49 # 264
+        - 50 # 360
+linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert.
+    linearVelocitiesMPS:
+        - 10
+        - 20
+    launchVelocitiesRPS:
+        - 20
+        - 40
 subsystems:
     drivetrain:
         implemented: true
@@ -135,8 +142,9 @@ subsystems:
                 kV: 2.66
                 kS: 0.1
         kinematics:
-            driveGearing: 6.03
-            steerGearing: 26.0909
+            driveGearing: 6.026785714285714
+            steerGearing: 26.09090909090909
+            couplingGearRatio: 3.857142857142857
             wheelbaseLength: .505 # meters
             wheelbaseWidth: .505 # meters
             robotMass: 74.088 # kg
@@ -218,7 +226,7 @@ subsystems:
                 id: 10
                 deviceType: CANcoder
         constants:
-            intakeOnSpeed: .35
+            intakeOnSpeed: .5
             intakeSlowSpeed: .1
             outtakeSpeed: -0.6
             flipperMotorOutPosition: 0.164 #0.166

From 84cbcee172258822469709a8c05bf41ae0a68ea8 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 22 Apr 2026 18:56:22 -0500
Subject: [PATCH 35/36] depot auto

---
 src/main/deploy/choreo/BumpIIfuelShoot.traj   | 1344 +++++++-----
 src/main/deploy/choreo/CentershootDepot.traj  |  267 +--
 src/main/deploy/choreo/CenterstartBackup.traj |  718 +++---
 .../deploy/choreo/CenterstartCentershoot.traj |  192 +-
 .../deploy/choreo/CloserShootIIfuelPark.traj  | 1300 ++++++-----
 .../deploy/choreo/CloserShootIfuelPark.traj   |   12 +-
 .../choreo/ClosershootIfuelOutpost.traj       | 1945 +++++++++--------
 src/main/deploy/choreo/DepotPickup.traj       |  150 --
 src/main/deploy/choreo/DepotPickup_MWT.traj   |  166 --
 src/main/deploy/choreo/DepotShoot.traj        |   79 +
 src/main/deploy/choreo/Orbit.traj             | 1524 +++++++------
 .../deploy/choreo/PlayerStationPickup.traj    |  640 +++---
 src/main/deploy/choreo/ShootHubfuelShoot.traj |  337 +--
 src/main/deploy/choreo/ShootIIfuelPark.traj   |  873 ++++----
 src/main/deploy/choreo/ShootIIfuelShoot.traj  | 1043 +++++----
 src/main/deploy/choreo/ShootIfuelPark.traj    | 1063 +++++----
 src/main/deploy/choreo/ShootIfuelShoot.traj   | 1234 ++++++-----
 src/main/deploy/choreo/ShootPark.traj         |  149 +-
 .../choreo/SnowblowingStartIIfuelShoot.traj   | 1028 +++++----
 .../deploy/choreo/StartIIfuelClosershoot.traj | 1273 ++++++-----
 src/main/deploy/choreo/StartIIfuelShoot.traj  |  359 +--
 src/main/deploy/choreo/ZTLDR.chor             |   12 +-
 .../pathplanner/autos/[DM] Depot Pickup.auto  |   34 +-
 23 files changed, 8738 insertions(+), 7004 deletions(-)
 delete mode 100644 src/main/deploy/choreo/DepotPickup.traj
 delete mode 100644 src/main/deploy/choreo/DepotPickup_MWT.traj
 create mode 100644 src/main/deploy/choreo/DepotShoot.traj

diff --git a/src/main/deploy/choreo/BumpIIfuelShoot.traj b/src/main/deploy/choreo/BumpIIfuelShoot.traj
index f7f093a5..6cda6fe4 100644
--- a/src/main/deploy/choreo/BumpIIfuelShoot.traj
+++ b/src/main/deploy/choreo/BumpIIfuelShoot.traj
@@ -3,13 +3,13 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.428030252456665, "y":6.918483734130859, "heading":3.141592653589793, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":65, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.6, "y":5.06, "heading":3.141592653589793, "intervals":87, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.428030252456665, "y":6.918483734130859, "heading":3.141592653589793, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.399157762527466, "y":7.452416896820068, "heading":3.141592653589793, "intervals":98, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.41403624535, "heading":3.141592653589793, "intervals":149, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -23,13 +23,13 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.428030252456665 m", "val":3.428030252456665}, "y":{"exp":"6.918483734130859 m", "val":6.918483734130859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.399157762527466 m", "val":3.399157762527466}, "y":{"exp":"7.452416896820068 m", "val":7.452416896820068}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":65, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.70665979385376 m", "val":5.70665979385376}, "y":{"exp":"7.41403624535 m", "val":7.41403624535}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"BumpStart.x", "val":3.6}, "y":{"exp":"BumpStart.y", "val":5.06}, "heading":{"exp":"BumpStart.heading", "val":3.141592653589793}, "intervals":87, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.428030252456665 m", "val":3.428030252456665}, "y":{"exp":"6.918483734130859 m", "val":6.918483734130859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.399157762527466 m", "val":3.399157762527466}, "y":{"exp":"7.452416896820068 m", "val":7.452416896820068}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":98, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.70665979385376 m", "val":5.70665979385376}, "y":{"exp":"7.41403624535 m", "val":7.41403624535}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":149, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -58,8 +58,8 @@
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    "gearing":6.03,
    "radius":0.0508,
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-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
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    "bumper":{
     "front":0.4305,
@@ -69,553 +69,773 @@
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+    {"t":5.04722, "x":4.31822, "y":7.42328, "heading":3.14149, "vx":-2.49557, "vy":-0.0502, "omega":0.00068, "ax":9.82833, "ay":0.23204, "alpha":-0.00132, "fx":[139.31651,139.3166,139.31665,139.31656], "fy":[3.29119,3.28733,3.28724,3.2911]},
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+    {"t":5.29176, "x":4.00287, "y":7.41731, "heading":3.14159, "vx":-0.08072, "vy":-0.00136, "omega":0.00003, "ax":9.90281, "ay":0.16636, "alpha":-0.00355, "fx":[140.37224,140.37242,140.37247,140.3723], "fy":[2.36349,2.353,2.35283,2.36332]},
+    {"t":5.29991, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0,151]
  },
  "events":[]
 }
diff --git a/src/main/deploy/choreo/CentershootDepot.traj b/src/main/deploy/choreo/CentershootDepot.traj
index 865f6ee7..a0492d19 100644
--- a/src/main/deploy/choreo/CentershootDepot.traj
+++ b/src/main/deploy/choreo/CentershootDepot.traj
@@ -3,34 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.85, "y":4.035, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.6, "y":5.965311527252197, "heading":3.141592653589793, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.5010052919387817, "y":5.965311527252197, "heading":3.141592653589793, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.6, "y":5.965311527252197, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":4.0}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterShoot.x", "val":2.85}, "y":{"exp":"CenterShoot.y", "val":4.035}, "heading":{"exp":"CenterShoot.heading", "val":3.141592653589793}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.6 m", "val":1.6}, "y":{"exp":"Depot.y", "val":5.965311527252197}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"Depot.x", "val":0.5010052919387817}, "y":{"exp":"Depot.y", "val":5.965311527252197}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.6 m", "val":1.6}, "y":{"exp":"Depot.y", "val":5.965311527252197}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"4 m / s ^ 2", "val":4.0}}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -50,8 +46,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -61,134 +57,111 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.41199,3.69555,6.00941],
+  "waypoints":[0.0,1.14405,4.1392],
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+    {"t":3.9919, "x":0.58079, "y":5.96039, "heading":-3.14148, "vx":-0.49989, "vy":-0.00324, "omega":-0.00094, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[0.00001,0.00001,-0.00001,-0.00001], "fy":[-0.00001,0.00001,0.00001,-0.00001]},
+    {"t":4.041, "x":0.55625, "y":5.96023, "heading":-3.14152, "vx":-0.49989, "vy":-0.00324, "omega":-0.00094, "ax":0.23617, "ay":0.00153, "alpha":0.00994, "fx":[3.35506,3.35506,3.34031,3.34031], "fy":[0.0143,0.02908,0.02907,0.0143]},
+    {"t":4.0901, "x":0.53199, "y":5.96008, "heading":-3.14157, "vx":-0.48829, "vy":-0.00316, "omega":-0.00045, "ax":9.94467, "ay":0.06443, "alpha":0.00918, "fx":[140.96581,140.96563,140.96561,140.96578], "fy":[0.89955,0.92678,0.92696,0.89972]},
+    {"t":4.1392, "x":0.52, "y":5.96, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/CenterstartBackup.traj b/src/main/deploy/choreo/CenterstartBackup.traj
index 947d973f..abe9175f 100644
--- a/src/main/deploy/choreo/CenterstartBackup.traj
