diff --git a/mirror-autos.py b/mirror-autos.py
index 8c2b23e9..3bf193e4 100644
--- a/mirror-autos.py
+++ b/mirror-autos.py
@@ -87,6 +87,9 @@ def main():
     outpost_paths = [
         "1st outpost shoot",
         "fast outpost shoot",
+        "outpost flex pickup",
+        "outpost flex bump",
+        "outpost flex center",
         "2nd outpost cleanup",
         "2nd outpost shoot",
         "outpost center half neutral zone"
@@ -96,7 +99,9 @@ def main():
     outpost_autos = [
         "outpost cleanup",
         "outpost fast",
-        "outpost shoot"
+        "outpost shoot",
+        "outpost flex",
+        "outpost center flex"
     ]
     
     # Mirror paths
diff --git a/src/main/deploy/pathplanner/autos/depot center flex.auto b/src/main/deploy/pathplanner/autos/depot center flex.auto
new file mode 100644
index 00000000..36966f79
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/depot center flex.auto	
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "depot flex bump"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "variable wait command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "depot flex center"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "pointwheelsinx"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/depot flex.auto b/src/main/deploy/pathplanner/autos/depot flex.auto
new file mode 100644
index 00000000..8897b00e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/depot flex.auto	
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "depot flex bump"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "variable wait command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "depot flex pickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "snap to hub flex command"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/outpost center flex.auto b/src/main/deploy/pathplanner/autos/outpost center flex.auto
new file mode 100644
index 00000000..1bc49f8a
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/outpost center flex.auto	
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "outpost flex bump"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "variable wait command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "outpost flex center"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "pointwheelsinx"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/outpost flex.auto b/src/main/deploy/pathplanner/autos/outpost flex.auto
new file mode 100644
index 00000000..08f6350d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/outpost flex.auto	
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "outpost flex bump"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "variable wait command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "outpost flex pickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "snap to hub flex command"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/depot flex bump.path b/src/main/deploy/pathplanner/paths/depot flex bump.path
new file mode 100644
index 00000000..a6ef2f54
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/depot flex bump.path	
@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.679,
+        "y": 5.4510000000000005
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.679,
+        "y": 5.4510000000000005
+      },
+      "isLocked": false,
+      "linkedName": "depot neutral zone start"
+    },
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 5.4510000000000005
+      },
+      "prevControl": {
+        "x": 4.559956958912037,
+        "y": 5.4510000000000005
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "depot flex wait"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "deploy intake trigger",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/depot flex center.path b/src/main/deploy/pathplanner/paths/depot flex center.path
new file mode 100644
index 00000000..338e3720
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/depot flex center.path	
@@ -0,0 +1,106 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 5.4510000000000005
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.559956958912037,
+        "y": 5.4510000000000005
+      },
+      "isLocked": false,
+      "linkedName": "depot flex wait"
+    },
+    {
+      "anchor": {
+        "x": 6.452785083912038,
+        "y": 7.299567418981482
+      },
+      "prevControl": {
+        "x": 6.394654152199075,
+        "y": 6.613609302662038
+      },
+      "nextControl": {
+        "x": 6.473895452122505,
+        "y": 7.548674529185142
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.222563585069445,
+        "y": 6.884646412037037
+      },
+      "prevControl": {
+        "x": 8.194941550925927,
+        "y": 7.884550925925927
+      },
+      "nextControl": {
+        "x": 8.239274483811554,
+        "y": 6.279719816241851
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.222563585069445,
+        "y": 4.02743894675926
+      },
+      "prevControl": {
+        "x": 8.24040964988426,
+        "y": 4.71680881076389
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.493687913907287,
+      "rotationDegrees": -0.0
+    },
+    {
+      "waypointRelativePos": 2.342922185430464,
+      "rotationDegrees": -110.0
+    },
+    {
+      "waypointRelativePos": 2.91,
+      "rotationDegrees": -110.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "intake trigger",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/depot flex pickup.path b/src/main/deploy/pathplanner/paths/depot flex pickup.path
new file mode 100644
index 00000000..e776aa1a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/depot flex pickup.path	
@@ -0,0 +1,158 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 5.4510000000000005
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.909295402082991,
+        "y": 5.587837798377319
+      },
+      "isLocked": false,
+      "linkedName": "depot flex wait"
+    },
+    {
+      "anchor": {
+        "x": 7.407549551504631,
+        "y": 5.576766059027778
+      },
+      "prevControl": {
+        "x": 6.930470304294506,
+        "y": 5.918058125183217
+      },
+      "nextControl": {
+        "x": 7.759287615740742,
+        "y": 5.325140335648149
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.952868561921297,
+        "y": 4.385803674768519
+      },
+      "prevControl": {
+        "x": 7.832411026228868,
+        "y": 4.399262124437204
+      },
+      "nextControl": {
+        "x": 5.456423538773148,
+        "y": 4.362905598958334
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 5.4510000000000005
+      },
+      "prevControl": {
+        "x": 5.5497217158564816,
+        "y": 4.663795500578704
+      },
+      "nextControl": {
+        "x": 5.563800393852754,
+        "y": 5.7466030708936815
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.262,
+        "y": 5.4510000000000005
+      },
+      "prevControl": {
