diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index 963e026..ed8b9d3 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -5,7 +5,7 @@
   "pathFolders": [],
   "autoFolders": [],
   "defaultMaxVel": 5.5,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxAccel": 6.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 5.5
diff --git a/simgui.json b/simgui.json
index 114432b..fffd7e7 100644
--- a/simgui.json
+++ b/simgui.json
@@ -4,6 +4,7 @@
       "/FMSInfo": "FMSInfo",
       "/Shuffleboard/Climber/PID_Controller": "ProfiledPIDController",
       "/Shuffleboard/Commands/Climber": "Subsystem",
+      "/Shuffleboard/Commands/CommandScheduler": "Scheduler",
       "/Shuffleboard/Commands/IntakePivot": "Subsystem",
       "/Shuffleboard/Commands/IntakeRollers": "Subsystem",
       "/Shuffleboard/Commands/Shooter": "Subsystem",
diff --git a/src/main/deploy/pathplanner/autos/fu.auto b/src/main/deploy/pathplanner/autos/fu.auto
new file mode 100644
index 0000000..734057c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/fu.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.43,
+      "y": 7.67
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RushE"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "note2.1-wing"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "wing-note2.2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "note2.2-wing"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "wing-note2.3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/su.auto b/src/main/deploy/pathplanner/autos/su.auto
new file mode 100644
index 0000000..62edd5d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/su.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4311279977766789,
+      "y": 7.67
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "suicide"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/RushE.path b/src/main/deploy/pathplanner/paths/RushE.path
new file mode 100644
index 0000000..a1c3532
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/RushE.path
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.43,
+        "y": 7.67
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4299999999999997,
+        "y": 7.67
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.3,
+        "y": 7.39
+      },
+      "prevControl": {
+        "x": 7.3876653736703775,
+        "y": 7.799445392696006
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Intake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 5.5,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/bottom-note1.3.path b/src/main/deploy/pathplanner/paths/bottom-note1.3.path
index 584cbb6..c06142a 100644
--- a/src/main/deploy/pathplanner/paths/bottom-note1.3.path
+++ b/src/main/deploy/pathplanner/paths/bottom-note1.3.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/bottom-note2.4.path b/src/main/deploy/pathplanner/paths/bottom-note2.4.path
index 639a77a..ee7af90 100644
--- a/src/main/deploy/pathplanner/paths/bottom-note2.4.path
+++ b/src/main/deploy/pathplanner/paths/bottom-note2.4.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/bottom-note2.5.path b/src/main/deploy/pathplanner/paths/bottom-note2.5.path
index 8f6eedf..c3bf970 100644
--- a/src/main/deploy/pathplanner/paths/bottom-note2.5.path
+++ b/src/main/deploy/pathplanner/paths/bottom-note2.5.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/leave.path b/src/main/deploy/pathplanner/paths/leave.path
index a36d51d..216bec6 100644
--- a/src/main/deploy/pathplanner/paths/leave.path
+++ b/src/main/deploy/pathplanner/paths/leave.path
@@ -39,7 +39,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/midBottom-note1.3.path b/src/main/deploy/pathplanner/paths/midBottom-note1.3.path
index 704ba38..6557573 100644
--- a/src/main/deploy/pathplanner/paths/midBottom-note1.3.path
+++ b/src/main/deploy/pathplanner/paths/midBottom-note1.3.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/midBottom-note2.3.path b/src/main/deploy/pathplanner/paths/midBottom-note2.3.path
index 54e19f5..95a4456 100644
--- a/src/main/deploy/pathplanner/paths/midBottom-note2.3.path
+++ b/src/main/deploy/pathplanner/paths/midBottom-note2.3.path
@@ -17,11 +17,11 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 4.05
+        "y": 4.15
       },
       "prevControl": {
         "x": 6.3,
-        "y": 4.05
+        "y": 4.15
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/midTop-note1.1.path b/src/main/deploy/pathplanner/paths/midTop-note1.1.path
index 047516e..8f3a047 100644
--- a/src/main/deploy/pathplanner/paths/midTop-note1.1.path
+++ b/src/main/deploy/pathplanner/paths/midTop-note1.1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.75,
-        "y": 7.45
+        "x": 8.3,
+        "y": 7.39
       },
       "prevControl": {
-        "x": 4.75,
-        "y": 7.45
+        "x": 5.300000000000001,
+        "y": 7.39
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/middle-note1.2.path b/src/main/deploy/pathplanner/paths/middle-note1.2.path
index fead47e..1d8afb1 100644
--- a/src/main/deploy/pathplanner/paths/middle-note1.2.path
+++ b/src/main/deploy/pathplanner/paths/middle-note1.2.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/middle-note1.3.path b/src/main/deploy/pathplanner/paths/middle-note1.3.path
index 3cf0209..e2e9cc8 100644
--- a/src/main/deploy/pathplanner/paths/middle-note1.3.path
+++ b/src/main/deploy/pathplanner/paths/middle-note1.3.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.1-leave.path b/src/main/deploy/pathplanner/paths/note1.1-leave.path
index 564bdb7..5fca134 100644
--- a/src/main/deploy/pathplanner/paths/note1.1-leave.path