+++ b/src/main/deploy/choreo/CenterstartBackup.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":4.035, "heading":1.5707963267948966, "intervals":349, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.6, "y":4.035, "heading":1.5707963267948966, "intervals":357, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":349, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":357, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -40,8 +40,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -51,358 +51,366 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.76604],
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+    {"t":1.76899, "x":2.40198, "y":4.03999, "heading":1.5708, "vx":-0.19771, "vy":0.00082, "omega":0.0, "ax":9.85182, "ay":-0.04105, "alpha":0.0, "fx":[139.64951,139.64951,139.64951,139.64951], "fy":[-0.58187,-0.58187,-0.58187,-0.58187]},
+    {"t":1.774, "x":2.40112, "y":4.04, "heading":1.5708, "vx":-0.14834, "vy":0.00062, "omega":0.0, "ax":9.86025, "ay":-0.04108, "alpha":0.0, "fx":[139.76902,139.76902,139.76902,139.76902], "fy":[-0.58237,-0.58237,-0.58237,-0.58237]},
+    {"t":1.77901, "x":2.4005, "y":4.04, "heading":1.5708, "vx":-0.09893, "vy":0.00041, "omega":0.0, "ax":9.86739, "ay":-0.04111, "alpha":0.0, "fx":[139.87021,139.87021,139.87021,139.87021], "fy":[-0.58279,-0.58279,-0.58279,-0.58279]},
+    {"t":1.78402, "x":2.40012, "y":4.04, "heading":1.5708, "vx":-0.04948, "vy":0.00021, "omega":0.0, "ax":9.87351, "ay":-0.04114, "alpha":0.0, "fx":[139.95699,139.95699,139.95699,139.95699], "fy":[-0.58315,-0.58315,-0.58315,-0.58315]},
+    {"t":1.78904, "x":2.4, "y":4.04, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/CenterstartCentershoot.traj b/src/main/deploy/choreo/CenterstartCentershoot.traj
index 582af907..b797f7a8 100644
--- a/src/main/deploy/choreo/CenterstartCentershoot.traj
+++ b/src/main/deploy/choreo/CenterstartCentershoot.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.6, "y":4.035, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.85, "y":4.035, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"CenterShoot.x", "val":2.85}, "y":{"exp":"CenterShoot.y", "val":4.035}, "heading":{"exp":"CenterShoot.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -38,8 +38,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -49,79 +49,119 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.45449],
+  "waypoints":[0.0,0.55329],
   "samples":[
-    {"t":0.0, "x":3.6, "y":4.035, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-14.60928, "ay":0.0, "alpha":0.0, "fx":[-207.0866,-207.0866,-207.0866,-207.0866], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.00649, "x":3.59969, "y":4.035, "heading":3.14159, "vx":-0.09485, "vy":0.0, "omega":0.0, "ax":-14.60658, "ay":0.0, "alpha":0.0, "fx":[-207.04822,-207.04822,-207.04822,-207.04822], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.01299, "x":3.59877, "y":4.035, "heading":3.14159, "vx":-0.18969, "vy":0.0, "omega":0.0, "ax":-14.6037, "ay":0.0, "alpha":0.0, "fx":[-207.00749,-207.00749,-207.00749,-207.00749], "fy":[0.0,0.0,0.0,0.0]},
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diff --git a/src/main/deploy/choreo/CloserShootIIfuelPark.traj b/src/main/deploy/choreo/CloserShootIIfuelPark.traj
index 74ddaabf..d432e1ea 100644
--- a/src/main/deploy/choreo/CloserShootIIfuelPark.traj
+++ b/src/main/deploy/choreo/CloserShootIIfuelPark.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -20,11 +20,11 @@
  },
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+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":155, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -52,8 +52,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -63,569 +63,721 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.9679,2.53506,3.13037,3.72172,4.56143],
+  "waypoints":[0.0,1.98681,2.68656,3.4225,4.1539,5.18402],
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+    {"t":5.18402, "x":6.59587, "y":6.85592, "heading":-0.7854, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/CloserShootIfuelPark.traj b/src/main/deploy/choreo/CloserShootIfuelPark.traj
index d9e53f81..77236b57 100644
--- a/src/main/deploy/choreo/CloserShootIfuelPark.traj
+++ b/src/main/deploy/choreo/CloserShootIfuelPark.traj
@@ -22,12 +22,12 @@
  },
  "params":{
   "waypoints":[
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-    {"x":{"exp":"3.4878811836242676 m", "val":3.4878811836242676}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.829519748687744 m", "val":5.829519748687744}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.913897609710693 m", "val":7.913897609710693}, "y":{"exp":"7.092910289764404 m", "val":7.092910289764404}, "heading":{"exp":"250 deg", "val":4.363323129985824}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":125, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":168, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
diff --git a/src/main/deploy/choreo/ClosershootIfuelOutpost.traj b/src/main/deploy/choreo/ClosershootIfuelOutpost.traj
index c290e16d..6e41f94d 100644
--- a/src/main/deploy/choreo/ClosershootIfuelOutpost.traj
+++ b/src/main/deploy/choreo/ClosershootIfuelOutpost.traj
@@ -3,12 +3,12 @@
  "version":3,
  "snapshot":{
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-    {"x":3.358118772506714, "y":7.3674116134643555, "heading":3.141592653589793, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-    {"x":8.65, "y":6.8, "heading":4.363323129985824, "intervals":85, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.675616264343262, "y":3.9544076919555664, "heading":4.1887902047863905, "intervals":230, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.29848861694336, "y":0.6733983755111694, "heading":3.1590459461097367, "intervals":164, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":191, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.358118772506714, "y":7.3674116134643555, "heading":3.141592653589793, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.084970951080322, "y":7.395205497741699, "heading":3.141592653589793, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65, "y":6.8, "heading":4.363323129985824, "intervals":127, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":8.29848861694336, "y":0.6733983755111694, "heading":3.1590459461097367, "intervals":227, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -24,12 +24,12 @@
  },
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-    {"x":{"exp":"3.358118772506714 m", "val":3.358118772506714}, "y":{"exp":"7.3674116134643555 m", "val":7.3674116134643555}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"IOuterFuel.y", "val":6.8}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":85, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"CloserShoot.x", "val":2.6558}, "y":{"exp":"CloserShoot.y", "val":5.7011}, "heading":{"exp":"CloserShoot.heading", "val":3.141592653589793}, "intervals":191, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.358118772506714 m", "val":3.358118772506714}, "y":{"exp":"7.3674116134643555 m", "val":7.3674116134643555}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":108, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.084970951080322 m", "val":6.084970951080322}, "y":{"exp":"7.395205497741699 m", "val":7.395205497741699}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":158, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"IOuterFuel.y", "val":6.8}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":127, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"8.29848861694336 m", "val":8.29848861694336}, "y":{"exp":"0.6733983755111694 m", "val":0.6733983755111694}, "heading":{"exp":"181 deg", "val":3.1590459461097367}, "intervals":227, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -60,8 +60,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -71,864 +71,1069 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.85065,2.49122,3.16183,3.80995,5.68381,7.34839],
+  "waypoints":[0.0,1.86971,2.66474,3.50168,4.29444,6.19061,8.28316],
   "samples":[
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+    {"t":8.10801, "x":1.07752, "y":0.56259, "heading":3.13987, "vx":-1.73329, "vy":-0.0266, "omega":0.01761, "ax":9.87887, "ay":0.15159, "alpha":-0.07961, "fx":[140.03024,140.03382,140.0356,140.03204], "fy":[2.26826,2.0334,2.02962,2.26409]},
+    {"t":8.11723, "x":1.06196, "y":0.56235, "heading":3.14003, "vx":-1.64223, "vy":-0.0252, "omega":0.01687, "ax":9.88155, "ay":0.15164, "alpha":-0.08264, "fx":[140.06826,140.07197,140.07376,140.07006], "fy":[2.27341,2.02954,2.02566,2.2691]},
+    {"t":8.12645, "x":1.04724, "y":0.56213, "heading":3.14019, "vx":-1.55113, "vy":-0.0238, "omega":0.01611, "ax":9.88405, "ay":0.15167, "alpha":-0.08549, "fx":[140.1036,140.10745,140.10923,140.1054], "fy":[2.27824,2.02589,2.02192,2.27382]},
