diff --git a/src/main/deploy/choreo/HubLeft.traj b/src/main/deploy/choreo/HubLeft.traj
index 694d17c3..45215503 100644
--- a/src/main/deploy/choreo/HubLeft.traj
+++ b/src/main/deploy/choreo/HubLeft.traj
@@ -4,8 +4,8 @@
  "snapshot":{
   "waypoints":[
     {"x":5.630887031555176, "y":5.732077598571777, "heading":-1.5707963267948966, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.842833042144775, "y":4.093028545379639, "heading":-1.56622998352472, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.61260986328125, "y":5.611176013946533, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":5.842833042144775, "y":4.093028545379639, "heading":-1.56622998352472, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.623462200164795, "y":5.721696853637695, "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},
@@ -19,8 +19,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"5.630887031555176 m", "val":5.630887031555176}, "y":{"exp":"5.732077598571777 m", "val":5.732077598571777}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.842833042144775 m", "val":5.842833042144775}, "y":{"exp":"4.093028545379639 m", "val":4.093028545379639}, "heading":{"exp":"-1.56622998352472 rad", "val":-1.56622998352472}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.61260986328125 m", "val":5.61260986328125}, "y":{"exp":"5.611176013946533 m", "val":5.611176013946533}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"5.842833042144775 m", "val":5.842833042144775}, "y":{"exp":"4.093028545379639 m", "val":4.093028545379639}, "heading":{"exp":"-1.56622998352472 rad", "val":-1.56622998352472}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.623462200164795 m", "val":5.623462200164795}, "y":{"exp":"5.721696853637695 m", "val":5.721696853637695}, "heading":{"exp":"-1.5707963267948966 rad", "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},
@@ -59,83 +59,85 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.78254,3.44813],
+  "waypoints":[0.0,1.78254,3.5561],
   "samples":[
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+    {"t":2.37373, "x":5.77261, "y":4.61447, "heading":-1.56752, "vx":-0.13346, "vy":0.99085, "omega":-0.004, "ax":0.00019, "ay":0.00003, "alpha":-0.00543, "fx":[-0.00979,0.01564,0.01588,-0.00955], "fy":[-0.01758,-0.01249,0.01571,0.01601]},
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+    {"t":2.91565, "x":5.70028, "y":5.15143, "heading":-1.5699, "vx":-0.13342, "vy":0.99086, "omega":-0.00354, "ax":-0.0008, "ay":-0.00011, "alpha":0.00945, "fx":[0.01028,-0.03365,-0.03359,0.00623], "fy":[0.03193,0.02058,-0.02969,-0.02965]},
+    {"t":2.96491, "x":5.69371, "y":5.20025, "heading":-1.57008, "vx":-0.13346, "vy":0.99085, "omega":-0.00307, "ax":0.00084, "ay":0.00011, "alpha":0.00825, "fx":[0.02553,0.00109,0.00112,0.02557], "fy":[0.03274,0.0302,-0.02791,-0.02785]},
+    {"t":3.01418, "x":5.68714, "y":5.24906, "heading":-1.57023, "vx":-0.13342, "vy":0.99086, "omega":-0.00267, "ax":-0.0006, "ay":-0.00008, "alpha":0.01177, "fx":[0.02172,-0.04117,-0.04107,0.02265], "fy":[0.01667,0.04071,-0.03128,-0.03119]},
+    {"t":3.06344, "x":5.68056, "y":5.29788, "heading":-1.57036, "vx":-0.13345, "vy":0.99085, "omega":-0.00209, "ax":-0.00177, "ay":-0.00024, "alpha":0.0091, "fx":[-0.00822,-0.04799,-0.0479,-0.00813], "fy":[0.0542,-0.00742,-0.03101,-0.03089]},
+    {"t":3.11271, "x":5.67399, "y":5.34669, "heading":-1.57046, "vx":-0.13353, "vy":0.99084, "omega":-0.00164, "ax":0.00045, "ay":0.00006, "alpha":0.01259, "fx":[0.04654,-0.04013,-0.03996,0.062], "fy":[-0.03686,0.07964,-0.01955,-0.01939]},
+    {"t":3.16198, "x":5.66741, "y":5.39551, "heading":-1.57055, "vx":-0.13351, "vy":0.99084, "omega":-0.00102, "ax":-0.00702, "ay":-0.00095, "alpha":0.00683, "fx":[-0.08192,-0.14109,-0.14092,-0.08176], "fy":[0.09203,-0.10697,-0.02269,-0.0225]},
+    {"t":3.21124, "x":5.66082, "y":5.44432, "heading":-1.5706, "vx":-0.13386, "vy":0.9908, "omega":-0.00068, "ax":0.00536, "ay":0.00072, "alpha":0.00974, "fx":[0.13174,0.01827,0.01852,0.17196], "fy":[-0.15008,0.15181,0.022,0.02222]},
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+    {"t":3.4083, "x":5.63457, "y":5.63959, "heading":-1.57066, "vx":-0.13435, "vy":0.99073, "omega":-0.0026, "ax":0.58207, "ay":-4.26075, "alpha":0.05376, "fx":[9.35739,9.21881,9.21407,9.1729], "fy":[-66.98937,-67.81217,-67.88472,-67.88393]},
+    {"t":3.45757, "x":5.62866, "y":5.68323, "heading":-1.57078, "vx":-0.10567, "vy":0.78082, "omega":0.00005, "ax":1.07507, "ay":-7.92318, "alpha":-0.00726, "fx":[17.01873,17.2416,16.9911,17.01868], "fy":[-125.79111,-125.76735,-125.79535,-125.79164]},
+    {"t":3.50684, "x":5.62476, "y":5.71208, "heading":-1.57078, "vx":-0.05271, "vy":0.39048, "omega":-0.00031, "ax":1.06989, "ay":-7.92604, "alpha":0.00622, "fx":[17.02411,16.91285,16.984,17.02045], "fy":[-125.82615,-125.84097,-125.83228,-125.82745]},
+    {"t":3.5561, "x":5.62346, "y":5.7217, "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":[
    {"name":"IntakeDown", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeDown"}}},
-   {"name":"IntakeUp", "from":{"target":2, "targetTimestamp":3.44813, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
+   {"name":"IntakeUp", "from":{"target":2, "targetTimestamp":3.5561, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
 }
diff --git a/src/main/deploy/choreo/HubRight.traj b/src/main/deploy/choreo/HubRight.traj
index e9a2071b..8c517b7c 100644
--- a/src/main/deploy/choreo/HubRight.traj
+++ b/src/main/deploy/choreo/HubRight.traj
@@ -4,8 +4,8 @@
  "snapshot":{
   "waypoints":[
     {"x":5.616757392883301, "y":2.326812267303467, "heading":1.5609444415374634, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.790645122528076, "y":3.856259822845459, "heading":1.5774184900038868, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.625327110290527, "y":2.648164749145508, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":5.790645122528076, "y":3.856259822845459, "heading":1.5774184900038868, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.630136966705322, "y":2.3510687351226807, "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},
@@ -17,8 +17,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"5.616757392883301 m", "val":5.616757392883301}, "y":{"exp":"2.326812267303467 m", "val":2.326812267303467}, "heading":{"exp":"1.5609444415374634 rad", "val":1.5609444415374634}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.790645122528076 m", "val":5.790645122528076}, "y":{"exp":"3.856259822845459 m", "val":3.856259822845459}, "heading":{"exp":"1.5774184900038868 rad", "val":1.5774184900038868}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.625327110290527 m", "val":5.625327110290527}, "y":{"exp":"2.648164749145508 m", "val":2.648164749145508}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"5.790645122528076 m", "val":5.790645122528076}, "y":{"exp":"3.856259822845459 m", "val":3.856259822845459}, "heading":{"exp":"1.5774184900038868 rad", "val":1.5774184900038868}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.630136966705322 m", "val":5.630136966705322}, "y":{"exp":"2.3510687351226807 m", "val":2.3510687351226807}, "heading":{"exp":"1.5707963267948966 rad", "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},
@@ -55,75 +55,81 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.67297,3.01784],
+  "waypoints":[0.0,1.67338,3.31248],
   "samples":[
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-    {"t":0.0478, "x":5.61787, "y":2.33588, "heading":1.56094, "vx":0.04645, "vy":0.37935, "omega":0.00019, "ax":0.9718, "ay":7.93628, "alpha":0.00369, "fx":[15.41131,15.44898,15.44464,15.40691], "fy":[125.99474,125.9905,125.99361,125.99796]},
-    {"t":0.0956, "x":5.6212, "y":2.36308, "heading":1.56095, "vx":0.0929, "vy":0.7587, "omega":0.00037, "ax":0.59715, "ay":4.88909, "alpha":0.0373, "fx":[9.4213,9.60454,9.59018,9.30446], "fy":[77.50909,77.56565,77.68842,77.70823]},
-    {"t":0.1434, "x":5.62632, "y":2.40493, "heading":1.56097, "vx":0.12144, "vy":0.99239, "omega":0.00215, "ax":0.00097, "ay":-0.0001, "alpha":-0.02899, "fx":[-0.13448,0.16334,0.16475,-0.13175], "fy":[-0.62413,1.15677,-0.2712,-0.26772]},
-    {"t":0.1912, "x":5.63213, "y":2.45236, "heading":1.56107, "vx":0.12149, "vy":0.99239, "omega":0.00076, "ax":0.00009, "ay":-0.00001, "alpha":0.04728, "fx":[-0.1454,0.12933,0.13228,-0.11054], "fy":[-0.0381,-0.19797,0.11637,0.11902]},
-    {"t":0.239, "x":5.63793, "y":2.4998, "heading":1.56111, "vx":0.12149, "vy":0.99238, "omega":0.00302, "ax":-0.00004, "ay":0.00001, "alpha":0.05184, "fx":[-0.11426,0.11049,0.11292,-0.11183], "fy":[-0.11687,-0.19363,0.15428,0.15654]},
-    {"t":0.28679, "x":5.64374, "y":2.54723, "heading":1.56126, "vx":0.12149, "vy":0.99239, "omega":0.0055, "ax":-0.00011, "ay":0.00001, "alpha":0.04555, "fx":[-0.10624,0.1009,0.1031,-0.10471], "fy":[-0.15885,-0.10546,0.13162,0.13354]},
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  "events":[
    {"name":"IntakeDown", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeDown"}}},
-   {"name":"IntakeUp", "from":{"target":2, "targetTimestamp":3.01784, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
+   {"name":"IntakeUp", "from":{"target":2, "targetTimestamp":3.31248, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
 }
diff --git a/src/main/deploy/choreo/LeftSecondDip.traj b/src/main/deploy/choreo/LeftSecondDip.traj
index cd07892b..26fba0d4 100644
--- a/src/main/deploy/choreo/LeftSecondDip.traj
+++ b/src/main/deploy/choreo/LeftSecondDip.traj
@@ -3,16 +3,16 @@
  "version":3,
  "snapshot":{
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-    {"from":0, "to":6, "data":{"type":"MaxAcceleration", "props":{"max":3.75}}, "enabled":true},
+    {"from":0, "to":6, "data":{"type":"MaxAcceleration", "props":{"max":4.0}}, "enabled":true},
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     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -25,16 +25,16 @@
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-    {"from":0, "to":6, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"3.75 m / s ^ 2", "val":3.75}}}, "enabled":true},
+    {"from":0, "to":6, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"4 m / s ^ 2", "val":4.0}}}, "enabled":true},
     {"from":0, "to":6, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"4 rad / s", "val":4.0}}}, "enabled":true},
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     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -73,195 +73,191 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.60792,1.18725,2.04733,3.0454,3.53304,4.18084],