+++ b/src/main/deploy/pathplanner/paths/note1.1-leave.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.1-note1.2.path b/src/main/deploy/pathplanner/paths/note1.1-note1.2.path
index 0c102a2..432c83b 100644
--- a/src/main/deploy/pathplanner/paths/note1.1-note1.2.path
+++ b/src/main/deploy/pathplanner/paths/note1.1-note1.2.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.1-note2.1.path b/src/main/deploy/pathplanner/paths/note1.1-note2.1.path
index 720313d..3ba4e72 100644
--- a/src/main/deploy/pathplanner/paths/note1.1-note2.1.path
+++ b/src/main/deploy/pathplanner/paths/note1.1-note2.1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.75,
-        "y": 7.45
+        "x": 8.3,
+        "y": 7.39
       },
       "prevControl": {
-        "x": 7.652000140544798,
-        "y": 7.430099559131505
+        "x": 8.202000140544799,
+        "y": 7.370099559131504
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.2-note1.1.path b/src/main/deploy/pathplanner/paths/note1.2-note1.1.path
index 843e424..f127e95 100644
--- a/src/main/deploy/pathplanner/paths/note1.2-note1.1.path
+++ b/src/main/deploy/pathplanner/paths/note1.2-note1.1.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.2-note1.3.path b/src/main/deploy/pathplanner/paths/note1.2-note1.3.path
index 9413b04..87c8545 100644
--- a/src/main/deploy/pathplanner/paths/note1.2-note1.3.path
+++ b/src/main/deploy/pathplanner/paths/note1.2-note1.3.path
@@ -57,7 +57,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.2-note2.3.path b/src/main/deploy/pathplanner/paths/note1.2-note2.3.path
index 101feac..1795ee2 100644
--- a/src/main/deploy/pathplanner/paths/note1.2-note2.3.path
+++ b/src/main/deploy/pathplanner/paths/note1.2-note2.3.path
@@ -33,11 +33,11 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 4.05
+        "y": 4.15
       },
       "prevControl": {
         "x": 6.8,
-        "y": 4.05
+        "y": 4.15
       },
       "nextControl": null,
       "isLocked": false,
@@ -67,7 +67,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.3-leave.path b/src/main/deploy/pathplanner/paths/note1.3-leave.path
index 1581b1f..4c248e1 100644
--- a/src/main/deploy/pathplanner/paths/note1.3-leave.path
+++ b/src/main/deploy/pathplanner/paths/note1.3-leave.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.3-midLine.path b/src/main/deploy/pathplanner/paths/note1.3-midLine.path
index e899032..03a21e1 100644
--- a/src/main/deploy/pathplanner/paths/note1.3-midLine.path
+++ b/src/main/deploy/pathplanner/paths/note1.3-midLine.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.3-note1.2.path b/src/main/deploy/pathplanner/paths/note1.3-note1.2.path
index 0178afa..dec2b19 100644
--- a/src/main/deploy/pathplanner/paths/note1.3-note1.2.path
+++ b/src/main/deploy/pathplanner/paths/note1.3-note1.2.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note1.3-note2.4.path b/src/main/deploy/pathplanner/paths/note1.3-note2.4.path
index edf4c47..a5dcb4c 100644
--- a/src/main/deploy/pathplanner/paths/note1.3-note2.4.path
+++ b/src/main/deploy/pathplanner/paths/note1.3-note2.4.path
@@ -68,7 +68,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.1-wing.path b/src/main/deploy/pathplanner/paths/note2.1-wing.path
index ac2d8b1..44968ca 100644
--- a/src/main/deploy/pathplanner/paths/note2.1-wing.path
+++ b/src/main/deploy/pathplanner/paths/note2.1-wing.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.75,
-        "y": 7.45
+        "x": 8.3,
+        "y": 7.39
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.784146393643735,
-        "y": 7.361219376526284
+        "x": 8.334146393643735,
+        "y": 7.301219376526284
       },
       "isLocked": false,
       "linkedName": "note2.1"
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 4.5,
         "y": 6.59034094717495
       },
       "prevControl": {
-        "x": 2.9927644030104235,
+        "x": 4.4927644030104235,
         "y": 6.5968448364375325
       },
       "nextControl": null,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.2-wing.path b/src/main/deploy/pathplanner/paths/note2.2-wing.path
index 7eaed13..e6bfb3a 100644
--- a/src/main/deploy/pathplanner/paths/note2.2-wing.path
+++ b/src/main/deploy/pathplanner/paths/note2.2-wing.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.805601618871062,
+        "x": 8.3,
         "y": 5.7875434900537055
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.71519145759367,
+        "x": 8.209589838722609,
         "y": 5.830275243326839
       },
       "isLocked": false,
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 4.5,
         "y": 6.59034094717495
       },
       "prevControl": {
-        "x": 3.093301344171903,
+        "x": 4.593301344171903,
         "y": 6.554356795445111
       },
       "nextControl": null,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.3-midBottom.path b/src/main/deploy/pathplanner/paths/note2.3-midBottom.path
index 6348e5a..9d15607 100644
--- a/src/main/deploy/pathplanner/paths/note2.3-midBottom.path
+++ b/src/main/deploy/pathplanner/paths/note2.3-midBottom.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 4.05
+        "y": 4.15
       },
       "prevControl": null,
       "nextControl": {
         "x": 6.3,
-        "y": 4.05
+        "y": 4.15
       },
       "isLocked": false,
       "linkedName": "note2.3"
@@ -68,7 +68,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.3-middle.path b/src/main/deploy/pathplanner/paths/note2.3-middle.path
index b841078..8b120da 100644
--- a/src/main/deploy/pathplanner/paths/note2.3-middle.path
+++ b/src/main/deploy/pathplanner/paths/note2.3-middle.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 4.05
+        "y": 4.15
       },
       "prevControl": null,
       "nextControl": {
         "x": 4.8,