+    {"t":8.13567, "x":1.03336, "y":0.56191, "heading":3.14034, "vx":-1.46002, "vy":-0.0224, "omega":0.01532, "ax":9.88638, "ay":0.15171, "alpha":-0.08818, "fx":[140.13653,140.1405,140.14228,140.13833], "fy":[2.28281,2.02244,2.01838,2.27828]},
+    {"t":8.14488, "x":1.02032, "y":0.56171, "heading":3.14048, "vx":-1.36889, "vy":-0.02101, "omega":0.01451, "ax":9.88855, "ay":0.15174, "alpha":-0.09073, "fx":[140.16729,140.17138,140.17316,140.16909], "fy":[2.28713,2.01915,2.01502,2.2825]},
+    {"t":8.1541, "x":1.00812, "y":0.56153, "heading":3.14061, "vx":-1.27773, "vy":-0.01961, "omega":0.01367, "ax":9.89059, "ay":0.15177, "alpha":-0.09316, "fx":[140.1961,140.20029,140.20206,140.19788], "fy":[2.29123,2.01602,2.01183,2.2865]},
+    {"t":8.16332, "x":0.99676, "y":0.56135, "heading":3.14074, "vx":-1.18656, "vy":-0.01821, "omega":0.01282, "ax":9.8925, "ay":0.1518, "alpha":-0.09547, "fx":[140.22311,140.22742,140.22918,140.22489], "fy":[2.29512,2.01303,2.00878,2.2903]},
+    {"t":8.17254, "x":0.98625, "y":0.56119, "heading":3.14086, "vx":-1.09536, "vy":-0.01681, "omega":0.01194, "ax":9.89429, "ay":0.15183, "alpha":-0.09767, "fx":[140.24851,140.25292,140.25466,140.25027], "fy":[2.29883,2.01018,2.00586,2.29393]},
+    {"t":8.18176, "x":0.97657, "y":0.56104, "heading":3.14097, "vx":-1.00416, "vy":-0.01541, "omega":0.01104, "ax":9.89598, "ay":0.15186, "alpha":-0.09978, "fx":[140.27243,140.27694,140.27867,140.27418], "fy":[2.30238,2.00744,2.00306,2.29739]},
+    {"t":8.19098, "x":0.96773, "y":0.56091, "heading":3.14107, "vx":-0.91293, "vy":-0.01401, "omega":0.01012, "ax":9.89758, "ay":0.15188, "alpha":-0.1018, "fx":[140.295,140.29959,140.30131,140.29673], "fy":[2.30577,2.00481,2.00038,2.3007]},
+    {"t":8.20019, "x":0.95974, "y":0.56078, "heading":3.14116, "vx":-0.82169, "vy":-0.01261, "omega":0.00918, "ax":9.89908, "ay":0.1519, "alpha":-0.10373, "fx":[140.31632,140.32101,140.32271,140.31804], "fy":[2.30902,2.00228,1.9978,2.30387]},
+    {"t":8.20941, "x":0.95258, "y":0.56067, "heading":3.14125, "vx":-0.73044, "vy":-0.01121, "omega":0.00822, "ax":9.90051, "ay":0.15193, "alpha":-0.1056, "fx":[140.3365,140.34127,140.34296,140.33821], "fy":[2.31214,1.99984,1.99531,2.30692]},
+    {"t":8.21863, "x":0.94627, "y":0.56058, "heading":3.14132, "vx":-0.63918, "vy":-0.00981, "omega":0.00725, "ax":9.90186, "ay":0.15195, "alpha":-0.10739, "fx":[140.35562,140.36048,140.36215,140.35732], "fy":[2.31514,1.99748,1.99291,2.30985]},
+    {"t":8.22785, "x":0.9408, "y":0.56049, "heading":3.14139, "vx":-0.5479, "vy":-0.00841, "omega":0.00626, "ax":9.90314, "ay":0.15197, "alpha":-0.10912, "fx":[140.37378,140.37871,140.38037,140.37546], "fy":[2.31803,1.99521,1.99058,2.31267]},
+    {"t":8.23707, "x":0.93617, "y":0.56042, "heading":3.14145, "vx":-0.45661, "vy":-0.00701, "omega":0.00525, "ax":9.90436, "ay":0.15199, "alpha":-0.1108, "fx":[140.39103,140.39604,140.39768,140.39269], "fy":[2.32083,1.993,1.98833,2.3154]},
+    {"t":8.24629, "x":0.93238, "y":0.56036, "heading":3.14149, "vx":-0.36531, "vy":-0.00561, "omega":0.00423, "ax":9.90552, "ay":0.152, "alpha":-0.11242, "fx":[140.40744,140.41253,140.41416,140.40909], "fy":[2.32353,1.99086,1.98615,2.31803]},
+    {"t":8.2555, "x":0.92944, "y":0.56032, "heading":3.14153, "vx":-0.27399, "vy":-0.0042, "omega":0.00319, "ax":9.90663, "ay":0.15202, "alpha":-0.11399, "fx":[140.42308,140.42824,140.42985,140.42472], "fy":[2.32614,1.98879,1.98402,2.32058]},
+    {"t":8.26472, "x":0.92733, "y":0.56029, "heading":3.14156, "vx":-0.18267, "vy":-0.0028, "omega":0.00214, "ax":9.90768, "ay":0.15204, "alpha":-0.11551, "fx":[140.438,140.44323,140.44482,140.43962], "fy":[2.32868,1.98677,1.98195,2.32304]},
+    {"t":8.27394, "x":0.92607, "y":0.56027, "heading":3.14158, "vx":-0.09134, "vy":-0.0014, "omega":0.00108, "ax":9.90869, "ay":0.15205, "alpha":-0.117, "fx":[140.45224,140.45754,140.45912,140.45385], "fy":[2.33115,1.9848,1.97994,2.32544]},
+    {"t":8.28316, "x":0.92565, "y":0.56026, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[
-   {"name":"Stop Intake", "from":{"target":4, "targetTimestamp":3.80995, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"intake/stopOut"}}}]
+   {"name":"Stop Intake", "from":{"target":4, "targetTimestamp":4.29444, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"intake/stopOut"}}}]
 }
diff --git a/src/main/deploy/choreo/DepotPickup.traj b/src/main/deploy/choreo/DepotPickup.traj
deleted file mode 100644
index f162a794..00000000
--- a/src/main/deploy/choreo/DepotPickup.traj
+++ /dev/null
@@ -1,150 +0,0 @@
-{
- "name":"DepotPickup",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7, "y":5.96, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true},
-    {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":1.0488639902323484, "y":4.764838369563222, "r":0.5}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"CSMT.x", "val":2.4}, "y":{"exp":"CSMT.y", "val":4.04}, "heading":{"exp":"CSMT.heading", "val":1.5707963267948966}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DepotPickup.x", "val":0.7}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true},
-    {"from":0, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"1.0488639902323484 m", "val":1.0488639902323484}, "y":{"exp":"4.764838369563222 m", "val":4.764838369563222}, "r":{"exp":"0.5 m", "val":0.5}}}, "enabled":true},
-    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2525,
-    "y":0.2525
-   },
-   "backLeft":{
-    "x":-0.2525,
-    "y":0.2525
-   },
-   "mass":56.7,
-   "inertia":1.5,
-   "gearing":6.03,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
-   "cof":1.5,
-   "bumper":{
-    "front":0.4305,
-    "side":0.4305,
-    "back":0.4305
-   },
-   "differentialTrackWidth":0.5588
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.07324,2.39969,3.20956],
-  "samples":[
-    {"t":0.0, "x":2.4, "y":4.04, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.56398, "ay":14.44693, "alpha":2.70211, "fx":[-40.9832,-33.07951,-31.84317,-39.47154], "fy":[203.94138,205.369,205.57782,204.25265]},
-    {"t":0.02824, "x":2.39898, "y":4.04576, "heading":1.5708, "vx":-0.07241, "vy":0.40803, "omega":0.07632, "ax":-2.56446, "ay":14.4384, "alpha":2.81653, "fx":[-41.18659,-32.94724,-31.66517,-39.60577], "fy":[203.78154,205.27128,205.49164,204.11308]},
-    {"t":0.05649, "x":2.39591, "y":4.06304, "heading":1.57295, "vx":-0.14484, "vy":0.81581, "omega":0.15586, "ax":-2.5637, "ay":14.42183, "alpha":3.04108, "fx":[-41.55368,-32.65149,-31.30136,-39.85544], "fy":[203.4714,205.08271,205.32314,203.84043]},
-    {"t":0.08473, "x":2.3908, "y":4.09184, "heading":1.57735, "vx":-0.21725, "vy":1.22313, "omega":0.24175, "ax":-2.55805, "ay":14.37399, "alpha":3.6934, "fx":[-42.57146,-31.74218,-30.20517,-40.52253], "fy":[202.57107,204.53475,204.8387,203.06092]},
-    {"t":0.11297, "x":2.38364, "y":4.13212, "heading":1.58418, "vx":-0.2895, "vy":1.6291, "omega":0.34607, "ax":-2.15439, "ay":12.01114, "alpha":34.71468, "fx":[-85.1387,14.67831,8.7308,-60.42455], "fy":[152.18145,169.7494,183.95992,175.14083]},
-    {"t":0.14122, "x":2.3746, "y":4.18292, "heading":1.59396, "vx":-0.35034, "vy":1.96833, "omega":1.32652, "ax":-0.02745, "ay":-0.00371, "alpha":11.77514, "fx":[-8.92799,8.55484,8.15008,-9.33324], "fy":[-8.99533,-8.59311,8.89284,8.48512]},
-    {"t":0.16946, "x":2.3647, "y":4.23851, "heading":1.63142, "vx":-0.35112, "vy":1.96822, "omega":1.65908, "ax":-0.02194, "ay":-0.00391, "alpha":0.58917, "fx":[-0.72126,0.15214,0.09912,-0.77428], "fy":[-0.5187,-0.46569,0.40772,0.3547]},
-    {"t":0.1977, "x":2.35477, "y":4.29409, "heading":1.67828, "vx":-0.35174, "vy":1.96811, "omega":1.67573, "ax":-0.02318, "ay":-0.00414, "alpha":0.29699, "fx":[-0.52412,-0.08559,-0.13291,-0.57144], "fy":[-0.30164,-0.25433,0.18421,0.13689]},
-    {"t":0.22595, "x":2.34483, "y":4.34968, "heading":1.72561, "vx":-0.35239, "vy":1.968, "omega":1.68411, "ax":-0.02493, "ay":-0.00447, "alpha":0.30101, "fx":[-0.53982,-0.09811,-0.16705,-0.60875], "fy":[-0.31862,-0.24969,0.19202,0.12308]},
-    {"t":0.25419, "x":2.33487, "y":4.40526, "heading":1.77317, "vx":-0.3531, "vy":1.96787, "omega":1.69261, "ax":-0.02686, "ay":-0.00482, "alpha":0.31255, "fx":[-0.56146,-0.10675,-0.20005,-0.65476], "fy":[-0.34236,-0.24906,0.20565,0.11235]},
-    {"t":0.28243, "x":2.32488, "y":4.46084, "heading":1.82098, "vx":-0.35386, "vy":1.96773, "omega":1.70144, "ax":-0.02893, "ay":-0.00521, "alpha":0.32386, "fx":[-0.5836,-0.11759,-0.23667,-0.70268], "fy":[-0.36635,-0.24727,0.21875,0.09966]},
-    {"t":0.31067, "x":2.31488, "y":4.51641, "heading":1.86903, "vx":-0.35467, "vy":1.96759, "omega":1.71059, "ax":-0.03113, "ay":-0.00562, "alpha":0.33415, "fx":[-0.60559,-0.13123,-0.27705,-0.7514], "fy":[-0.3897,-0.24389,0.23047,0.08465]},