+  "waypoints":[0.0,0.59657,1.16412,2.0081,3.0028,3.47503,4.1062],
   "samples":[
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   "splits":[0]
  },
  "events":[
    {"name":"IntakeDown", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeDown"}}},
-   {"name":"IntakeUp", "from":{"target":5, "targetTimestamp":3.53304, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
+   {"name":"IntakeUp", "from":{"target":5, "targetTimestamp":3.47503, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
 }
diff --git a/src/main/deploy/choreo/LeftSecondDipShort.traj b/src/main/deploy/choreo/LeftSecondDipShort.traj
new file mode 100644
index 00000000..4783f780
--- /dev/null
+++ b/src/main/deploy/choreo/LeftSecondDipShort.traj
@@ -0,0 +1,205 @@
+{
+ "name":"LeftSecondDipShort",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
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+    {"t":3.6212, "x":5.61185, "y":5.70519, "heading":-1.56447, "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":"IntakeDown", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeDown"}}},
+   {"name":"IntakeUp", "from":{"target":3, "targetTimestamp":3.07637, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
+}
diff --git a/src/main/deploy/choreo/LeftShoot.traj b/src/main/deploy/choreo/LeftShoot.traj
index 12a31fc5..a05beba4 100644
--- a/src/main/deploy/choreo/LeftShoot.traj
+++ b/src/main/deploy/choreo/LeftShoot.traj
@@ -3,26 +3,28 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":3.260087728500366, "y":5.023375511169434, "heading":2.4031239516930234, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.599256992340088, "y":5.614581108093262, "heading":4.71238898038469, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.2884325981140137, "y":5.549228191375732, "heading":2.1236372236423873, "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":false},
     {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":5.0}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":8.0}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":8.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":5.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"3.599256992340088 m", "val":3.599256992340088}, "y":{"exp":"5.614581108093262 m", "val":5.614581108093262}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.260087728500366 m", "val":3.260087728500366}, "y":{"exp":"5.023375511169434 m", "val":5.023375511169434}, "heading":{"exp":"2.4031239516930234 rad", "val":2.4031239516930234}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"3.599256992340088 m", "val":3.599256992340088}, "y":{"exp":"5.614581108093262 m", "val":5.614581108093262}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.2884325981140137 m", "val":3.2884325981140137}, "y":{"exp":"5.549228191375732 m", "val":5.549228191375732}, "heading":{"exp":"2.1236372236423873 rad", "val":2.1236372236423873}, "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":false},
     {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"5 m / s", "val":5.0}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"8 m / s ^ 2", "val":8.0}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"8 m / s ^ 2", "val":8.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"5 rad / s", "val":5.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -53,34 +55,41 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.67154],
+  "waypoints":[0.0,0.6561],
   "samples":[
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diff --git a/src/main/deploy/choreo/LeftShootToBump.traj b/src/main/deploy/choreo/LeftShootToBump.traj
index adc3e54e..e43bddbf 100644
--- a/src/main/deploy/choreo/LeftShootToBump.traj
+++ b/src/main/deploy/choreo/LeftShootToBump.traj
@@ -3,26 +3,28 @@
  "version":3,
  "snapshot":{
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     {"x":3.60064959526062, "y":5.671574592590332, "heading":-1.57, "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":false},
     {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":5.0}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":8.0}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":7.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":5.5}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
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+    {"x":{"exp":"3.2884325981140137 m", "val":3.2884325981140137}, "y":{"exp":"5.549228191375732 m", "val":5.549228191375732}, "heading":{"exp":"2.1236372236423873 rad", "val":2.1236372236423873}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"3.60064959526062 m", "val":3.60064959526062}, "y":{"exp":"5.671574592590332 m", "val":5.671574592590332}, "heading":{"exp":"-3.14 / 2 rad", "val":-1.57}, "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":false},
     {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"5 m / s", "val":5.0}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"8 m / s ^ 2", "val":8.0}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"7 m / s ^ 2", "val":7.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"5.5 rad / s", "val":5.5}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -53,35 +55,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.68326],
+  "waypoints":[0.0,0.63042],
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diff --git a/src/main/deploy/choreo/RightSecondDip.traj b/src/main/deploy/choreo/RightSecondDip.traj
index 51b9328d..7388fb3b 100644
--- a/src/main/deploy/choreo/RightSecondDip.traj
+++ b/src/main/deploy/choreo/RightSecondDip.traj
@@ -5,20 +5,21 @@
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-   {"name":"IntakeUp", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
+   {"name":"IntakeUp", "from":{"target":5, "targetTimestamp":4.04495, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
 }
diff --git a/src/main/deploy/choreo/RightSecondDipShort.traj b/src/main/deploy/choreo/RightSecondDipShort.traj
new file mode 100644
index 00000000..2154cb29
--- /dev/null
+++ b/src/main/deploy/choreo/RightSecondDipShort.traj
@@ -0,0 +1,207 @@
+{
+ "name":"RightSecondDipShort",
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+    {"from":2, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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+    {"from":2, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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+    {"from":2, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
+  "targetDt":{
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+    {"t":3.43403, "x":5.61902, "y":2.29648, "heading":1.59962, "vx":-0.67599, "vy":-1.88069, "omega":-2.16799, "ax":0.00453, "ay":0.11766, "alpha":1.10687, "fx":[-2.54152,2.86602,2.67984,-2.71695], "fy":[-1.3154,-1.05534,4.99651,4.84628]},
+    {"t":3.44732, "x":5.61003, "y":2.27149, "heading":1.5708, "vx":-0.67593, "vy":-1.87913, "omega":-2.15327, "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":"IntakeDown", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeDown"}}},
+   {"name":"IntakeUp", "from":{"target":3, "targetTimestamp":3.12829, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}]
+}
diff --git a/src/main/deploy/choreo/RightShoot.traj b/src/main/deploy/choreo/RightShoot.traj
index 7c763f8e..660d258a 100644
--- a/src/main/deploy/choreo/RightShoot.traj
+++ b/src/main/deploy/choreo/RightShoot.traj
@@ -3,26 +3,28 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":3.2106049060821533, "y":3.1112046241760254, "heading":-2.5417152273121077, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.5869221687316895, "y":2.4568724632263184, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.3642568588256836, "y":2.448859214782715, "heading":-2.1975393825258824, "intervals":27, "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":"MaxVelocity", "props":{"max":5.0}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":5.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
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+    {"x":{"exp":"3.5869221687316895 m", "val":3.5869221687316895}, "y":{"exp":"2.4568724632263184 m", "val":2.4568724632263184}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.3642568588256836 m", "val":3.3642568588256836}, "y":{"exp":"2.448859214782715 m", "val":2.448859214782715}, "heading":{"exp":"-2.1975393825258824 rad", "val":-2.1975393825258824}, "intervals":27, "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":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"5 m / s", "val":5.0}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"5 rad / s", "val":5.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -53,36 +55,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.71015],
+  "waypoints":[0.0,0.64113],
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diff --git a/src/main/deploy/choreo/RightShootToBump.traj b/src/main/deploy/choreo/RightShootToBump.traj
index 17e78de8..47390875 100644
--- a/src/main/deploy/choreo/RightShootToBump.traj
+++ b/src/main/deploy/choreo/RightShootToBump.traj
@@ -3,26 +3,30 @@
  "version":3,
  "snapshot":{
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     {"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":"MaxVelocity", "props":{"max":5.0}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":8.0}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":8.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":5.0}}, "enabled":true}],
   "targetDt":0.05
  },
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+    {"x":{"exp":"3.60064959526062 m", "val":3.60064959526062}, "y":{"exp":"2.3620588779449463 m", "val":2.3620588779449463}, "heading":{"exp":"3.14 / 2 rad", "val":1.57}, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"3.60064959526062 m", "val":3.60064959526062}, "y":{"exp":"2.3620588779449463 m", "val":2.3620588779449463}, "heading":{"exp":"3.14 / 2 rad", "val":1.57}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
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     {"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":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"5 m / s", "val":5.0}}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"8 m / s ^ 2", "val":8.0}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"8 m / s ^ 2", "val":8.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"5 rad / s", "val":5.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -53,35 +57,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.70735],
+  "waypoints":[0.0,0.64126,0.64126],