+        "x": 3.5033209700115195,
+        "y": 5.385699238651457
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "depot close shooting point"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.0,
+      "rotationDegrees": -0.0
+    },
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": -0.0
+    },
+    {
+      "waypointRelativePos": 1.147690850815852,
+      "rotationDegrees": -100.0
+    },
+    {
+      "waypointRelativePos": 1.8467548076923106,
+      "rotationDegrees": 167.61604660845643
+    },
+    {
+      "waypointRelativePos": 2.35,
+      "rotationDegrees": -180.0
+    },
+    {
+      "waypointRelativePos": 3.0033143939393963,
+      "rotationDegrees": -180.0
+    },
+    {
+      "waypointRelativePos": 3.8491307947019875,
+      "rotationDegrees": -180.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "come back over the bump",
+      "minWaypointRelativePos": 3.3041964285714287,
+      "maxWaypointRelativePos": 3.6382142857142843,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "intake trigger",
+      "waypointRelativePos": 0.2,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "shoot flex trigger",
+      "waypointRelativePos": 3.84,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -46.24
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": -0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/outpost flex bump.path b/src/main/deploy/pathplanner/paths/outpost flex bump.path
new file mode 100644
index 00000000..47593302
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/outpost flex bump.path	
@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.679,
+        "y": 2.618
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.679,
+        "y": 2.6180000000000003
+      },
+      "isLocked": false,
+      "linkedName": "outpost neutral zone start"
+    },
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 2.618
+      },
+      "prevControl": {
+        "x": 4.559956958912037,
+        "y": 2.618
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "outpost flex wait"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "deploy intake trigger",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/outpost flex center.path b/src/main/deploy/pathplanner/paths/outpost flex center.path
new file mode 100644
index 00000000..94feb25d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/outpost flex center.path	
@@ -0,0 +1,106 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 2.618
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.559956958912037,
+        "y": 2.618
+      },
+      "isLocked": false,
+      "linkedName": "outpost flex wait"
+    },
+    {
+      "anchor": {
+        "x": 6.452785083912038,
+        "y": 0.7694325810185183
+      },
+      "prevControl": {
+        "x": 6.394654152199075,
+        "y": 1.455390697337963
+      },
+      "nextControl": {
+        "x": 6.473895452122505,
+        "y": 0.5203254708148592
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.222563585069445,
+        "y": 1.1843535879629632
+      },
+      "prevControl": {
+        "x": 8.194941550925927,
+        "y": 0.18444907407407418
+      },
+      "nextControl": {
+        "x": 8.239274483811554,
+        "y": 1.7892801837581498
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.222563585069445,
+        "y": 4.04156105324074
+      },
+      "prevControl": {
+        "x": 8.24040964988426,
+        "y": 3.352191189236111
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.493687913907287,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 2.342922185430464,
+      "rotationDegrees": 110.0
+    },
+    {
+      "waypointRelativePos": 2.91,
+      "rotationDegrees": 110.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "intake trigger",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/outpost flex pickup.path b/src/main/deploy/pathplanner/paths/outpost flex pickup.path
new file mode 100644
index 00000000..3fa2752f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/outpost flex pickup.path	
@@ -0,0 +1,158 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 2.618
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.909295402082991,
+        "y": 2.4811622016226815
+      },
+      "isLocked": false,
+      "linkedName": "outpost flex wait"
+    },
+    {
+      "anchor": {
+        "x": 7.407549551504631,
+        "y": 2.4922339409722225
+      },
+      "prevControl": {
+        "x": 6.930470304294506,
+        "y": 2.1509418748167835
+      },
+      "nextControl": {
+        "x": 7.759287615740742,
+        "y": 2.7438596643518527
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.952868561921297,
+        "y": 3.6831963252314814
+      },
+      "prevControl": {
+        "x": 7.832411026228868,
+        "y": 3.6697378755627974
+      },
+      "nextControl": {
+        "x": 5.456423538773148,
+        "y": 3.7060944010416668
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.559956958912037,
+        "y": 2.618
+      },
+      "prevControl": {
+        "x": 5.5497217158564816,
+        "y": 3.405204499421296
+      },
+      "nextControl": {
+        "x": 5.563800393852754,
+        "y": 2.3223969291063193
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.262,
+        "y": 2.618
+      },
+      "prevControl": {
+        "x": 3.5033209700115195,
+        "y": 2.6833007613485447
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "outpost close shooting point"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.0,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 1.147690850815852,
+      "rotationDegrees": 100.0
+    },
+    {
+      "waypointRelativePos": 1.8467548076923106,
+      "rotationDegrees": -167.61604660845643
+    },
+    {
+      "waypointRelativePos": 2.35,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 3.0033143939393963,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 3.8491307947019875,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "come back over the bump",
+      "minWaypointRelativePos": 3.3041964285714287,
+      "maxWaypointRelativePos": 3.6382142857142843,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "intake trigger",
+      "waypointRelativePos": 0.2,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "shoot flex trigger",
+      "waypointRelativePos": 3.84,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 46.24
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f55e41b0..50daea21 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -725,6 +725,9 @@ public static class SensorConstants { // placeholder constants
   public static class AutoConstants {
     public static final double AUTO_SHOOT_TIMEOUT = 2.53; // in seconds
     public static final double AUTO_SHOOT_CLEANUP_TIMEOUT = 5;
+    public static final double AUTO_SHOOT_FLEX_TIMEOUT = 5;
+
+    public static final double DEFAULT_WAIT_TIME = 2; // in seconds 
   }
 