-    {"t":0.33892, "x":2.30485, "y":4.57198, "heading":1.91734, "vx":-0.35555, "vy":1.96743, "omega":1.72003, "ax":-0.03343, "ay":-0.00605, "alpha":0.34259, "fx":[-0.6267,-0.14815,-0.32097,-0.79951], "fy":[-0.4114,-0.23859,0.23996,0.06715]},
-    {"t":0.36716, "x":2.29479, "y":4.62754, "heading":1.96592, "vx":-0.3565, "vy":1.96726, "omega":1.7297, "ax":-0.03576, "ay":-0.00649, "alpha":0.3482, "fx":[-0.64599,-0.16871,-0.36776,-0.84504], "fy":[-0.43014,-0.23108,0.24621,0.04715]},
-    {"t":0.3954, "x":2.28471, "y":4.6831, "heading":2.01477, "vx":-0.35751, "vy":1.96707, "omega":1.73954, "ax":-0.03804, "ay":-0.00692, "alpha":0.34995, "fx":[-0.66231,-0.19297,-0.41622,-0.88555], "fy":[-0.44444,-0.2212,0.24815,0.0249]},
-    {"t":0.42365, "x":2.2746, "y":4.73865, "heading":2.0639, "vx":-0.35858, "vy":1.96688, "omega":1.74942, "ax":-0.04017, "ay":-0.00733, "alpha":0.34688, "fx":[-0.67437,-0.22058,-0.46444,-0.91823], "fy":[-0.4528,-0.20894,0.24486,0.00099]},
-    {"t":0.45189, "x":2.26445, "y":4.7942, "heading":2.11331, "vx":-0.35972, "vy":1.96667, "omega":1.75922, "ax":-0.042, "ay":-0.0077, "alpha":0.33829, "fx":[-0.68082,-0.25055,-0.50994,-0.9402], "fy":[-0.45392,-0.19453,0.23574,-0.02365]},
-    {"t":0.48013, "x":2.25428, "y":4.84974, "heading":2.163, "vx":-0.3609, "vy":1.96645, "omega":1.76877, "ax":-0.0434, "ay":-0.00798, "alpha":0.32398, "fx":[-0.68048,-0.28126,-0.54984,-0.94905], "fy":[-0.44701,-0.17844,0.22079,-0.04779]},
-    {"t":0.50838, "x":2.24407, "y":4.90528, "heading":2.21295, "vx":-0.36213, "vy":1.96623, "omega":1.77792, "ax":-0.04423, "ay":-0.00816, "alpha":0.30434, "fx":[-0.67258,-0.31062,-0.58133,-0.94329], "fy":[-0.43204,-0.16133,0.20063,-0.07008]},
-    {"t":0.53662, "x":2.23382, "y":4.96081, "heading":2.26317, "vx":-0.36338, "vy":1.966, "omega":1.78652, "ax":-0.04442, "ay":-0.00823, "alpha":0.28039, "fx":[-0.65694,-0.33641,-0.60224,-0.92277], "fy":[-0.4098,-0.14397,0.17657,-0.08926]},
-    {"t":0.56486, "x":2.22354, "y":5.01633, "heading":2.31362, "vx":-0.36463, "vy":1.96577, "omega":1.79444, "ax":-0.04393, "ay":-0.00817, "alpha":0.25355, "fx":[-0.63411,-0.35675,-0.61145,-0.8888], "fy":[-0.3818,-0.1271,0.15026,-0.10444]},
-    {"t":0.59311, "x":2.21323, "y":5.07185, "heading":2.36431, "vx":-0.36587, "vy":1.96554, "omega":1.8016, "ax":-0.04284, "ay":-0.00799, "alpha":0.22542, "fx":[-0.60531,-0.37052,-0.60915,-0.84394], "fy":[-0.35,-0.11136,0.12343,-0.1152]},
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-    {"t":3.10158, "x":1.9144, "y":5.95915, "heading":3.14159, "vx":1.58513, "vy":0.01578, "omega":0.0, "ax":-14.67293, "ay":-0.1461, "alpha":-0.00001, "fx":[-207.98877,-207.98877,-207.98877,-207.98877], "fy":[-2.07096,-2.071,-2.071,-2.07096]},
-    {"t":3.15557, "x":1.97859, "y":5.95979, "heading":3.14159, "vx":0.79292, "vy":0.0079, "omega":0.0, "ax":-14.68608, "ay":-0.14623, "alpha":-0.00001, "fx":[-208.17521,-208.17521,-208.17521,-208.17521], "fy":[-2.07282,-2.07286,-2.07286,-2.07282]},
-    {"t":3.20956, "x":2.0, "y":5.96, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DepotPickup_MWT.traj b/src/main/deploy/choreo/DepotPickup_MWT.traj
deleted file mode 100644
index d48feb6c..00000000
--- a/src/main/deploy/choreo/DepotPickup_MWT.traj
+++ /dev/null
@@ -1,166 +0,0 @@
-{
- "name":"DepotPickup_MWT",
- "version":3,
- "snapshot":{
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-    {"t":3.87738, "x":2.0, "y":5.4, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DepotShoot.traj b/src/main/deploy/choreo/DepotShoot.traj
new file mode 100644
index 00000000..e34394a8
--- /dev/null
+++ b/src/main/deploy/choreo/DepotShoot.traj
@@ -0,0 +1,79 @@
+{
+ "name":"DepotShoot",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2525,
+    "y":0.2525
+   },
+   "backLeft":{
+    "x":-0.2525,
+    "y":0.2525
+   },
+   "mass":56.7,
+   "inertia":1.5,
+   "gearing":6.03,
+   "radius":0.0508,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4305,
+    "side":0.4305,
+    "back":0.4305
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.94199],
+  "samples":[
+    {"t":0.0, "x":0.52, "y":5.96, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.94476, "ay":0.0, "alpha":0.0, "fx":[140.96697,140.96697,140.96697,140.96697], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.04958, "x":0.53222, "y":5.96, "heading":3.14159, "vx":0.49305, "vy":0.0, "omega":0.0, "ax":9.94191, "ay":0.0, "alpha":0.0, "fx":[140.92652,140.92652,140.92652,140.92652], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.09916, "x":0.56889, "y":5.96, "heading":3.14159, "vx":0.98595, "vy":0.0, "omega":0.0, "ax":9.93618, "ay":0.0, "alpha":0.0, "fx":[140.8454,140.8454,140.8454,140.8454], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":0.19831, "x":0.71548, "y":5.96, "heading":3.14159, "vx":1.97034, "vy":0.0, "omega":0.0, "ax":0.58978, "ay":0.0, "alpha":0.0, "fx":[8.36014,8.36014,8.36014,8.36014], "fy":[0.0,0.0,0.0,0.0]},
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Orbit.traj b/src/main/deploy/choreo/Orbit.traj
index a532ecc8..898722f8 100644
--- a/src/main/deploy/choreo/Orbit.traj
+++ b/src/main/deploy/choreo/Orbit.traj
@@ -3,23 +3,23 @@
  "version":3,
  "snapshot":{
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -40,23 +40,23 @@
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@@ -92,8 +92,8 @@
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+   "vmax":484.6430266937854,
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    "bumper":{
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@@ -103,668 +103,800 @@
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   "splits":[0]
  },
  "events":[
-   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.42307, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
-   {"name":"stopShooting", "from":{"target":6, "targetTimestamp":4.63153, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
-   {"name":"startShooting", "from":{"target":7, "targetTimestamp":5.83122, "offset":{"exp":"0.8 s", "val":0.8}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
-   {"name":"stopShooting", "from":{"target":11, "targetTimestamp":10.94997, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}]
+   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.52004, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
+   {"name":"stopShooting", "from":{"target":6, "targetTimestamp":5.08263, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
+   {"name":"startShooting", "from":{"target":7, "targetTimestamp":6.28251, "offset":{"exp":"0.8 s", "val":0.8}}, "event":{"type":"named", "data":{"name":"startShooting"}}},
+   {"name":"stopShooting", "from":{"target":11, "targetTimestamp":11.59222, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"stopShooting"}}}]
 }
diff --git a/src/main/deploy/choreo/PlayerStationPickup.traj b/src/main/deploy/choreo/PlayerStationPickup.traj
index a9b147fa..f2fb4c28 100644
--- a/src/main/deploy/choreo/PlayerStationPickup.traj
+++ b/src/main/deploy/choreo/PlayerStationPickup.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":137, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4, "y":4.035, "heading":-1.5707963267948966, "intervals":205, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6, "y":2.3, "heading":-1.5707963267948966, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":0.6, "y":0.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -15,8 +15,8 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":137, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.4 m", "val":2.4}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":205, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.6 m", "val":0.6}, "y":{"exp":"2.3 m", "val":2.3}, "heading":{"exp":"CenterStop.heading", "val":-1.5707963267948966}, "intervals":171, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -42,8 +42,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -53,257 +53,385 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.71185,1.28655],
+  "waypoints":[0.0,0.88519,1.58287],
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+    {"t":1.57471, "x":0.59994, "y":0.50032, "heading":-1.5708, "vx":0.01499, "vy":-0.07902, "omega":-0.0001, "ax":-1.8382, "ay":9.68312, "alpha":0.0124, "fx":[-26.03563,-26.07084,-26.07746,-26.04224], "fy":[137.26232,137.25571,137.25409,137.26071]},
+    {"t":1.57879, "x":0.59998, "y":0.50008, "heading":-1.5708, "vx":0.00749, "vy":-0.03951, "omega":-0.00005, "ax":-1.83692, "ay":9.68437, "alpha":0.01241, "fx":[-26.01744,-26.05268,-26.05931,-26.02406], "fy":[137.28002,137.27341,137.27179,137.27841]},
+    {"t":1.58287, "x":0.6, "y":0.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ShootHubfuelShoot.traj b/src/main/deploy/choreo/ShootHubfuelShoot.traj
index 26d5a39b..63207463 100644
--- a/src/main/deploy/choreo/ShootHubfuelShoot.traj