-        "y": 4.05
+        "y": 4.15
       },
       "isLocked": false,
       "linkedName": "note2.3"
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "RampUp",
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 0.7,
       "command": {
         "type": "parallel",
         "data": {
@@ -68,7 +68,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.3-wing.path b/src/main/deploy/pathplanner/paths/note2.3-wing.path
index 81a3fc8..8b73cd0 100644
--- a/src/main/deploy/pathplanner/paths/note2.3-wing.path
+++ b/src/main/deploy/pathplanner/paths/note2.3-wing.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 4.5,
         "y": 6.59034094717495
       },
       "prevControl": {
-        "x": 7.5,
+        "x": 9.0,
         "y": 6.59034094717495
       },
       "nextControl": null,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.4-bottom.path b/src/main/deploy/pathplanner/paths/note2.4-bottom.path
index 5356492..73f7351 100644
--- a/src/main/deploy/pathplanner/paths/note2.4-bottom.path
+++ b/src/main/deploy/pathplanner/paths/note2.4-bottom.path
@@ -85,7 +85,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/note2.5-bottom.path b/src/main/deploy/pathplanner/paths/note2.5-bottom.path
index 477c1c0..75df2d5 100644
--- a/src/main/deploy/pathplanner/paths/note2.5-bottom.path
+++ b/src/main/deploy/pathplanner/paths/note2.5-bottom.path
@@ -68,7 +68,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/suicide.path b/src/main/deploy/pathplanner/paths/suicide.path
new file mode 100644
index 0000000..f60ac96
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/suicide.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.4311279977766789,
+        "y": 7.670597937486888
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.431127997776679,
+        "y": 7.670597937486888
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.3,
+        "y": 7.39
+      },
+      "prevControl": {
+        "x": 7.386554749429043,
+        "y": 7.7998792791023535
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.5,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/top-note1.1.path b/src/main/deploy/pathplanner/paths/top-note1.1.path
index 3d6ddc7..a047f19 100644
--- a/src/main/deploy/pathplanner/paths/top-note1.1.path
+++ b/src/main/deploy/pathplanner/paths/top-note1.1.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/top-note2.1.path b/src/main/deploy/pathplanner/paths/top-note2.1.path
index ff9430b..47057f3 100644
--- a/src/main/deploy/pathplanner/paths/top-note2.1.path
+++ b/src/main/deploy/pathplanner/paths/top-note2.1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.75,
-        "y": 7.45
+        "x": 8.3,
+        "y": 7.39
       },
       "prevControl": {
-        "x": 4.750260032654866,
-        "y": 7.410501540381698
+        "x": 5.300260032654867,
+        "y": 7.350501540381697
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/wing-note1.1.path b/src/main/deploy/pathplanner/paths/wing-note1.1.path
index 695b6d2..5b5475f 100644
--- a/src/main/deploy/pathplanner/paths/wing-note1.1.path
+++ b/src/main/deploy/pathplanner/paths/wing-note1.1.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
+        "x": 4.5,
         "y": 6.59034094717495
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.871195284057235,
+        "x": 4.371195284057235,
         "y": 6.589408890804183
       },
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/wing-note2.2.path b/src/main/deploy/pathplanner/paths/wing-note2.2.path
index 3e538a9..2e9b00c 100644
--- a/src/main/deploy/pathplanner/paths/wing-note2.2.path
+++ b/src/main/deploy/pathplanner/paths/wing-note2.2.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
+        "x": 4.5,
         "y": 6.59034094717495
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.088200159023285,
+        "x": 4.588200159023285,
         "y": 6.543216304489119
       },
       "isLocked": false,
@@ -16,24 +16,24 @@
     },
     {
       "anchor": {
-        "x": 7.805601618871062,
+        "x": 8.3,
         "y": 5.7875434900537055
       },
       "prevControl": {
-        "x": 7.726290335922699,
+        "x": 8.220688717051637,
         "y": 5.848450964119576
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "note2.2"
     }
   ],
   "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.5,
+      "name": "Intake",
+      "waypointRelativePos": 0.0,
       "command": {
         "type": "parallel",
         "data": {
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/wing-note2.3.path b/src/main/deploy/pathplanner/paths/wing-note2.3.path
index fba218b..badb50c 100644
--- a/src/main/deploy/pathplanner/paths/wing-note2.3.path
+++ b/src/main/deploy/pathplanner/paths/wing-note2.3.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
+        "x": 4.5,
         "y": 6.59034094717495
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.5,
+        "x": 6.5,
         "y": 6.59034094717495
       },
       "isLocked": false,
@@ -30,28 +30,10 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [
-    {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.35,
-      "command": {
-        "type": "parallel",
-        "data": {
-          "commands": [
-            {
-              "type": "named",
-              "data": {
-                "name": "Intake"
-              }
-            }
-          ]
-        }
-      }
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/java/frc/team3128/RobotContainer.java b/src/main/java/frc/team3128/RobotContainer.java
index 1a3962b..994e8b8 100644
--- a/src/main/java/frc/team3128/RobotContainer.java
+++ b/src/main/java/frc/team3128/RobotContainer.java
@@ -92,8 +92,9 @@ private void configureButtonBindings() {
 
