diff --git a/src/main/deploy/pathplanner/Mid Basic 5-1.path b/src/main/deploy/pathplanner/Mid Basic 5-1.path
index 96c95fa7..756a14b0 100644
--- a/src/main/deploy/pathplanner/Mid Basic 5-1.path	
+++ b/src/main/deploy/pathplanner/Mid Basic 5-1.path	
@@ -26,39 +26,12 @@
     },
     {
       "anchorPoint": {
-        "x": 2.826978549820152,
-        "y": 2.78
+        "x": 3.673256635612798,
+        "y": 2.7733966368406673
       },
       "prevControl": {
-        "x": 2.320743920224466,
-        "y": 2.78
-      },
-      "nextControl": {
-        "x": 3.333213179415839,
-        "y": 2.78
-      },
-      "holonomicAngle": 180.0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": true,
-      "stopEvent": {
-        "names": [
-          "Cube Intake Pos."
-        ],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 6.394841434476022,
-        "y": 2.744509911273745
-      },
-      "prevControl": {
-        "x": 5.719761883274019,
-        "y": 2.744509911273745
+        "x": 3.167022006017112,
+        "y": 2.7733966368406673
       },
       "nextControl": null,
       "holonomicAngle": 180.0,
@@ -68,11 +41,12 @@
       "isStopPoint": false,
       "stopEvent": {
         "names": [
-          "Rotate 180"
+          "Cube Intake Pos.",
+          "DriveOverChargeStation"
         ],
         "executionBehavior": "parallel",
         "waitBehavior": "none",
-        "waitTime": 3.0
+        "waitTime": 0
       }
     }
   ],
diff --git a/src/main/deploy/pathplanner/Mid Basic.path b/src/main/deploy/pathplanner/Mid Basic.path
index d845b3ee..ad4d3ccd 100644
--- a/src/main/deploy/pathplanner/Mid Basic.path	
+++ b/src/main/deploy/pathplanner/Mid Basic.path	
@@ -53,12 +53,12 @@
     },
     {
       "anchorPoint": {
-        "x": 4.7481354877117745,
-        "y": 2.9274772386919947
+        "x": 5.7628020469311085,
+        "y": 2.915865642157825
       },
       "prevControl": {
-        "x": 3.7481354877117745,
-        "y": 2.9274772386919947
+        "x": 4.7628020469311085,
+        "y": 2.915865642157825
       },
       "nextControl": null,
       "holonomicAngle": 180.0,
diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java b/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java
index a20c464e..832efb21 100644
--- a/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java
@@ -17,6 +17,7 @@
 import org.carlmontrobotics.robotcode2023.Constants.Roller.RollerMode;
 import org.carlmontrobotics.robotcode2023.commands.AlignChargingStation;
 import org.carlmontrobotics.robotcode2023.commands.ArmTeleop;
+import org.carlmontrobotics.robotcode2023.commands.DriveOverChargeStation;
 import org.carlmontrobotics.robotcode2023.commands.RotateToFieldRelativeAngle;
 import org.carlmontrobotics.robotcode2023.commands.RunRoller;
 import org.carlmontrobotics.robotcode2023.commands.SetArmWristGoalPreset;
@@ -74,7 +75,7 @@ public RobotContainer() {
       // Command fakeArmCommand = new InstantCommand(() -> System.err.println("==============Store================="), arm);
       // eventMap.put("Stored Pos.", new SequentialCommandGroup(fakeArmCommand, new WaitCommand(2)));
       eventMap.put("Run Cube Intake", new SequentialCommandGroup(new SetArmWristGoalPreset(GoalPos.INTAKE, () -> true, () -> false, arm), new RunRoller(roller, RollerMode.INTAKE_CUBE)));
-      
+      eventMap.put("DriveOverChargeStation", new DriveOverChargeStation(drivetrain));
       eventMap.put("Extend Arm High Cube", new SetArmWristGoalPreset(GoalPos.HIGH, () -> true, () -> false, arm));
       eventMap.put("Extend Arm Mid Cube", new SetArmWristGoalPreset(GoalPos.MID, () -> true, () -> false, arm));
       eventMap.put("Store Arm", new SetArmWristGoalPreset(GoalPos.STORED, () -> true, () -> false, arm));
@@ -116,8 +117,10 @@ public RobotContainer() {
       .getPathCommand(true, true).andThen(
         new PPRobotPath("Side Basic 2", drivetrain, false, eventMap).getPathCommand(false, true)
       ),
-      new PPRobotPath("Mid Basic 5-1", drivetrain, false, eventMap).getPathCommand(true, true).andThen(
-        new PPRobotPath("Mid Basic 5-2", drivetrain, false, eventMap).getPathCommand(false, true)
+      new SequentialCommandGroup(
+        new PPRobotPath("Mid Basic 5-1", drivetrain, false, eventMap).getPathCommand(true, true),
+        new ProxyCommand(new RotateToFieldRelativeAngle(new Rotation2d(Units.degreesToRadians(drivetrain.getHeadingDeg() + 180)), drivetrain)),
+        new PPRobotPath("Mid Basic 5-2", drivetrain, false, eventMap).getPathCommand(true, true)
       )
     };
 
diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/commands/DriveOverChargeStation.java b/src/main/java/org/carlmontrobotics/robotcode2023/commands/DriveOverChargeStation.java
new file mode 100644
index 00000000..facdbbf5
--- /dev/null
+++ b/src/main/java/org/carlmontrobotics/robotcode2023/commands/DriveOverChargeStation.java
@@ -0,0 +1,70 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.carlmontrobotics.robotcode2023.commands;
+
+import org.carlmontrobotics.robotcode2023.subsystems.Drivetrain;
+
+import static org.carlmontrobotics.robotcode2023.Constants.Drivetrain.*;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class DriveOverChargeStation extends CommandBase {
+
+  private final Drivetrain drivetrain;
+  private boolean fwd, fieldOriented;
+  private boolean goingUp, goingDown, overChargeStation;
+  private int upSign;
+
+  public DriveOverChargeStation(Drivetrain drivetrain) {
+    addRequirements(this.drivetrain = drivetrain);
+  }
+
+  @Override
+  public void initialize() {
+    fwd = Math.abs(getRoll()) > Math.abs(getPitch());
+    fieldOriented = drivetrain.getFieldOriented();
+    drivetrain.setFieldOriented(false);
+  }
+
+  @Override
+  public void execute() {
+    double roll = getRoll();
+    double pitch = getPitch();
+    double angle = fwd ? roll : pitch;
+    if (!goingUp) {
+      goingUp = Math.abs(angle) > 8;
+      upSign = angle >= 0 ? 1 : -1;
+    }
+    if (goingUp && !goingDown && upSign != 0) {
+
+      goingDown = (upSign > 0 ? angle < 0 : angle > 0) && Math.abs(angle) > 8;
+    }
+    double forward = fwd ? drivetrain.getMaxSpeedMps() : 0;
+    double strafe = fwd ? 0 : drivetrain.getMaxSpeedMps();
+    drivetrain.drive(forward, strafe, 0);
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.stop();
+    drivetrain.setFieldOriented(fieldOriented);
+  }
+
+  @Override
+  public boolean isFinished() {
+    double roll = -getRoll();
+    double pitch = getPitch();
+    double angle = fwd ? roll : pitch;
+    return goingDown && Math.abs(angle) > 8;
+  }
+
+  private double getPitch() {
+    return drivetrain.getPitch() - drivetrain.initPitch;
+  }
+
+  private double getRoll() {
+    return drivetrain.getRoll() - drivetrain.initRoll;
+  }
+}