+++ b/src/main/deploy/choreo/ShootHubfuelShoot.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":33, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.942527770996094, "y":7.364141941070557, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":35, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.942527770996094, "y":7.364141941070557, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":6.1915669441223145, "y":6.411297798156738, "heading":4.363323129985824, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.9, "y":5.0, "heading":4.363323129985824, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.9, "y":5.0, "heading":4.363323129985824, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.516400337219238, "y":7.342486381530762, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -21,10 +21,10 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":33, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.942527770996094 m", "val":5.942527770996094}, "y":{"exp":"7.364141941070557 m", "val":7.364141941070557}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":35, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.942527770996094 m", "val":5.942527770996094}, "y":{"exp":"7.364141941070557 m", "val":7.364141941070557}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"6.1915669441223145 m", "val":6.1915669441223145}, "y":{"exp":"6.411297798156738 m", "val":6.411297798156738}, "heading":{"exp":"HubOuterFuel.heading", "val":4.363323129985824}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"HubInnerFuel.x", "val":5.9}, "y":{"exp":"HubInnerFuel.y", "val":5.0}, "heading":{"exp":"HubInnerFuel.heading", "val":4.363323129985824}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"HubInnerFuel.x", "val":5.9}, "y":{"exp":"HubInnerFuel.y", "val":5.0}, "heading":{"exp":"HubInnerFuel.heading", "val":4.363323129985824}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.516400337219238 m", "val":6.516400337219238}, "y":{"exp":"7.342486381530762 m", "val":7.342486381530762}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -54,8 +54,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -65,165 +65,170 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.20049,1.79909,2.62916,4.16603,5.5642],
+  "waypoints":[0.0,2.82052,4.25567,6.06978,9.48866,12.67399],
   "samples":[
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-    {"t":0.03638, "x":4.00518, "y":7.41726, "heading":3.14159, "vx":0.14542, "vy":-0.00209, "omega":-1.04271, "ax":3.99842, "ay":-0.0554, "alpha":-7.94479, "fx":[50.98451,50.76252,62.30883,62.65452], "fy":[5.0949,-7.04219,-6.51859,5.32477]},
-    {"t":0.07276, "x":4.01312, "y":7.41715, "heading":3.10366, "vx":0.29087, "vy":-0.0041, "omega":-1.33173, "ax":3.99838, "ay":-0.05332, "alpha":-1.28538, "fx":[55.72007,55.65823,57.61282,57.71688], "fy":[0.16609,-1.42787,-1.91622,0.1546]},
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  "events":[]
diff --git a/src/main/deploy/choreo/ShootIIfuelPark.traj b/src/main/deploy/choreo/ShootIIfuelPark.traj
index 8f2c1abf..2a7c2a7a 100644
--- a/src/main/deploy/choreo/ShootIIfuelPark.traj
+++ b/src/main/deploy/choreo/ShootIIfuelPark.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":116, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":86, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":146, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":155, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -18,10 +18,10 @@
  },
  "params":{
   "waypoints":[
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@@ -48,8 +48,8 @@
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    "gearing":6.03,
    "radius":0.0508,
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-   "tmax":3.0,
+   "vmax":484.6430266937854,
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    "bumper":{
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@@ -59,362 +59,505 @@
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diff --git a/src/main/deploy/choreo/ShootIIfuelShoot.traj b/src/main/deploy/choreo/ShootIIfuelShoot.traj
index 5e31238e..f31bfcfa 100644
--- a/src/main/deploy/choreo/ShootIIfuelShoot.traj
+++ b/src/main/deploy/choreo/ShootIIfuelShoot.traj
@@ -3,11 +3,11 @@
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  "snapshot":{
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@@ -19,11 +19,11 @@
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@@ -50,8 +50,8 @@
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    "gearing":6.03,
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@@ -61,427 +61,606 @@
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diff --git a/src/main/deploy/choreo/ShootIfuelPark.traj b/src/main/deploy/choreo/ShootIfuelPark.traj
index 7d916807..5a891832 100644
--- a/src/main/deploy/choreo/ShootIfuelPark.traj
+++ b/src/main/deploy/choreo/ShootIfuelPark.traj
@@ -3,11 +3,11 @@
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+    {"t":3.99615, "x":6.6108, "y":6.83707, "heading":-0.80962, "vx":-0.42728, "vy":0.53942, "omega":0.61696, "ax":6.11624, "ay":-7.71902, "alpha":-8.2391, "fx":[79.06676,96.22241,96.01647,75.48495], "fy":[-115.79367,-101.96927,-101.93449,-117.97125]},
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+    {"t":4.05205, "x":6.59647, "y":6.85517, "heading":-0.78677, "vx":-0.08544, "vy":0.10789, "omega":0.13035, "ax":6.11391, "ay":-7.72042, "alpha":-9.26921, "fx":[78.4686,97.47031,97.00627,73.71341], "fy":[-116.35932,-100.95811,-101.17998,-119.25044]},
+    {"t":4.05904, "x":6.59602, "y":6.85573, "heading":-0.78586, "vx":-0.04272, "vy":0.05395, "omega":0.06558, "ax":6.11352, "ay":-7.72049, "alpha":-9.38609, "fx":[78.38474,97.59605,97.13319,73.52275], "fy":[-116.43244,-100.85575,-101.07831,-119.38534]},
+    {"t":4.06603, "x":6.59587, "y":6.85592, "heading":-0.7854, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/ShootIfuelShoot.traj b/src/main/deploy/choreo/ShootIfuelShoot.traj
index 44fe98af..6a601340 100644
--- a/src/main/deploy/choreo/ShootIfuelShoot.traj
+++ b/src/main/deploy/choreo/ShootIfuelShoot.traj
@@ -3,12 +3,12 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.913897609710693, "y":7.092910289764404, "heading":4.363323129985824, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":121, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":86, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":145, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.913897609710693, "y":7.092910289764404, "heading":4.363323129985824, "intervals":86, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.619192123413086, "y":6.834065914154053, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.65, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":165, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -21,12 +21,12 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.913897609710693 m", "val":7.913897609710693}, "y":{"exp":"7.092910289764404 m", "val":7.092910289764404}, "heading":{"exp":"250 deg", "val":4.363323129985824}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":121, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":86, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":145, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.913897609710693 m", "val":7.913897609710693}, "y":{"exp":"7.092910289764404 m", "val":7.092910289764404}, "heading":{"exp":"250 deg", "val":4.363323129985824}, "intervals":86, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.619192123413086 m", "val":8.619192123413086}, "y":{"exp":"6.834065914154053 m", "val":6.834065914154053}, "heading":{"exp":"IOuterFuel.heading", "val":4.363323129985824}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IOuterFuel.x", "val":8.65}, "y":{"exp":"8.07 m - 3.343446445465088 m", "val":4.726553554534912}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":165, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -54,8 +54,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -65,516 +65,704 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.5277,1.07675,1.83875,2.50297,3.31716,3.98749],
+  "waypoints":[0.0,0.65628,1.3309,2.09886,2.9026,3.92357,4.76378],
   "samples":[
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-    {"t":0.00942, "x":4.00319, "y":7.41731, "heading":3.14159, "vx":0.13791, "vy":0.00238, "omega":-0.00007, "ax":14.63323, "ay":0.25697, "alpha":-0.00687, "fx":[207.42574,207.42609,207.42619,207.42584], "fy":[3.65284,3.63252,3.63217,3.65248]},
-    {"t":0.01885, "x":4.00514, "y":7.41735, "heading":3.14159, "vx":0.2758, "vy":0.0048, "omega":-0.00013, "ax":14.63135, "ay":0.26102, "alpha":-0.00676, "fx":[207.39915,207.3995,207.3996,207.39925], "fy":[3.7101,3.69012,3.68976,3.70974]},
-    {"t":0.02827, "x":4.00839, "y":7.4174, "heading":3.14159, "vx":0.41367, "vy":0.00726, "omega":-0.00019, "ax":14.62937, "ay":0.26508, "alpha":-0.00664, "fx":[207.37108,207.37143,207.37153,207.37118], "fy":[3.76747,3.74784,3.74749,3.76712]},