         controller.getButton(XboxButton.kRightBumper).onTrue(rampUp(ShooterConstants.MAX_RPM, 27)).onFalse(shoot(ShooterConstants.MAX_RPM, 25)); //Ram Shot
         controller.getButton(XboxButton.kRightTrigger).onTrue(rampUpContinuous()).onFalse(autoShoot());     //Auto Shoot
-        controller.getButton(XboxButton.kY).onTrue(rampUp(5000, 15)).onFalse(feed(5000, 15,155));   //Feed Shot
+        controller.getButton(XboxButton.kY).onTrue(rampUp(5000, 15)).onFalse(feed(5000, 15));   //Feed Shot
         controller.getButton(XboxButton.kX).onTrue(intake.intakePivot.pivotTo(-55)).onFalse(ampShoot()); //Amp Shot
+        // controller.getButton(XboxButton.kX).onTrue(intake.intakePivot.pivotTo(-87)).onFalse(ampShootAlt());
 
         controller.getButton(XboxButton.kA).onTrue(sequence(runOnce(()-> intake.isRetracting = false), intake.intakePivot.pivotTo(-150), climber.climbTo(Climber.Setpoint.EXTENDED))); //Extend Climber
         controller.getButton(XboxButton.kBack).onTrue(sequence(climber.setClimber(-0.35), waitSeconds(1), climber.setClimber(-1), waitUntil(()->climber.isClimbed()), climber.setClimber(0)));   //Retract Climber
diff --git a/src/main/java/frc/team3128/autonomous/AutoPrograms.java b/src/main/java/frc/team3128/autonomous/AutoPrograms.java
index c841158..84087f3 100644
--- a/src/main/java/frc/team3128/autonomous/AutoPrograms.java
+++ b/src/main/java/frc/team3128/autonomous/AutoPrograms.java
@@ -27,6 +27,8 @@ public AutoPrograms() {
 