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-    {"t":0.51691, "x":3.54946, "y":2.47647, "heading":1.89413, "vx":0.54314, "vy":-1.18511, "omega":-3.06299, "ax":-2.97928, "ay":5.94836, "alpha":17.54506, "fx":[-132.55349,51.01575,-15.84208,-91.8135], "fy":[21.74244,123.90172,133.65545,98.43863]},
-    {"t":0.54412, "x":3.56313, "y":2.44643, "heading":1.8108, "vx":0.46209, "vy":-1.02328, "omega":-2.58566, "ax":-2.89195, "ay":6.06868, "alpha":17.03395, "fx":[-132.21216,47.80691,-11.04654,-88.19559], "fy":[24.30366,125.17092,134.16645,101.73815]},
-    {"t":0.57132, "x":3.57463, "y":2.42084, "heading":1.74045, "vx":0.38341, "vy":-0.85817, "omega":-2.12224, "ax":-2.84091, "ay":6.17526, "alpha":16.4728, "fx":[-131.85733,43.41916,-6.91114,-85.05706], "fy":[26.52453,126.74659,134.46618,104.41003]},
-    {"t":0.59853, "x":3.58401, "y":2.39978, "heading":1.68271, "vx":0.30612, "vy":-0.69017, "omega":-1.67408, "ax":-2.81926, "ay":6.26416, "alpha":15.92791, "fx":[-131.54281,38.3439,-3.40639,-82.42595], "fy":[28.2897,128.35741,134.61968,106.52546]},
-    {"t":0.62574, "x":3.5913, "y":2.38332, "heading":1.63717, "vx":0.22942, "vy":-0.51975, "omega":-1.24075, "ax":-2.8156, "ay":6.33188, "alpha":15.46417, "fx":[-131.30842,33.33402,-0.50511,-80.3194], "fy":[29.53525,129.73589,134.67803,108.14345]},
-    {"t":0.65294, "x":3.5965, "y":2.37152, "heading":1.60341, "vx":0.15282, "vy":-0.34748, "omega":-0.82003, "ax":-2.8153, "ay":6.37624, "alpha":15.13899, "fx":[-131.18156,29.33644,1.81284,-78.74741], "fy":[30.22614,130.69257,134.68093,109.31049]},
-    {"t":0.68015, "x":3.59961, "y":2.36443, "heading":1.5811, "vx":0.07623, "vy":-0.17401, "omega":-0.40816, "ax":-2.80181, "ay":6.39608, "alpha":15.00266, "fx":[-131.18015,27.41302,3.56066,-77.71649], "fy":[30.33531,131.11543,134.65867,110.06012]},
-    {"t":0.70735, "x":3.60065, "y":2.36206, "heading":1.57, "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]}],
+    {"t":0.0, "x":3.36426, "y":2.44886, "heading":-2.19754, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.16326, "ay":-0.07016, "alpha":-36.50693, "fx":[-130.49399,16.76289,131.72926,-7.63084], "fy":[-32.86919,-133.53554,27.59095,134.35821]},
+    {"t":0.02069, "x":3.36429, "y":2.44884, "heading":-2.19754, "vx":0.00338, "vy":-0.00145, "omega":-0.75517, "ax":0.18213, "ay":-0.07825, "alpha":-36.48846, "fx":[-130.35574,17.26477,131.73753,-7.08066], "fy":[-33.17801,-133.41749,27.29488,134.33169]},
+    {"t":0.04137, "x":3.3644, "y":2.4488, "heading":-2.21316, "vx":0.00714, "vy":-0.00307, "omega":-1.50996, "ax":0.20949, "ay":-0.09078, "alpha":-36.4604, "fx":[-130.67719,15.96704,132.1366,-4.12337], "fy":[-31.51794,-133.499,24.88104,134.371]},
+    {"t":0.06206, "x":3.36459, "y":2.44871, "heading":-2.2444, "vx":0.01148, "vy":-0.00495, "omega":-2.26417, "ax":0.25304, "ay":-0.11163, "alpha":-36.41287, "fx":[-131.33523,13.10707,132.79773,1.49939], "fy":[-27.96234,-133.67976,20.26516,134.28833]},
+    {"t":0.08274, "x":3.36488, "y":2.44859, "heading":-2.29123, "vx":0.01671, "vy":-0.00726, "omega":-3.01739, "ax":0.33816, "ay":-0.15346, "alpha":-36.31419, "fx":[-132.03134,9.45016,133.45132,10.60422], "fy":[-22.81812,-133.7383,13.20177,133.60976]},
+    {"t":0.10343, "x":3.3653, "y":2.44841, "heading":-2.35365, "vx":0.02371, "vy":-0.01043, "omega":-3.76858, "ax":0.56677, "ay":-0.26975, "alpha":-36.00174, "fx":[-131.96888,8.05819,133.47263,26.42974], "fy":[-17.5184,-133.15715,2.89942,130.64627]},
+    {"t":0.12411, "x":3.36591, "y":2.44813, "heading":-2.4316, "vx":0.03543, "vy":-0.01601, "omega":-4.5133, "ax":4.07353, "ay":-2.34497, "alpha":-23.39207, "fx":[-39.05131,65.26737,126.73363,105.73115], "fy":[-86.37221,-108.5697,-20.97501,67.00446]},
+    {"t":0.1448, "x":3.36752, "y":2.4473, "heading":-2.52496, "vx":0.1197, "vy":-0.06452, "omega":-4.99718, "ax":6.89835, "ay":-2.41079, "alpha":-0.01865, "fx":[109.54655,109.44724,109.52306,109.54852], "fy":[-38.24676,-38.47404,-38.18606,-38.18534]},
+    {"t":0.16549, "x":3.37147, "y":2.44545, "heading":-2.62833, "vx":0.26239, "vy":-0.11439, "omega":-4.99756, "ax":6.71043, "ay":-2.57894, "alpha":0.0, "fx":[106.66259,106.46726,106.52781,106.47454], "fy":[-40.6373,-41.12569,-40.95143,-41.056]},
+    {"t":0.18617, "x":3.37833, "y":2.44253, "heading":-2.73171, "vx":0.4012, "vy":-0.16773, "omega":-4.99756, "ax":6.66713, "ay":-2.1615, "alpha":0.0, "fx":[105.80478,105.86901,105.8388,105.86948], "fy":[-34.40157,-34.21947,-34.38908,-34.25141]},
+    {"t":0.20686, "x":3.38806, "y":2.4386, "heading":-2.83509, "vx":0.53912, "vy":-0.21245, "omega":-4.99756, "ax":6.01141, "ay":-2.29272, "alpha":0.00001, "fx":[95.66524,95.48976,95.65611,94.93106], "fy":[-35.78599,-36.66324,-36.49811,-36.64732]},
+    {"t":0.22754, "x":3.4005, "y":2.43371, "heading":-2.93847, "vx":0.66347, "vy":-0.25987, "omega":-4.99756, "ax":6.20433, "ay":-1.7347, "alpha":0.0, "fx":[98.43868,98.50739,98.51346,98.53349], "fy":[-27.5987,-27.34277,-27.70626,-27.51092]},
+    {"t":0.24823, "x":3.41555, "y":2.42797, "heading":-3.04185, "vx":0.79181, "vy":-0.29576, "omega":-4.99756, "ax":4.09883, "ay":-1.51793, "alpha":0.0, "fx":[65.31493,65.26765,65.4466,64.25868], "fy":[-23.48031,-24.35754,-24.32495,-24.22994]},
+    {"t":0.26891, "x":3.43281, "y":2.42152, "heading":3.13796, "vx":0.87659, "vy":-0.32716, "omega":-4.99756, "ax":4.3544, "ay":-0.9729, "alpha":0.0, "fx":[69.05316,69.07222,69.19744,69.19465], "fy":[-15.52718,-15.16245,-15.57495,-15.51716]},
+    {"t":0.2896, "x":3.45187, "y":2.41455, "heading":3.03458, "vx":0.96667, "vy":-0.34728, "omega":-4.99756, "ax":1.43015, "ay":-0.44955, "alpha":0.0, "fx":[22.79712,22.7891,22.87369,22.35909], "fy":[-6.88877,-7.23936,-7.24611,-7.17356]},
+    {"t":0.31029, "x":3.47217, "y":2.40727, "heading":2.93121, "vx":0.99625, "vy":-0.35658, "omega":-4.99756, "ax":-0.04082, "ay":0.12186, "alpha":0.0, "fx":[-0.64993,-0.65084,-0.64622,-0.64532], "fy":[1.93051,1.95761,1.92181,1.92878]},
+    {"t":0.33097, "x":3.49277, "y":2.39992, "heading":2.82783, "vx":0.99541, "vy":-0.35406, "omega":-4.99756, "ax":-1.43475, "ay":0.69067, "alpha":0.0, "fx":[-22.88296,-22.8388,-22.98272,-22.40614], "fy":[10.73048,11.05316,11.09926,10.97676]},
+    {"t":0.35166, "x":3.51306, "y":2.39274, "heading":2.72445, "vx":0.96573, "vy":-0.33977, "omega":-4.99756, "ax":-4.39509, "ay":1.19221, "alpha":0.0, "fx":[-69.74463,-69.73777,-69.796,-69.82292], "fy":[19.017,18.66982,19.01389,19.00789]},
+    {"t":0.37234, "x":3.53209, "y":2.38597, "heading":2.62107, "vx":0.87481, "vy":-0.31511, "omega":-4.99756, "ax":-4.09219, "ay":1.73626, "alpha":0.0, "fx":[-65.28419,-65.09613,-65.31388,-64.17189], "fy":[26.91218,27.73718,27.86241,27.74562]},
+    {"t":0.39303, "x":3.54931, "y":2.37982, "heading":2.51769, "vx":0.79016, "vy":-0.2792, "omega":-4.99756, "ax":-6.18281, "ay":1.89489, "alpha":-0.00002, "fx":[-98.14153,-98.20728,-98.12837,-98.14927], "fy":[30.12994,29.8043,30.22728,30.16938]},
+    {"t":0.41371, "x":3.56433, "y":2.37445, "heading":2.41432, "vx":0.66227, "vy":-0.24, "omega":-4.99756, "ax":-5.98321, "ay":2.46223, "alpha":0.00003, "fx":[-95.32989,-95.1031,-95.11476,-94.4037], "fy":[38.48983,39.15113,39.21907,39.4986]},
+    {"t":0.4344, "x":3.57675, "y":2.37001, "heading":2.31094, "vx":0.5385, "vy":-0.18907, "omega":-4.99756, "ax":-6.64311, "ay":2.27, "alpha":-0.00003, "fx":[-105.45111,-105.52631,-105.43637,-105.44327], "fy":[36.07818,35.83318,36.12944,36.11071]},
+    {"t":0.45508, "x":3.58647, "y":2.36659, "heading":2.20756, "vx":0.40108, "vy":-0.14211, "omega":-4.99756, "ax":-6.67413, "ay":2.69485, "alpha":0.00003, "fx":[-106.10307,-105.98489,-106.00602,-105.73295], "fy":[42.47632,42.85256,42.65175,43.15006]},
+    {"t":0.47577, "x":3.59334, "y":2.36423, "heading":2.10418, "vx":0.26302, "vy":-0.08636, "omega":-4.99756, "ax":-6.89209, "ay":2.44516, "alpha":0.01912, "fx":[-109.4832,-109.49577,-109.37356,-109.31527], "fy":[38.63819,38.63176,38.94065,39.06403]},
+    {"t":0.49646, "x":3.59731, "y":2.36296, "heading":2.0008, "vx":0.12046, "vy":-0.03578, "omega":-4.99717, "ax":-4.05635, "ay":1.29776, "alpha":23.3761, "fx":[-112.28964,26.7308,-53.5522,-118.47896], "fy":[-56.78504,-25.60738,114.63647,50.16751]},
+    {"t":0.51714, "x":3.59893, "y":2.3625, "heading":1.89743, "vx":0.03655, "vy":-0.00894, "omega":-4.51362, "ax":-0.58012, "ay":0.13217, "alpha":36.01263, "fx":[-66.96027,113.25426,33.69065,-116.82384], "fy":[-115.33251,-69.93992,129.01934,64.64657]},
+    {"t":0.53783, "x":3.59956, "y":2.36234, "heading":1.80407, "vx":0.02455, "vy":-0.00621, "omega":-3.76867, "ax":-0.34773, "ay":0.08188, "alpha":36.31709, "fx":[-71.50927,107.27238,52.86038,-110.70522], "fy":[-113.39676,-80.27646,123.18125,75.69158]},
+    {"t":0.55851, "x":3.6, "y":2.36223, "heading":1.72611, "vx":0.01736, "vy":-0.00451, "omega":-3.01743, "ax":-0.26194, "ay":0.06493, "alpha":36.4138, "fx":[-78.00867,101.06474,64.90727,-104.59754], "fy":[-109.34137,-88.40892,117.57668,84.29693]},
+    {"t":0.5792, "x":3.6003, "y":2.36215, "heading":1.66369, "vx":0.01194, "vy":-0.00317, "omega":-2.26418, "ax":-0.21728, "ay":0.05602, "alpha":36.46087, "fx":[-83.61401,95.55185,73.44506,-99.18106], "fy":[-105.28554,-94.54854,112.60203,90.78918]},
+    {"t":0.59988, "x":3.6005, "y":2.3621, "heading":1.61686, "vx":0.00744, "vy":-0.00201, "omega":-1.50997, "ax":-0.18942, "ay":0.0506, "alpha":36.48867, "fx":[-87.82488,91.17701,79.43234,-94.81302], "fy":[-101.90579,-98.89374,108.56379,95.44908]},
+    {"t":0.62057, "x":3.60061, "y":2.36207, "heading":1.58562, "vx":0.00352, "vy":-0.00096, "omega":-0.75517, "ax":-0.17038, "ay":0.04655, "alpha":36.50702, "fx":[-90.55911,88.18236,83.3044,-91.74709], "fy":[-99.5572,-101.65061,105.69288,98.47072]},
+    {"t":0.64126, "x":3.60065, "y":2.36206, "heading":1.57, "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/java/frc/robot/AutoRoutines.java b/src/main/java/frc/robot/AutoRoutines.java
index 12cc4599..7e236de3 100644
--- a/src/main/java/frc/robot/AutoRoutines.java
+++ b/src/main/java/frc/robot/AutoRoutines.java
@@ -16,6 +16,7 @@
 import frc.robot.Constants.Swerve.Auto.ShootPos;
 import frc.robot.commandGroups.IntakeToBumpDTP;
 import frc.robot.commandGroups.ShootCommandGroups.ShootWithAim;
+import frc.robot.commandGroups.ShootToBumpDTP;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.HopperSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
@@ -110,7 +111,7 @@ public Command returnBasicShoot(BooleanSupplier isRedSide) {
                 swerveSubsystem,
                 isRedSide,
                 () -> false)
-            .withTimeout(4.0);
+            .withTimeout(3.5);
 