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+    {"t":4.53757, "x":4.25533, "y":7.40504, "heading":3.14157, "vx":-2.23296, "vy":0.1061, "omega":0.00018, "ax":9.83737, "ay":-0.43812, "alpha":-0.0005, "fx":[139.4448,139.44473,139.44475,139.44482], "fy":[-6.20963,-6.21109,-6.21102,-6.20957]},
+    {"t":4.54565, "x":4.23761, "y":7.40588, "heading":3.14157, "vx":-2.15348, "vy":0.10256, "omega":0.00018, "ax":9.84158, "ay":-0.44061, "alpha":-0.00053, "fx":[139.50436,139.50429,139.50431,139.50437], "fy":[-6.24484,-6.2464,-6.24633,-6.24478]},
+    {"t":4.55373, "x":4.22053, "y":7.40669, "heading":3.14157, "vx":-2.07397, "vy":0.099, "omega":0.00017, "ax":9.84544, "ay":-0.44305, "alpha":-0.00056, "fx":[139.55919,139.55912,139.55914,139.55921], "fy":[-6.2795,-6.28115,-6.28107,-6.27942]},
+    {"t":4.56181, "x":4.20409, "y":7.40748, "heading":3.14157, "vx":-1.99443, "vy":0.09542, "omega":0.00017, "ax":9.84902, "ay":-0.44547, "alpha":-0.00059, "fx":[139.60983,139.60975,139.60977,139.60985], "fy":[-6.31365,-6.31539,-6.31531,-6.31357]},
+    {"t":4.56988, "x":4.1883, "y":7.40823, "heading":3.14158, "vx":-1.91486, "vy":0.09182, "omega":0.00016, "ax":9.85232, "ay":-0.44785, "alpha":-0.00062, "fx":[139.65672,139.65664,139.65666,139.65674], "fy":[-6.34736,-6.34918,-6.3491,-6.34728]},
+    {"t":4.57796, "x":4.17315, "y":7.40896, "heading":3.14158, "vx":-1.83527, "vy":0.08821, "omega":0.00016, "ax":9.8554, "ay":-0.4502, "alpha":-0.00065, "fx":[139.70026,139.70017,139.70019,139.70028], "fy":[-6.38068,-6.38258,-6.3825,-6.3806]},
+    {"t":4.58604, "x":4.15865, "y":7.40966, "heading":3.14158, "vx":-1.75565, "vy":0.08457, "omega":0.00015, "ax":9.85825, "ay":-0.45253, "alpha":-0.00067, "fx":[139.74077,139.74069,139.74071,139.7408], "fy":[-6.41366,-6.41563,-6.41554,-6.41357]},
+    {"t":4.59412, "x":4.14479, "y":7.41033, "heading":3.14158, "vx":-1.676, "vy":0.08091, "omega":0.00015, "ax":9.86092, "ay":-0.45484, "alpha":-0.00069, "fx":[139.77857,139.77847,139.77849,139.77859], "fy":[-6.44632,-6.44836,-6.44826,-6.44623]},
+    {"t":4.6022, "x":4.13157, "y":7.41097, "heading":3.14158, "vx":-1.59633, "vy":0.07724, "omega":0.00014, "ax":9.86341, "ay":-0.45712, "alpha":-0.00072, "fx":[139.81389,139.81379,139.81381,139.81391], "fy":[-6.4787,-6.4808,-6.48071,-6.4786]},
+    {"t":4.61028, "x":4.11899, "y":7.41158, "heading":3.14158, "vx":-1.51665, "vy":0.07355, "omega":0.00014, "ax":9.86574, "ay":-0.45939, "alpha":-0.00074, "fx":[139.84696,139.84686,139.84688,139.84698], "fy":[-6.51083,-6.51299,-6.51289,-6.51073]},
+    {"t":4.61836, "x":4.10706, "y":7.41216, "heading":3.14158, "vx":-1.43694, "vy":0.06983, "omega":0.00013, "ax":9.86793, "ay":-0.46164, "alpha":-0.00076, "fx":[139.87799,139.87789,139.87791,139.87801], "fy":[-6.54273,-6.54495,-6.54485,-6.54263]},
+    {"t":4.62644, "x":4.09578, "y":7.4127, "heading":3.14158, "vx":-1.35722, "vy":0.0661, "omega":0.00012, "ax":9.86999, "ay":-0.46388, "alpha":-0.00077, "fx":[139.90715,139.90705,139.90707,139.90717], "fy":[-6.57443,-6.57671,-6.5766,-6.57432]},
+    {"t":4.63452, "x":4.08513, "y":7.41322, "heading":3.14158, "vx":-1.27748, "vy":0.06236, "omega":0.00012, "ax":9.87193, "ay":-0.46611, "alpha":-0.00079, "fx":[139.9346,139.93449,139.93451,139.93462], "fy":[-6.60594,-6.60827,-6.60816,-6.60583]},
+    {"t":4.64259, "x":4.07513, "y":7.41371, "heading":3.14159, "vx":-1.19773, "vy":0.05859, "omega":0.00011, "ax":9.87375, "ay":-0.46832, "alpha":-0.00081, "fx":[139.96047,139.96036,139.96038,139.96049], "fy":[-6.63728,-6.63966,-6.63955,-6.63716]},
+    {"t":4.65067, "x":4.06578, "y":7.41417, "heading":3.14159, "vx":-1.11796, "vy":0.05481, "omega":0.0001, "ax":9.87547, "ay":-0.47052, "alpha":-0.00083, "fx":[139.98489,139.98477,139.9848,139.98491], "fy":[-6.66846,-6.6709,-6.67078,-6.66835]},
+    {"t":4.65875, "x":4.05707, "y":7.4146, "heading":3.14159, "vx":-1.03817, "vy":0.05101, "omega":0.0001, "ax":9.8771, "ay":-0.47271, "alpha":-0.00084, "fx":[140.00797,140.00785,140.00788,140.00799], "fy":[-6.69951,-6.70199,-6.70187,-6.69939]},
+    {"t":4.66683, "x":4.04901, "y":7.41499, "heading":3.14159, "vx":-0.95838, "vy":0.04719, "omega":0.00009, "ax":9.87864, "ay":-0.47489, "alpha":-0.00086, "fx":[140.02982,140.02969,140.02972,140.02984], "fy":[-6.73042,-6.73295,-6.73283,-6.7303]},
+    {"t":4.67491, "x":4.04159, "y":7.41536, "heading":3.14159, "vx":-0.87857, "vy":0.04335, "omega":0.00008, "ax":9.8801, "ay":-0.47707, "alpha":-0.00087, "fx":[140.05051,140.05039,140.05041,140.05053], "fy":[-6.76122,-6.76379,-6.76367,-6.7611]},
+    {"t":4.68299, "x":4.03481, "y":7.41569, "heading":3.14159, "vx":-0.79874, "vy":0.0395, "omega":0.00008, "ax":9.88149, "ay":-0.47923, "alpha":-0.00089, "fx":[140.07014,140.07002,140.07004,140.07016], "fy":[-6.79191,-6.79453,-6.7944,-6.79178]},
+    {"t":4.69107, "x":4.02868, "y":7.416, "heading":3.14159, "vx":-0.71891, "vy":0.03562, "omega":0.00007, "ax":9.8828, "ay":-0.48139, "alpha":-0.0009, "fx":[140.08878,140.08865,140.08868,140.0888], "fy":[-6.8225,-6.82516,-6.82503,-6.82237]},
+    {"t":4.69915, "x":4.02319, "y":7.41627, "heading":3.14159, "vx":-0.63907, "vy":0.03174, "omega":0.00006, "ax":9.88405, "ay":-0.48355, "alpha":-0.00092, "fx":[140.1065,140.10637,140.10639,140.10652], "fy":[-6.853,-6.85569,-6.85556,-6.85287]},
+    {"t":4.70723, "x":4.01835, "y":7.41651, "heading":3.14159, "vx":-0.55922, "vy":0.02783, "omega":0.00005, "ax":9.88524, "ay":-0.48569, "alpha":-0.00093, "fx":[140.12335,140.12322,140.12324,140.12338], "fy":[-6.88341,-6.88614,-6.88601,-6.88327]},
+    {"t":4.71531, "x":4.01416, "y":7.41672, "heading":3.14159, "vx":-0.47935, "vy":0.02391, "omega":0.00005, "ax":9.88637, "ay":-0.48783, "alpha":-0.00094, "fx":[140.1394,140.13927,140.13929,140.13942], "fy":[-6.91374,-6.91651,-6.91638,-6.9136]},
+    {"t":4.72338, "x":4.01061, "y":7.4169, "heading":3.14159, "vx":-0.39948, "vy":0.01996, "omega":0.00004, "ax":9.88745, "ay":-0.48997, "alpha":-0.00095, "fx":[140.1547,140.15456,140.15458,140.15472], "fy":[-6.944,-6.94681,-6.94667,-6.94386]},
+    {"t":4.73146, "x":4.0077, "y":7.41704, "heading":3.14159, "vx":-0.3196, "vy":0.01601, "omega":0.00003, "ax":9.88848, "ay":-0.4921, "alpha":-0.00097, "fx":[140.16928,140.16914,140.16916,140.16931], "fy":[-6.97419,-6.97703,-6.97689,-6.97404]},
+    {"t":4.73954, "x":4.00544, "y":7.41716, "heading":3.14159, "vx":-0.23971, "vy":0.01203, "omega":0.00002, "ax":9.88946, "ay":-0.49423, "alpha":-0.00098, "fx":[140.18321,140.18306,140.18309,140.18323], "fy":[-7.00431,-7.00719,-7.00705,-7.00417]},
+    {"t":4.74762, "x":4.00383, "y":7.41724, "heading":3.14159, "vx":-0.15982, "vy":0.00804, "omega":0.00002, "ax":9.8904, "ay":-0.49635, "alpha":-0.00099, "fx":[140.1965,140.19636,140.19638,140.19653], "fy":[-7.03437,-7.03729,-7.03714,-7.03423]},
+    {"t":4.7557, "x":4.00286, "y":7.41729, "heading":3.14159, "vx":-0.07991, "vy":0.00403, "omega":0.00001, "ax":9.8913, "ay":-0.49847, "alpha":-0.001, "fx":[140.20922,140.20907,140.20909,140.20924], "fy":[-7.06438,-7.06733,-7.06718,-7.06423]},
+    {"t":4.76378, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ShootPark.traj b/src/main/deploy/choreo/ShootPark.traj
index 420a4a60..598dba8b 100644
--- a/src/main/deploy/choreo/ShootPark.traj
+++ b/src/main/deploy/choreo/ShootPark.traj
@@ -4,7 +4,7 @@
  "snapshot":{
   "waypoints":[
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":28, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -17,7 +17,7 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":28, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -44,8 +44,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -55,76 +55,79 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,5.13935,8.3792],
+  "waypoints":[0.0,1.00348,1.79295],
   "samples":[
-    {"t":0.0, "x":4.00254, "y":7.4173, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.7749, "ay":-0.94231, "alpha":-0.07015, "fx":[10.93297,10.93296,11.03533,11.03534], "fy":[-13.30441,-13.41429,-13.4062,-13.30406]},
-    {"t":0.18355, "x":4.01559, "y":7.40143, "heading":-3.14159, "vx":0.14223, "vy":-0.17296, "omega":-0.01288, "ax":0.72189, "ay":-0.60999, "alpha":-0.06933, "fx":[10.18204,10.18202,10.28362,10.28364], "fy":[-8.588,-8.6952,-8.70231,-8.60088]},
-    {"t":0.3671, "x":4.05386, "y":7.35941, "heading":3.13923, "vx":0.27473, "vy":-0.28492, "omega":-0.0256, "ax":0.54224, "ay":-0.34397, "alpha":-0.06261, "fx":[7.63944,7.63931,7.73303,7.73316], "fy":[-4.82959,-4.92046,-4.92328,-4.82964]},
-    {"t":0.55065, "x":4.11342, "y":7.30132, "heading":3.13453, "vx":0.37426, "vy":-0.34806, "omega":-0.03709, "ax":0.40511, "ay":-0.14117, "alpha":-0.05661, "fx":[5.70045,5.70011,5.78451,5.78485], "fy":[-1.95898,-2.04213,-2.04369,-1.95932]},