   public static class TeleopConstants {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 40088986..a6bda7fb 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -460,6 +460,8 @@ public void logToSmartDashboard() {
     SmartDashboard.putNumber("robotCommandFactory/angleToHubRadians", Math.toRadians(m_robotCommandFactory.getAngleToHub()));
     SmartDashboard.putNumber("robotCommandFactory/dashboardTestShooterVelocityRotationsPerSecond",
         m_robotCommandFactory.getTargetShooterVelocity());
+
+    SmartDashboard.putNumber("auton/waitTime", SmartDashboard.getNumber("auton/waitTime", AutoConstants.DEFAULT_WAIT_TIME)); 
   }
 
 
@@ -587,7 +589,15 @@ private void createNamedCommands() {
     new EventTrigger("intake trigger").onTrue(m_robotCommandFactory.autoIntakeModeCommand());
     new EventTrigger("shoot trigger").onTrue(m_robotCommandFactory.autoShootWithVisionCommand().withTimeout(AutoConstants.AUTO_SHOOT_TIMEOUT)); // TODO: tune timeout
     new EventTrigger("shoot cleanup trigger").onTrue(m_robotCommandFactory.autoShootWithVisionCommand().withTimeout(AutoConstants.AUTO_SHOOT_CLEANUP_TIMEOUT));
+    new EventTrigger("shoot flex trigger").onTrue(m_robotCommandFactory.autoShootWithVisionCommand().withTimeout(AutoConstants.AUTO_SHOOT_FLEX_TIMEOUT));
+
 
+    NamedCommands.registerCommand("variable wait command", 
+      m_robotCommandFactory.variableWaitCommand(() -> SmartDashboard.getNumber("auton/waitTime", AutoConstants.DEFAULT_WAIT_TIME)));
+    NamedCommands.registerCommand("snap to hub flex command",
+       m_robotCommandFactory.snapToHubCommand(() -> new JoystickVals(0, 0)).withTimeout(AutoConstants.AUTO_SHOOT_FLEX_TIMEOUT));
+    NamedCommands.registerCommand("pointwheelsinx", 
+      m_drivetrainCommandFactory.pointWheelsinX());
     NamedCommands.registerCommand("intake command", 
       m_robotCommandFactory.intakeModeCommand()); // DOES NOT END 
      NamedCommands.registerCommand("deploy intake command", 
diff --git a/src/main/java/frc/robot/subsystems/RobotCommandFactory.java b/src/main/java/frc/robot/subsystems/RobotCommandFactory.java
index cef7e518..36fe7c48 100644
--- a/src/main/java/frc/robot/subsystems/RobotCommandFactory.java
+++ b/src/main/java/frc/robot/subsystems/RobotCommandFactory.java
@@ -2,6 +2,7 @@
 
 import java.util.Optional;
 import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
 import edu.wpi.first.math.filter.Debouncer.DebounceType;
@@ -720,6 +721,21 @@ public Command autoShootWithVisionDynamicCommand() {
     ).withName("autoShootWithVisionDynamic");
   }
 
+  /**
+   * Creates a wait command with a variable duration determined by a DoubleSupplier.
+   * The duration is evaluated when the command is scheduled.
+   *
+   * @param durationSupplier Supplier that provides the wait duration in seconds
+   * @return Command that waits for the supplied duration
+   */
+  public Command variableWaitCommand(DoubleSupplier durationSupplier) {
+    return Commands.defer(
+      () -> new WaitCommand(durationSupplier.getAsDouble()),
+      java.util.Set.of()
+    ).withName("variableWaitCommand");
+
+  }
+  
   public Command autoZeroPivotCommand() {
     return Commands.parallel(
       Commands.sequence(