     return shoot;
   }
@@ -131,6 +132,22 @@ public Command returnBasicShootLessTime(BooleanSupplier isRedSide) {
     return shoot;
   }
 
+  public Command returnBasicShootMoreTime(BooleanSupplier isRedSide) {
+    Command shoot =
+        new ShootWithAim(
+                () -> 0.0,
+                () -> 0.0,
+                lebronShooterSubsystem,
+                intakeSubsystem,
+                hopperSubsystem,
+                swerveSubsystem,
+                isRedSide,
+                () -> false)
+            .withTimeout(4.2);
+
+    return shoot;
+  }
+
   public Command driveForward(double time) {
     return Commands.run(
             () -> swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(3, 0, 0), new Feedforwards(4)),
@@ -180,6 +197,11 @@ public Command driveToBumpAfterIntake(BooleanSupplier isRedSide, BooleanSupplier
     return new IntakeToBumpDTP(swerveSubsystem, isRedSide, isLeftSide);
   }
 
+  public Command driveToBumpAfterShoot(BooleanSupplier isRedSide, BooleanSupplier isLeftSide) {
+    // return new IntakeToBumpDTP(swerveSubsystem, isRedSide).withTimeout(0.5);
+    return new ShootToBumpDTP(swerveSubsystem, isRedSide, isLeftSide);
+  }
+
   // Middle
   public AutoRoutine Nike() {
     AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
@@ -306,6 +328,132 @@ public AutoRoutine PedriShortLeft() {
     return routine;
   }
 