-    {"t":0.73419, "x":4.18894, "y":7.23505, "heading":3.12772, "vx":0.44862, "vy":-0.37397, "omega":-0.04748, "ax":0.28561, "ay":0.00264, "alpha":-0.05087, "fx":[4.01095,4.01038,4.086,4.08657], "fy":[0.07547,0.00015,-0.00071,0.0749]},
-    {"t":0.91774, "x":4.27609, "y":7.16646, "heading":3.11901, "vx":0.50104, "vy":-0.37348, "omega":-0.05682, "ax":0.1826, "ay":0.10217, "alpha":-0.04543, "fx":[2.55514,2.55437,2.62168,2.62245], "fy":[1.4825,1.41454,1.41441,1.48172]},
-    {"t":1.10129, "x":4.37113, "y":7.09962, "heading":3.10858, "vx":0.53456, "vy":-0.35473, "omega":-0.06516, "ax":0.09484, "ay":0.16906, "alpha":-0.03988, "fx":[1.31539,1.31449,1.3734,1.3743], "fy":[2.42663,2.36641,2.36682,2.42573]},
-    {"t":1.28484, "x":4.47085, "y":7.03736, "heading":3.09662, "vx":0.55197, "vy":-0.3237, "omega":-0.07248, "ax":0.02102, "ay":0.21246, "alpha":-0.03413, "fx":[0.27325,0.27233,0.3226,0.32352], "fy":[3.03772,2.98568,2.98653,3.0368]},
-    {"t":1.46839, "x":4.57251, "y":6.98153, "heading":3.08331, "vx":0.55582, "vy":-0.2847, "omega":-0.07874, "ax":-0.04015, "ay":0.23947, "alpha":-0.02738, "fx":[-0.58878,-0.58956,-0.54936,-0.54858], "fy":[3.41549,3.37323,3.37448,3.41472]},
-    {"t":1.65194, "x":4.67386, "y":6.9333, "heading":3.06886, "vx":0.54845, "vy":-0.24075, "omega":-0.08377, "ax":-0.08984, "ay":0.25548, "alpha":-0.02034, "fx":[-1.28814,-1.28862,-1.25889,-1.25841], "fy":[3.63716,3.60515,3.60695,3.63667]},
-    {"t":1.83548, "x":4.77301, "y":6.89342, "heading":3.05348, "vx":0.53196, "vy":-0.19385, "omega":-0.0875, "ax":-0.12915, "ay":0.26459, "alpha":-0.01059, "fx":[-1.83842,-1.83826,-1.823,-1.82316], "fy":[3.75873,3.74107,3.74364,3.75889]},
-    {"t":2.01903, "x":4.86848, "y":6.8623, "heading":3.03742, "vx":0.50826, "vy":-0.14529, "omega":-0.08945, "ax":-0.15901, "ay":0.26979, "alpha":-0.00113, "fx":[-2.2551,-2.25418,-2.25295,-2.25386], "fy":[3.82507,3.82136,3.82476,3.82599]},
-    {"t":2.20258, "x":4.95909, "y":6.84017, "heading":3.02101, "vx":0.47907, "vy":-0.09577, "omega":-0.08965, "ax":-0.18023, "ay":0.27318, "alpha":0.01349, "fx":[-2.54563,-2.54332,-2.56377,-2.56608], "fy":[3.86164,3.87957,3.8844,3.86395]},
-    {"t":2.38613, "x":5.04399, "y":6.8272, "heading":3.00455, "vx":0.44599, "vy":-0.04563, "omega":-0.08718, "ax":-0.19342, "ay":0.27608, "alpha":0.02802, "fx":[-2.72272,-2.71886,-2.76087,-2.76473], "fy":[3.89118,3.93066,3.93707,3.89504]},
-    {"t":2.56968, "x":5.12259, "y":6.82347, "heading":2.98855, "vx":0.41049, "vy":0.00505, "omega":-0.08204, "ax":-0.1991, "ay":0.27908, "alpha":0.04745, "fx":[-2.78957,-2.78382,-2.85478,-2.86053], "fy":[3.91822,3.98663,3.99494,3.92397]},
-    {"t":2.75323, "x":5.19458, "y":6.8291, "heading":2.97349, "vx":0.37395, "vy":0.05627, "omega":-0.07333, "ax":-0.19757, "ay":0.28205, "alpha":0.07202, "fx":[-2.75127,-2.74232,-2.84982,-2.85877], "fy":[3.94044,4.04539,4.0569,3.94939]},
-    {"t":2.93677, "x":5.25989, "y":6.84418, "heading":2.96003, "vx":0.33768, "vy":0.10804, "omega":-0.06011, "ax":-0.18904, "ay":0.28413, "alpha":0.09401, "fx":[-2.61436,-2.60423,-2.74484,-2.75497], "fy":[3.95278,4.09085,4.10353,3.9629]},
-    {"t":3.12032, "x":5.31869, "y":6.8688, "heading":2.949, "vx":0.30298, "vy":0.16019, "omega":-0.04285, "ax":-0.17355, "ay":0.28363, "alpha":0.12978, "fx":[-2.37067,-2.35561,-2.54955,-2.56461], "fy":[3.91657,4.108,4.12558,3.93162]},
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj b/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj
index dcb0e613..1e59d7b0 100644
--- a/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj
+++ b/src/main/deploy/choreo/SnowblowingStartIIfuelShoot.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
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-    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":72, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -19,11 +19,11 @@
  },
  "params":{
   "waypoints":[
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-    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":72, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -50,8 +50,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -61,421 +61,599 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.42407,1.04194,1.63696,2.34988,3.02721],
+  "waypoints":[0.0,0.5219,1.28812,2.02559,2.91411,3.76184],
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+    {"t":3.76184, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[
-   {"name":"stopShooting", "from":{"target":3, "targetTimestamp":1.63696, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
-   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.42407, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}]
+   {"name":"stopShooting", "from":{"target":3, "targetTimestamp":2.02559, "offset":{"exp":"0.4 s", "val":0.4}}, "event":{"type":"named", "data":{"name":"stopShooting"}}},
+   {"name":"startShooting", "from":{"target":1, "targetTimestamp":0.5219, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"startShooting"}}}]
 }
diff --git a/src/main/deploy/choreo/StartIIfuelClosershoot.traj b/src/main/deploy/choreo/StartIIfuelClosershoot.traj
index d4762b78..8abda7fc 100644
--- a/src/main/deploy/choreo/StartIIfuelClosershoot.traj
+++ b/src/main/deploy/choreo/StartIIfuelClosershoot.traj
@@ -3,13 +3,13 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":111, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":150, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":104, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":65, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.962134838104248, "y":7.32969856262207, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -21,13 +21,13 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -54,8 +54,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
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-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -65,512 +65,743 @@
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+    {"t":4.59486, "x":2.6558, "y":5.7011, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/StartIIfuelShoot.traj b/src/main/deploy/choreo/StartIIfuelShoot.traj
index aef86447..da922d06 100644
--- a/src/main/deploy/choreo/StartIIfuelShoot.traj
+++ b/src/main/deploy/choreo/StartIIfuelShoot.traj
@@ -4,9 +4,9 @@
  "snapshot":{
   "waypoints":[
     {"x":4.425225734710693, "y":7.51403624535, "heading":3.141592653589793, "intervals":23, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.70665979385376, "y":7.51403624535, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.536667346954346, "y":7.103303797245026, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -22,9 +22,9 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"SideStart.x", "val":4.425225734710693}, "y":{"exp":"SideStart.y", "val":7.51403624535}, "heading":{"exp":"SideStart.heading", "val":3.141592653589793}, "intervals":23, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"StartExitTrench.x", "val":5.70665979385376}, "y":{"exp":"StartExitTrench.y", "val":7.51403624535}, "heading":{"exp":"StartExitTrench.heading", "val":3.141592653589793}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIOuterFuel.x", "val":7.924712657928467}, "y":{"exp":"IIOuterFuel.y", "val":6.82694191456}, "heading":{"exp":"IIOuterFuel.heading", "val":4.363323129985824}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"IIInnerFuel.x", "val":7.74509859085083}, "y":{"exp":"IIInnerFuel.y", "val":4.726553554534912}, "heading":{"exp":"IIInnerFuel.heading", "val":4.1887902047863905}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"ReenterTrench.x", "val":6.536667346954346}, "y":{"exp":"ReenterTrench.y", "val":7.103303797245026}, "heading":{"exp":"ReenterTrench.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":90, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -54,8 +54,8 @@
    "inertia":1.5,
    "gearing":6.03,
    "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":3.0,
+   "vmax":484.6430266937854,
+   "tmax":1.1886,
    "cof":1.5,
    "bumper":{
     "front":0.4305,
@@ -65,177 +65,180 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.46873,3.58265,5.92084,8.17811,10.62397],
+  "waypoints":[0.0,3.26324,8.23964,12.27801,17.99581,22.94638],
   "samples":[
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+    {"t":18.61463, "x":6.25655, "y":7.16189, "heading":3.11446, "vx":-0.5219, "vy":-0.00286, "omega":0.00265, "ax":-0.13992, "ay":-0.11802, "alpha":0.00037, "fx":[-1.98437,-1.98122,-1.9823,-1.98545], "fy":[-1.67402,-1.67511,-1.67077,-1.67155]},
+    {"t":18.76933, "x":6.17413, "y":7.16003, "heading":3.11487, "vx":-0.54355, "vy":-0.02112, "omega":0.00271, "ax":-0.10437, "ay":-0.05589, "alpha":0.00447, "fx":[-1.47757,-1.47481,-1.48143,-1.4842], "fy":[-0.79668,-0.79001,-0.7879,-0.7943]},