     private void initAutoSelector() {
         final String[] autoStrings = new String[] {
+            "fu",
+            "su",
             "bottom_2note",
             "bottom_3note_mid",
             "bottomRush_3note",
diff --git a/src/main/java/frc/team3128/autonomous/Trajectories.java b/src/main/java/frc/team3128/autonomous/Trajectories.java
index 9e0ff58..113c69a 100644
--- a/src/main/java/frc/team3128/autonomous/Trajectories.java
+++ b/src/main/java/frc/team3128/autonomous/Trajectories.java
@@ -21,6 +21,7 @@
 import static frc.team3128.Constants.AutoConstants.*;
 import static frc.team3128.Constants.FocalAimConstants.focalPointBlue;
 import static frc.team3128.Constants.FocalAimConstants.focalPointRed;
+import static frc.team3128.Constants.ShooterConstants.MAX_RPM;
 import static frc.team3128.Constants.SwerveConstants.*;
 
 import frc.team3128.Constants.ShooterConstants;
@@ -53,6 +54,7 @@ public static void initTrajectories() {
         NamedCommands.registerCommand("Intake", intake.intakeAuto());
         NamedCommands.registerCommand("Shoot", autoShoot());
         NamedCommands.registerCommand("ShootFast", autoShootNoTurn());
+        NamedCommands.registerCommand("Shoot2", autoShoot2());
         NamedCommands.registerCommand("RampUp", rampUpAuto());
         NamedCommands.registerCommand("Retract", intake.retractAuto());
         NamedCommands.registerCommand("Amp", null);
@@ -93,6 +95,18 @@ public static Command turnInPlace() {
         ).beforeStarting(runOnce(()-> CmdSwerveDrive.disableTurn()));
     }
 
+    public static Command turnInPlace2() {
+        DoubleSupplier setpoint = ()-> Robot.getAlliance() == Alliance.Red ? 305 - 10 : -125 + 10;
+        return new NAR_PIDCommand(
+            TURN_CONTROLLER, 
+            ()-> swerve.getYaw(), //measurement
+            setpoint, //setpoint
+            (double output) -> {
+                Swerve.getInstance().drive(new Translation2d(), Units.degreesToRadians(output), true);
+            }
+        ).beforeStarting(runOnce(()-> CmdSwerveDrive.disableTurn()));
+    }
+
     public static Command rampUpAuto() {
         return sequence(
             either(intake.retractAuto(), none(), ()-> intake.intakePivot.isEnabled()),
@@ -127,6 +141,23 @@ public static Command autoShoot() {
         );
     }
 