+  public AutoRoutine PedriShortRightWait() {
+    AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
+
+    Command forward =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+    Command forward2 =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward2 =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+
+    AutoTrajectory intake1 = intake(routine, Constants.Swerve.Auto.Intake.RightIntakeSweepShort);
+    AutoTrajectory intakeToShoot1 = shoot(routine, Constants.Swerve.Auto.ShootPos.RightShoot);
+    AutoTrajectory shootToBump =
+        miscPaths(routine, Constants.Swerve.Auto.MiscPaths.RightShootToBump);
+    AutoTrajectory intake2 = intake(routine, Constants.Swerve.Auto.Intake.RightSecondDip);
+    AutoTrajectory intakeToShoot2 = shoot(routine, Constants.Swerve.Auto.ShootPos.RightShoot);
+
+    routine
+        .active()
+        .onTrue(
+            Commands.sequence(
+                Commands.waitSeconds(Constants.Swerve.Auto.WAIT_TIME_FOR_ALLIANCE),
+                forward,
+                intake1.resetOdometry(),
+                intake1.cmd()));
+
+    intake1
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> false),
+                backward,
+                intakeToShoot1.resetOdometry(),
+                intakeToShoot1.cmd()));
+
+    intakeToShoot1.done().onTrue(Commands.sequence(returnBasicShoot(redSide), shootToBump.cmd()));
+
+    shootToBump.done().onTrue(Commands.sequence(forward2, intake2.resetOdometry(), intake2.cmd()));
+
+    intake2
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> false),
+                backward2,
+                intakeToShoot2.resetOdometry(),
+                intakeToShoot2.cmd()));
+
+    intakeToShoot2.done().onTrue(returnBasicShoot(redSide));
+
+    return routine;
+  }
+
+  public AutoRoutine PedriShortLeftWait() {
+    AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
+
+    Command forward =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+    Command forward2 =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward2 =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+
+    AutoTrajectory intake1 = intake(routine, Constants.Swerve.Auto.Intake.LeftIntakeSweepShort);
+    AutoTrajectory intakeToShoot1 = shoot(routine, Constants.Swerve.Auto.ShootPos.LeftShoot);
+    AutoTrajectory shootToBump =
+        miscPaths(routine, Constants.Swerve.Auto.MiscPaths.LeftShootToBump);
+    AutoTrajectory intake2 = intake(routine, Constants.Swerve.Auto.Intake.LeftSecondDip);
+    AutoTrajectory intakeToShoot2 = shoot(routine, Constants.Swerve.Auto.ShootPos.LeftShoot);
+
+    routine
+        .active()
+        .onTrue(
+            Commands.sequence(
+                Commands.waitSeconds(Constants.Swerve.Auto.WAIT_TIME_FOR_ALLIANCE),
+                forward,
+                intake1.resetOdometry(),
+                intake1.cmd()));
+
+    intake1
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> true),
+                backward,
+                intakeToShoot1.resetOdometry(),
+                intakeToShoot1.cmd()));
+
+    intakeToShoot1.done().onTrue(Commands.sequence(returnBasicShoot(redSide), shootToBump.cmd()));
+
+    shootToBump.done().onTrue(Commands.sequence(forward2, intake2.resetOdometry(), intake2.cmd()));
+
+    intake2
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> true),
+                backward2,
+                intakeToShoot2.resetOdometry(),
+                intakeToShoot2.cmd()));
+
+    intakeToShoot2.done().onTrue(returnBasicShoot(redSide));
+
+    return routine;
+  }
+
   public AutoRoutine HubSweepRight() {
     AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
 