+    {"t":18.92404, "x":6.08879, "y":7.1561, "heading":3.11529, "vx":-0.5597, "vy":-0.02977, "omega":0.0034, "ax":-0.07464, "ay":-0.01182, "alpha":0.00873, "fx":[-1.0527,-1.0501,-1.06324,-1.06585], "fy":[-0.17555,-0.16222,-0.16009,-0.17207]},
+    {"t":19.07875, "x":6.00131, "y":7.15135, "heading":3.11582, "vx":-0.57124, "vy":-0.0316, "omega":0.00475, "ax":-0.05047, "ay":0.01794, "alpha":0.01012, "fx":[-0.70918,-0.70671,-0.72169,-0.72417], "fy":[0.24566,0.26076,0.26294,0.24809]},
+    {"t":19.23345, "x":5.91233, "y":7.14668, "heading":3.11655, "vx":-0.57905, "vy":-0.02882, "omega":0.00632, "ax":-0.03151, "ay":0.03693, "alpha":0.00891, "fx":[-0.44122,-0.43889,-0.45213,-0.45446], "fy":[0.51567,0.52882,0.53129,0.51817]},
+    {"t":19.38816, "x":5.82237, "y":7.14266, "heading":3.11753, "vx":-0.58393, "vy":-0.02311, "omega":0.0077, "ax":-0.0173, "ay":0.04821, "alpha":0.00665, "fx":[-0.24134,-0.23919,-0.24904,-0.25119], "fy":[0.67739,0.68728,0.6893,0.67956]},
+    {"t":19.54286, "x":5.73183, "y":7.13966, "heading":3.11872, "vx":-0.5866, "vy":-0.01565, "omega":0.00872, "ax":-0.00731, "ay":0.05447, "alpha":0.00425, "fx":[-0.10144,-0.09951,-0.10578,-0.10771], "fy":[0.76794,0.7743,0.77609,0.7699]},
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+    {"t":19.85227, "x":5.55005, "y":7.13746, "heading":3.12152, "vx":-0.58788, "vy":0.00168, "omega":0.00973, "ax":0.00229, "ay":0.05923, "alpha":0.00067, "fx":[0.03209,0.03354,0.03277,0.03132], "fy":[0.83822,0.83986,0.84042,0.8397]},
+    {"t":20.00698, "x":5.45913, "y":7.13843, "heading":3.12303, "vx":-0.58753, "vy":0.01085, "omega":0.00983, "ax":0.00315, "ay":0.06043, "alpha":-0.00045, "fx":[0.04359,0.04481,0.04575,0.04454], "fy":[0.85625,0.85641,0.85651,0.85749]},
+    {"t":20.16168, "x":5.36828, "y":7.14083, "heading":3.12455, "vx":-0.58704, "vy":0.0202, "omega":0.00976, "ax":0.00231, "ay":0.06188, "alpha":-0.0012, "fx":[0.03118,0.03218,0.03429,0.03329], "fy":[0.87735,0.87655,0.87624,0.87838]},
+    {"t":20.31639, "x":5.27749, "y":7.1447, "heading":3.12606, "vx":-0.58669, "vy":0.02977, "omega":0.00958, "ax":0.00053, "ay":0.06401, "alpha":-0.00175, "fx":[0.00566,0.00648,0.00931,0.00849], "fy":[0.90816,0.90626,0.90613,0.909]},
+    {"t":20.47109, "x":5.18673, "y":7.15007, "heading":3.12754, "vx":-0.5866, "vy":0.03967, "omega":0.00931, "ax":-0.00135, "ay":0.06689, "alpha":-0.0021, "fx":[-0.02108,-0.02041,-0.01707,-0.01774], "fy":[0.94932,0.94691,0.94662,0.95]},
+    {"t":20.6258, "x":5.09596, "y":7.15701, "heading":3.12898, "vx":-0.58681, "vy":0.05002, "omega":0.00898, "ax":-0.00237, "ay":0.07048, "alpha":-0.00236, "fx":[-0.03567,-0.03514,-0.03142,-0.03196], "fy":[1.00039,0.99757,0.99717,1.00093]},
+    {"t":20.7805, "x":5.00515, "y":7.16559, "heading":3.13037, "vx":-0.58718, "vy":0.06092, "omega":0.00862, "ax":-0.00147, "ay":0.07458, "alpha":-0.00255, "fx":[-0.02308,-0.02266,-0.01868,-0.0191], "fy":[1.05875,1.05561,1.05514,1.05917]},
+    {"t":20.93521, "x":4.91429, "y":7.17591, "heading":3.1317, "vx":-0.58741, "vy":0.07246, "omega":0.00823, "ax":0.00253, "ay":0.07883, "alpha":-0.00266, "fx":[0.03369,0.03402,0.03816,0.03784], "fy":[1.11906,1.11574,1.11519,1.11938]},
+    {"t":21.08992, "x":4.82345, "y":7.18806, "heading":3.13298, "vx":-0.58701, "vy":0.08466, "omega":0.00781, "ax":0.01101, "ay":0.08316, "alpha":-0.0032, "fx":[0.15384,0.15408,0.15824,0.158], "fy":[1.1813,1.17476,1.17733,1.18154]},
+    {"t":21.24462, "x":4.73277, "y":7.20215, "heading":3.13419, "vx":-0.58531, "vy":0.09752, "omega":0.00732, "ax":0.02547, "ay":0.08596, "alpha":-0.00329, "fx":[0.35879,0.35897,0.36335,0.36317], "fy":[1.22112,1.21473,1.21687,1.22128]},
+    {"t":21.39933, "x":4.64252, "y":7.21827, "heading":3.13532, "vx":-0.58137, "vy":0.11082, "omega":0.00681, "ax":0.04763, "ay":0.08669, "alpha":-0.00339, "fx":[0.67274,0.67287,0.67762,0.6775], "fy":[1.23137,1.22541,1.22681,1.23148]},
+    {"t":21.55403, "x":4.55315, "y":7.23645, "heading":3.13637, "vx":-0.574, "vy":0.12423, "omega":0.00629, "ax":0.07938, "ay":0.08386, "alpha":-0.00357, "fx":[1.12257,1.12265,1.12781,1.12772], "fy":[1.19137,1.18551,1.18638,1.19144]},
+    {"t":21.70874, "x":4.4653, "y":7.25667, "heading":3.13734, "vx":-0.56172, "vy":0.1372, "omega":0.00573, "ax":0.12278, "ay":0.07528, "alpha":-0.00362, "fx":[1.73758,1.73763,1.74324,1.74319], "fy":[1.06959,1.0648,1.06413,1.06963]},
+    {"t":21.86344, "x":4.37987, "y":7.2788, "heading":3.13823, "vx":-0.54273, "vy":0.14885, "omega":0.00517, "ax":0.18005, "ay":0.0586, "alpha":-0.00394, "fx":[2.54925,2.54928,2.55524,2.55521], "fy":[0.83356,0.82793,0.82773,0.83357]},
+    {"t":22.01815, "x":4.29806, "y":7.30253, "heading":3.13903, "vx":-0.51487, "vy":0.15792, "omega":0.00456, "ax":0.2535, "ay":0.02994, "alpha":-0.00419, "fx":[3.59016,3.59018,3.59649,3.59647], "fy":[0.42747,0.4214,0.42122,0.42741]},
+    {"t":22.17285, "x":4.22144, "y":7.32732, "heading":3.13974, "vx":-0.47565, "vy":0.16255, "omega":0.00392, "ax":0.34539, "ay":-0.01533, "alpha":-0.00446, "fx":[4.89257,4.89258,4.89931,4.89929], "fy":[-0.21398,-0.22039,-0.22061,-0.21398]},
+    {"t":22.32756, "x":4.15199, "y":7.35228, "heading":3.14034, "vx":-0.42222, "vy":0.16018, "omega":0.00323, "ax":0.45781, "ay":-0.08236, "alpha":-0.00496, "fx":[6.48588,6.48589,6.49312,6.49311], "fy":[-1.1637,-1.1715,-1.17087,-1.1637]},
+    {"t":22.48226, "x":4.09215, "y":7.37608, "heading":3.14084, "vx":-0.35139, "vy":0.14744, "omega":0.00246, "ax":0.59236, "ay":-0.17731, "alpha":-0.00538, "fx":[8.39273,8.39273,8.40063,8.40063], "fy":[-2.50912,-2.51739,-2.5173,-2.5094]},
+    {"t":22.63697, "x":4.04487, "y":7.39676, "heading":3.14122, "vx":-0.25975, "vy":0.12001, "omega":0.00163, "ax":0.74977, "ay":-0.30548, "alpha":-0.00557, "fx":[10.62384,10.62383,10.63206,10.63207], "fy":[-4.3259,-4.33424,-4.33443,-4.32612]},
+    {"t":22.79167, "x":4.01366, "y":7.41167, "heading":3.14147, "vx":-0.14376, "vy":0.07275, "omega":0.00076, "ax":0.92925, "ay":-0.47022, "alpha":-0.00494, "fx":[13.16803,13.16805,13.17507,13.17707], "fy":[-6.66229,-6.66871,-6.66871,-6.66182]},
+    {"t":22.94638, "x":4.00254, "y":7.4173, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index f9bf444f..200a0edf 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -77,8 +77,8 @@
    },
    "DepotPickup":{
     "x":{
-     "exp":"0.7 m",
-     "val":0.7
+     "exp":"0.52 m",
+     "val":0.52
     },
     "y":{
      "exp":"5.96 m",
@@ -185,12 +185,12 @@
    "val":0.0508
   },
   "vmax":{
-   "exp":"6000 RPM",
-   "val":628.3185307179587
+   "exp":"4628 RPM",
+   "val":484.6430266937854
   },
   "tmax":{
-   "exp":"3 N * m",
-   "val":3.0
+   "exp":"1.1886 N * m",
+   "val":1.1886
   },
   "cof":{
    "exp":"1.5",
diff --git a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto b/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto
index 1d7a9325..aceaa272 100644
--- a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto	
+++ b/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto	
@@ -13,13 +13,43 @@
         {
           "type": "named",
           "data": {
-            "name": "shootWithIntake"
+            "name": "startShooting"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopShooting"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "DepotPickup"
+            "pathName": "CentershootDepot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "DepotShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
           }
         },
         {

From b27c2a5fd2c1469112d0fac92f3649293f921a03 Mon Sep 17 00:00:00 2001
From: Shishir Ghate <shishghate@gmail.com>
Date: Thu, 23 Apr 2026 06:37:13 -0500
Subject: [PATCH 36/36] Remove logging

---
 src/main/java/com/team1816/lib/subsystems/Vision.java | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/java/com/team1816/lib/subsystems/Vision.java b/src/main/java/com/team1816/lib/subsystems/Vision.java
index c7c09935..caab1ab4 100644
--- a/src/main/java/com/team1816/lib/subsystems/Vision.java
+++ b/src/main/java/com/team1816/lib/subsystems/Vision.java
@@ -220,9 +220,6 @@ public List<Pair<EstimatedRobotPose, Matrix<N3, N1>>> getVisionEstimatedPosesWit
                     // estimate, since single-tag estimates often have some normal flickering.
                     if (isMultiTag(estimatedRobotPose.strategy)) {
                         consecutiveDiscardedEstimates++;
-                        GreenLogger.log("Missed angle check " + consecutiveDiscardedEstimates + " vision degrees: " +
-                            visionEstimatedPose2d.getRotation().getDegrees() + " drive degrees: " +
-                            (pose.isEmpty() ? "no pose" : pose.get().getRotation().getDegrees()));
                         // The number of estimates to allow to be discarded before determining that we
                         // have lost a good pose estimate.
                         int discardsBeforePoseLoss = 5;