+    public static Command autoShoot2() {
+        return sequence(
+            runOnce(()-> turning = true),
+            parallel(
+                rampUp(MAX_RPM, 12.94),
+                turnInPlace2().withTimeout(0.75)
+                // runOnce(()-> CmdSwerveDrive.setTurnSetpoint(swerve.getTurnAngle(Robot.getAlliance() == Alliance.Red ? focalPointRed : focalPointBlue))),
+                // waitUntil(()-> CmdSwerveDrive.rController.atSetpoint())
+            ),
+            // waitSeconds(1),
+            runOnce(()->{turning = false;}),
+            intake.intakeRollers.outtakeNoRequirements(),
+            waitSeconds(0.1),
+            neutralAuto()
+        );
+    }
+
     public static Command neutralAuto() {
         return sequence(
             intake.intakeRollers.runNoRequirements(0),
diff --git a/src/main/java/frc/team3128/commands/CmdManager.java b/src/main/java/frc/team3128/commands/CmdManager.java
index 25b9747..da004fb 100644
--- a/src/main/java/frc/team3128/commands/CmdManager.java
+++ b/src/main/java/frc/team3128/commands/CmdManager.java
@@ -3,9 +3,11 @@
 import common.hardware.input.NAR_XboxController;
 import common.utility.Log;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ScheduleCommand;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import frc.team3128.Robot;
 import frc.team3128.RobotContainer;
 import frc.team3128.Constants.IntakeConstants;
 import frc.team3128.Constants.ShooterConstants;
@@ -49,6 +51,16 @@ public static Command autoShoot() {
         );
     }
 
+    public static Command ampShootAlt() {
+        return sequence(
+            intake.intakePivot.pivotNoRequirements(-87),
+            waitUntil(()-> intake.intakePivot.atSetpoint()),
+            intake.intakeRollers.runManipulator(-0.2875),
+            waitSeconds(0.2),
+            intake.retract(false)
+        );
+    }
+
     public static Command ampShoot() {
         return sequence (
             intake.intakePivot.pivotNoRequirements(-72.5),
@@ -70,12 +82,12 @@ public static Command shoot(double rpm, double height){
         );
     }
 
-    public static Command feed(double rpm, double height, double angle){
+    public static Command feed(double rpm, double height){
         return sequence(
-            runOnce(()-> {
-                CmdSwerveDrive.setTurnSetpoint(angle);
-            }),
-            rampUp(rpm, height),
+            parallel(
+                swerve.turnInPlace(()-> Robot.getAlliance() == Alliance.Blue ? 155 : 35).asProxy().withTimeout(1),
+                rampUp(rpm, height)
+            ),
             intake.intakeRollers.outtakeNoRequirements(),
             waitSeconds(0.1),
             neutral(false)
diff --git a/src/main/java/frc/team3128/subsystems/Climber.java b/src/main/java/frc/team3128/subsystems/Climber.java
index 6685c72..76fda72 100644
--- a/src/main/java/frc/team3128/subsystems/Climber.java
+++ b/src/main/java/frc/team3128/subsystems/Climber.java
@@ -103,7 +103,7 @@ public Command reset(){
     }
 
     public double interpolate(double dist){
-        return 25 * Math.pow(dist, -0.75);
+        return 25 * Math.pow(dist, -0.92);
         // return 45.1 - 27 * dist + 6.86 * Math.pow(dist, 2) - 0.621 * Math.pow(dist, 3);
     }
 
diff --git a/src/main/java/frc/team3128/subsystems/Shooter.java b/src/main/java/frc/team3128/subsystems/Shooter.java
index 39c3453..bd805a9 100644
--- a/src/main/java/frc/team3128/subsystems/Shooter.java
+++ b/src/main/java/frc/team3128/subsystems/Shooter.java
@@ -36,6 +36,11 @@ public static synchronized Shooter getInstance(){
         return instance;
     }
 
+    @Override
+    public boolean atSetpoint() {
+        return super.atSetpoint() && Math.abs(Math.abs(rightMotor.getVelocity()) - (getSetpoint() - 1500)) < TOLERANCE;
+    }
+
     private void configMotors(){
         leftMotor = new NAR_CANSpark(LEFT_MOTOR_ID, ControllerType.CAN_SPARK_FLEX);
         rightMotor = new NAR_CANSpark(RIGHT_MOTOR_ID, ControllerType.CAN_SPARK_FLEX);
@@ -56,7 +61,7 @@ private void setPower(double power){
     @Override
     protected void useOutput(double output, double setpoint) {
         leftMotor.setVolts(output);
-        rightMotor.setVolts(Math.max(0, (setpoint - 2000) * PIDConstants.kV));
+        rightMotor.setVolts(Math.max(0, (setpoint - 1500) * PIDConstants.kV));
     }
 
     @Override