@@ -436,7 +584,7 @@ public AutoRoutine HubSweepLeft() {
   public AutoRoutine DrakeOutpostShort() {
     AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
 
-    AutoTrajectory outpostIntake = outpost(routine, Constants.Swerve.Auto.Outpost.OutpostStartPush);
+    AutoTrajectory outpostIntake = outpost(routine, Constants.Swerve.Auto.Outpost.OutpostStart);
 
     routine.active().onTrue(Commands.sequence(outpostIntake.resetOdometry(), outpostIntake.cmd()));
 
@@ -498,16 +646,118 @@ public AutoRoutine DrakeDepotLong() {
     return routine;
   }
 
-  public AutoRoutine anthony() {
+  public AutoRoutine PedriShortRightHub() {
     AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
 
-    AutoTrajectory depotIntake = miscPaths(routine, Constants.Swerve.Auto.MiscPaths.anthony);
+    Command forward =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+    Command forward2 =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward2 =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+
+    AutoTrajectory intake1 = intake(routine, Constants.Swerve.Auto.Intake.RightIntakeSweepShort);
+    AutoTrajectory intakeToShoot1 = shoot(routine, Constants.Swerve.Auto.ShootPos.RightShoot);
+    AutoTrajectory shootToBump =
+        miscPaths(routine, Constants.Swerve.Auto.MiscPaths.RightShootToBump);
+    AutoTrajectory intake2 = intake(routine, Constants.Swerve.Auto.Intake.HubRight);
+    AutoTrajectory intakeToShoot2 = shoot(routine, Constants.Swerve.Auto.ShootPos.RightShoot);
 
-    // routine.active().onTrue(Commands.sequence(depotIntake.resetOdometry(), depotIntake.cmd()));
-    // depotIntake.done().onTrue(Commands.sequence(returnBasicShoot(redSide).asProxy(),
-    // outpostIntake.cmd()));
-    // outpostIntake.done().onTrue(returnBasicShoot(redSide));
-    routine.active().onTrue(Commands.sequence(depotIntake.resetOdometry(), depotIntake.cmd()));
+    routine.active().onTrue(Commands.sequence(forward, intake1.resetOdometry(), intake1.cmd()));
+
+    intake1
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> false),
+                backward,
+                intakeToShoot1.resetOdometry(),
+                intakeToShoot1.cmd()));
+
+    intakeToShoot1
+        .done()
+        .onTrue(Commands.sequence(returnBasicShootMoreTime(redSide), shootToBump.cmd()));
+
+    shootToBump.done().onTrue(Commands.sequence(forward2, intake2.resetOdometry(), intake2.cmd()));
+
+    intake2
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> false),
+                backward2,
+                intakeToShoot2.resetOdometry(),
+                intakeToShoot2.cmd()));
+
+    intakeToShoot2.done().onTrue(returnBasicShootMoreTime(redSide));
+
+    return routine;
+  }
+
+  public AutoRoutine PedriShortLeftHub() {
+    AutoRoutine routine = autoFactory.newRoutine("CristianoRonaldo.chor");
+
+    Command forward =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+    Command forward2 =
+        redSide.getAsBoolean()
+            ? driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS)
+            : driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_FORWARDS);
+    Command backward2 =
+        redSide.getAsBoolean()
+            ? driveForward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS)
+            : driveBackward(Constants.Swerve.Auto.TIME_FOR_BUMP_BACKWARDS);
+
+    AutoTrajectory intake1 = intake(routine, Constants.Swerve.Auto.Intake.LeftIntakeSweepShort);
+    AutoTrajectory intakeToShoot1 = shoot(routine, Constants.Swerve.Auto.ShootPos.LeftShoot);
+    AutoTrajectory shootToBump =
+        miscPaths(routine, Constants.Swerve.Auto.MiscPaths.LeftShootToBump);
+    AutoTrajectory intake2 = intake(routine, Constants.Swerve.Auto.Intake.HubLeft);
+    AutoTrajectory intakeToShoot2 = shoot(routine, Constants.Swerve.Auto.ShootPos.LeftShoot);
+
+    routine.active().onTrue(Commands.sequence(forward, intake1.resetOdometry(), intake1.cmd()));
+
+    intake1
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> true),
+                backward,
+                intakeToShoot1.resetOdometry(),
+                intakeToShoot1.cmd()));
+
+    intakeToShoot1
+        .done()
+        .onTrue(Commands.sequence(returnBasicShootMoreTime(redSide), shootToBump.cmd()));
+
+    shootToBump.done().onTrue(Commands.sequence(forward2, intake2.resetOdometry(), intake2.cmd()));
+
+    intake2
+        .done()
+        .onTrue(
+            Commands.sequence(
+                driveToBumpAfterIntake(redSide, () -> true),
+                backward2,
+                intakeToShoot2.resetOdometry(),
+                intakeToShoot2.cmd()));
+
+    intakeToShoot2.done().onTrue(returnBasicShootMoreTime(redSide));
 
     return routine;
   }
@@ -516,8 +766,12 @@ public AutoRoutine anthony() {
   public void addCommandstoAutoChooser() {
     autoChooser.addRoutine("Right", () -> PedriShortRight());
     autoChooser.addRoutine("Left", () -> PedriShortLeft());
-    autoChooser.addRoutine("Hub Sweep Left", () -> HubSweepLeft());
-    autoChooser.addRoutine("Hub Sweep Right", () -> HubSweepRight());
+    autoChooser.addRoutine("Right Wait", () -> PedriShortRightWait());
+    autoChooser.addRoutine("Left Wait", () -> PedriShortLeftWait());
+    // autoChooser.addRoutine("Right then Hub", () -> PedriShortRightHub());
+    // autoChooser.addRoutine("Left then Hub", () -> PedriShortLeftHub());
+    autoChooser.addRoutine("Hub Sweep Left Wait", () -> HubSweepLeft());
+    autoChooser.addRoutine("Hub Sweep Right Wait", () -> HubSweepRight());
 
     autoChooser.addRoutine("Just Outpost", () -> DrakeOutpostShort());
     autoChooser.addRoutine("Just Depot", () -> DrakeDepotShort());
@@ -525,7 +779,6 @@ public void addCommandstoAutoChooser() {
     autoChooser.addRoutine("Depot to Outpost", () -> DrakeDepotLong());
 
     autoChooser.addRoutine("We are genuinely the worst robot on the field", () -> Nike());
-    autoChooser.addRoutine("bad word", () -> anthony());
   }
 
   public AutoChooser getAutoChooser() {
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 2fd53bb9..55781d58 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -233,7 +233,7 @@ public static enum ChoreoPIDValues {
       SERRANO(0.1d, 0d, 0d, 0.1d, 0d, 0d, 3.867d, 0d, 0d),
       PROTO(0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d),
       JAMES_HARDEN(0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d),
-      COBRA(3.467, 0, 0, 3.567, 0, 0, 9.0, 0, 0); // 3.75 m/s^2 max accel while turning max,
+      COBRA(3.467, 0, 0, 3.567, 0, 0, 2.5, 0, 0); // 3.75 m/s^2 max accel while turning max,
       public final double kPX, kIX, kDX, kPY, kIY, kDY, kPR, kIR, kDR;
 
       ChoreoPIDValues(
@@ -928,6 +928,23 @@ public static class Landmarks {
             new Translation2d(5.624283313751221, 2.281606435775757),
             new Rotation2d(1.57873264137917));
 
+    public static Pose2d RED_LEFT_SHOOT_TO_BUMP =
+        new Pose2d(
+            new Translation2d(12.9309492111206055, 2.3620588779449463),
+            new Rotation2d(1.5707963267948966));
+    public static Pose2d RED_RIGHT_SHOOT_TO_BUMP =
+        new Pose2d(
+            new Translation2d(12.951465606689453, 5.671574592590332),
+            new Rotation2d(-1.5707963267948966));
+    public static Pose2d BLUE_LEFT_SHOOT_TO_BUMP =
+        new Pose2d(
+            new Translation2d(3.60064959526062, 5.671574592590332),
+            new Rotation2d(-1.5649821399611368));
+    public static Pose2d BLUE_RIGHT_SHOOT_TO_BUMP =
+        new Pose2d(
+            new Translation2d(3.60064959526062, 2.3620588779449463),
+            new Rotation2d(1.57873264137917));
+
     public static Pose2d BLUE_PASSING_L = new Pose2d(2.111, 6.003, new Rotation2d());
     public static Pose2d BLUE_PASSING_R = new Pose2d(2.111, 2.007, new Rotation2d());
 
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 61013351..fc589f9c 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -42,12 +42,13 @@ public void robotInit() {
     RobotContainer.isRedAlliance();
     DogLog.setOptions(
         new DogLogOptions()
-            .withNtPublish(true)
+            .withNtPublish(false)
             .withCaptureDs(true)
             .withLogExtras(false)
             .withNtTunables(false));
     DogLog.log("Elastic/FieldPose", m_robotContainer.drivetrain.getCurrentState().Pose);
     DogLog.log("Elastic/RedSide", RobotContainer.isRedAlliance());
+    RobotController.setBrownoutVoltage(6.0);
   }
 
   /**
@@ -78,6 +79,7 @@ private void elasticLogging() {
     DogLog.log("Elastic/FieldPose", m_robotContainer.drivetrain.getCurrentState().Pose);
     DogLog.log("Elastic/BatteryVoltage", RobotController.getBatteryVoltage());
     DogLog.log("Elastic/AreWeActive", MiscUtils.areWeActive());
+    SmartDashboard.putString("Elastic/ActiveFirst", MiscUtils.activeFirst());
     DogLog.log("Elastic/TimeUntilNextShift", MiscUtils.countdownTillNextShift(simulatedTime));
     SmartDashboard.putNumber(
         "Elastic/timeUntilNextShift", MiscUtils.countdownTillNextShift(simulatedTime));
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index dfa2c675..14cf8270 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -84,9 +84,10 @@ public class RobotContainer {
 
   public final LEDSubsystem leds =
       new LEDSubsystem(
-          MiscUtils::areWeActive,
+          () -> MiscUtils.areWeActive(2.0),
           () ->
-              Targeting.distMeters(drivetrain, Targeting.getHub(redside)) < 4 && inAllianceSide());
+              Targeting.distMeters(drivetrain, Targeting.getHub(redside)) < 4.47
+                  && inAllianceSide());
 
   // * KEEP FOR INTERMAP TESTING
   //   private double hoodAngle = 18.369;
@@ -143,14 +144,14 @@ private void configureBindings() {
     intakeSubsystem.setDefaultCommand(intakeSubsystem.intakeDefault());
     joystick.leftBumper().whileTrue(intakeSubsystem.intakeUntilInterruptedCommand());
 
-    // joystick
-    //     .a()
-    //     .whileTrue(
-    //         intakeSubsystem
-    //             .outtakeUntilInterruptedCommand()
-    //             .alongWith(
-    //                 hopperSubsystem.runHopperUntilInterruptedCommand(
-    //                     -Constants.Hopper.TARGET_SURFACE_SPEED_MPS)));
+    joystick
+        .b()
+        .whileTrue(
+            intakeSubsystem
+                .outtakeUntilInterruptedCommand()
+                .alongWith(
+                    hopperSubsystem.runHopperUntilInterruptedCommand(
+                        -Constants.Hopper.TARGET_SURFACE_SPEED_MPS)));
 
     // * KEEP FOR WIN COMMAND
     // joystick
diff --git a/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java b/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java
new file mode 100644
index 00000000..4a85d5ae
--- /dev/null
+++ b/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java
@@ -0,0 +1,24 @@
+package frc.robot.commandGroups;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.Constants;
+import frc.robot.commands.DriveToPose;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import java.util.function.BooleanSupplier;
+
+public class ShootToBumpDTP extends SequentialCommandGroup {
+  public ShootToBumpDTP(
+      CommandSwerveDrivetrain swerve, BooleanSupplier isRedSide, BooleanSupplier isLeftSide) {
+    Pose2d pose =
+        isRedSide.getAsBoolean()
+            ? isLeftSide.getAsBoolean()
+                ? Constants.Landmarks.RED_LEFT_SHOOT_TO_BUMP
+                : Constants.Landmarks.RED_RIGHT_SHOOT_TO_BUMP
+            : isLeftSide.getAsBoolean()
+                ? Constants.Landmarks.BLUE_LEFT_SHOOT_TO_BUMP
+                : Constants.Landmarks.BLUE_RIGHT_SHOOT_TO_BUMP;
+
+    addCommands(new DriveToPose(swerve, () -> pose));
+  }
+}
diff --git a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java
index 250521fc..e83da5a6 100644
--- a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java
+++ b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java
@@ -101,10 +101,12 @@ public void execute() {
     double speedMagnitude = Math.sqrt(xSpeed * xSpeed + ySpeed * ySpeed);
 
     if (capper.getAsBoolean()) {
-      if (speedMagnitude > 2.0) {
-        xSpeed *= (2.0 / speedMagnitude);
-        ySpeed *= (2.0 / speedMagnitude);
-      }
+      xSpeed *= 0.3;
+      ySpeed *= 0.3;
+      // if (speedMagnitude > 2.0) {
+      //   xSpeed *= (2.0 / speedMagnitude);
+      //   ySpeed *= (2.0 / speedMagnitude);
+      // }
     }
 
     // Final values to apply to drivetrain
diff --git a/src/main/java/frc/robot/util/MiscUtils.java b/src/main/java/frc/robot/util/MiscUtils.java
index c59dd309..cd272de2 100644
--- a/src/main/java/frc/robot/util/MiscUtils.java
+++ b/src/main/java/frc/robot/util/MiscUtils.java
@@ -31,7 +31,7 @@ public static Pose2d plusWithRotation(Pose2d a, Pose2d b) { // Transform2d used
 
   public static Alliance getSecondAlliance() {
     String allianceChar = DriverStation.getGameSpecificMessage();
-    if (allianceChar.isEmpty()) return null;
+    if (allianceChar == null || allianceChar.isEmpty()) return null;
     return switch (allianceChar.charAt(0)) {
       case 'B' -> Alliance.Blue;
       case 'R' -> Alliance.Red;
@@ -39,7 +39,24 @@ public static Alliance getSecondAlliance() {
     };
   }
 
+  public static String activeFirst() {
+    Optional<Alliance> alliance = DriverStation.getAlliance();
+    if (alliance.isEmpty() || DriverStation.getMatchTime() < 105) return "";
+    DogLog.log("Subsystems/LEDs/allianceNotEmpty", true);
+    Alliance ourAlliance = alliance.get();
+    Alliance secondAlliance = getSecondAlliance();
+    if (secondAlliance == null) return "";
+    DogLog.log("Subsystems/LEDs/ourAlliance", ourAlliance.toString());
+    DogLog.log("Subsystems/LEDs/secondAlliance", secondAlliance.toString());
+    if (secondAlliance.equals(ourAlliance)) return "LATER";
+    else return "NOW";
+  }
+
   public static boolean areWeActive() {
+    return areWeActive(0.0);
+  }
+
+  public static boolean areWeActive(double howEarly) {
     Optional<Alliance> alliance = DriverStation.getAlliance();
 
     if (alliance.isEmpty()) return false;
@@ -48,24 +65,37 @@ public static boolean areWeActive() {
 
     // teleop is enabled
     double currentMatchTime = DriverStation.getMatchTime();
+    double earlyMatchTime = currentMatchTime - howEarly;
+
     String allianceChar = DriverStation.getGameSpecificMessage();
 
-    DogLog.log("Elastic/AllianceChar", allianceChar.isEmpty() ? "Empty" : allianceChar);
+    DogLog.log(
+        "Elastic/AllianceChar",
+        allianceChar == null || allianceChar.isEmpty() ? "Empty" : allianceChar);
 
-    if (allianceChar.isEmpty()) return true;
+    if (allianceChar == null || allianceChar.isEmpty()) return true;
+    Alliance secondAlliance = getSecondAlliance();
+    if (secondAlliance == null) return true;
     boolean redInactiveFirst = getSecondAlliance() == Alliance.Red;
 
-    boolean shift1Active =
+    boolean weAreActiveFirst =
         switch (alliance.get()) {
           case Red -> !redInactiveFirst;
           case Blue -> redInactiveFirst;
         };
 
+    DogLog.log("Subsystems/LEDs/matchTime", currentMatchTime);
+
+    double earlyActiveFirst = weAreActiveFirst ? earlyMatchTime : currentMatchTime;
+    DogLog.log("Subsystems/LEDs/earlyActiveFirst", earlyActiveFirst);
+    double earlyActiveSecond = !weAreActiveFirst ? earlyMatchTime : currentMatchTime;
+    DogLog.log("Subsystems/LEDs/earlyActiveSecond", earlyActiveFirst);
+
     if (currentMatchTime > 130) return true;
-    else if (currentMatchTime > 105) return shift1Active;
-    else if (currentMatchTime > 80) return !shift1Active;
-    else if (currentMatchTime > 55) return shift1Active;
-    else if (currentMatchTime > 30) return !shift1Active;
+    else if (earlyActiveSecond > 105) return weAreActiveFirst;
+    else if (earlyActiveFirst > 80) return !weAreActiveFirst;
+    else if (earlyActiveSecond > 55) return weAreActiveFirst;
+    else if (earlyActiveFirst > 30) return !weAreActiveFirst;
     else return true;
   }