From f6a26713a90a83fb8e733df46e3df27ebd00e143 Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Tue, 10 Feb 2026 18:12:47 -0600
Subject: [PATCH 01/28] moved logic into our new branch

---
 .../subsystems/BallisitcCalculator.java       | 97 +++++++++++++++++++
 .../season/subsystems/BallisitcConstants.java | 48 +++++++++
 .../subsystems/BallisticContraints.java       | 54 +++++++++++
 .../season/subsystems/BallisticSolution.java  | 18 ++++
 4 files changed, 217 insertions(+)
 create mode 100644 src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
 create mode 100644 src/main/java/com/team1816/season/subsystems/BallisitcConstants.java
 create mode 100644 src/main/java/com/team1816/season/subsystems/BallisticContraints.java
 create mode 100644 src/main/java/com/team1816/season/subsystems/BallisticSolution.java

diff --git a/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
new file mode 100644
index 0000000..4834156
--- /dev/null
+++ b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
@@ -0,0 +1,97 @@
+package com.team1816.season.subsystems;
+import com.team1816.lib.ballisticCalc.BallisticSolution;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
+public class BallisitcCalculator {
+
+// NOTE: Everything is in radians until the very end. I'll make a comment where radians are converted into degrees.
+    /**
+     * I know this isn't what it'll actually be structured, but this was the ultimate basis of what got need from the night of 1/03.
+     * (I would recommend worrying about the initialAngle & initialVelocity later and just starting with start/end pose(will change as the robot moves) & distance)
+     * There's some code in the .md file + our initial implementation of distance.
+     */
+    public class BallisticCalculator {
+        private BallisitcConstants ballisticConstants;
+        private BallisticContraints ballisticConstraints;
+        private Translation3d missileTranslation;
+        private Translation3d robotTranslation;
+        private Translation2d robotSpeed;
+        private Translation3d hubTranslation;
+
+        public BallisticSolution getBallisticSolution(Translation3d launcher, Translation3d target, double velocity) {
+            return new BallisticSolution(0, 0, 0);
+        }
+
+        public void getConstants(BallisitcConstants ballistic_Constants, BallisticContraints ballisitc_Constraints) {
+            this.ballisticConstants = ballistic_Constants;
+            this.ballisticConstraints = ballisitc_Constraints;
+        }
+
+        public Translation3d getRobotTranslation(Translation3d missileTranslation) {
+            this.missileTranslation = missileTranslation;
+            return this.missileTranslation;
+        }
+
+        public Translation3d getTargetTranslation(Translation3d hubTranslation) {
+            this.hubTranslation = hubTranslation;
+            return hubTranslation;
+        }
+        public double calculateHorizontalDistance(Translation3d missileTranslation, Translation3d targetStartTranslation ){
+            var distance = Math.sqrt((missileTranslation.getX() - targetStartTranslation.getX()) * (missileTranslation.getX() - targetStartTranslation.getX())) + (((missileTranslation.getY() - targetStartTranslation.getY()) * (missileTranslation.getY() - targetStartTranslation.getY())));
+            return distance;
+        }
+        public double calculateStationaryLaunchAngle(Translation3d missileTranslation, Translation3d targetStartTranslation) {
+            var height = Math.abs(missileTranslation.getZ() - targetStartTranslation.getZ());
+            var distance = calculateHorizontalDistance(missileTranslation,targetStartTranslation);
+            var enterAngle = ballisticConstraints.getEnterAngle(60);
+            var theta = (Math.atan(((2 * height) / distance)) - Math.tan(enterAngle));
+            return theta;
+        }
+
+        public double calculateMissileVelocity(Translation3d missileTranslation, Translation3d targetStartTranslation) {
+            var height = (targetStartTranslation.getZ() - missileTranslation.getZ());
+            var distance = calculateHorizontalDistance(missileTranslation,targetStartTranslation);
+            var launchAngle = calculateStationaryLaunchAngle(missileTranslation, targetStartTranslation);
+            var gravity = ballisticConstants.getGravity();
+            var missileVelocity = ((distance / Math.cos(launchAngle)) * Math.sqrt(gravity / (2 * (distance * Math.tan(launchAngle)) - height)));
+            return missileVelocity;
+        }
+
+        public double getRotationAngle(Translation3d missileTranslation, Translation3d targetStartTranslation) {
+            var distance = calculateHorizontalDistance(missileTranslation,targetStartTranslation);
+            var xDistance = Math.abs(missileTranslation.getX() - hubTranslation.getX());
+            var angle = (Math.acos(xDistance / distance));
+            return angle;
+        }
+
+        public Translation2d findMovingLaunchAngle (Translation3d missileTranslation, Translation3d targetStartTranslation, Translation2d robotVelocity) {
+            var angle = getRotationAngle(missileTranslation, targetStartTranslation);
+            var velocity = calculateMissileVelocity(missileTranslation, targetStartTranslation);
+            var translationVelocity = new Translation2d(Math.cos(angle) * velocity, Math.sin(angle) * velocity);
+            var movingVelocity = translationVelocity.minus(robotVelocity);
+            return movingVelocity;
+        }
+
+
+        public double actualAngle (Translation3d missileTranslation, Translation3d targetStartTranslation, Translation2d robotVelocity) {
+            // Turns into degrees below
+            var actualAngle = (findMovingLaunchAngle(missileTranslation, targetStartTranslation, robotVelocity).getAngle().getDegrees());
+            return actualAngle;
+        }
+
+
+        public double getEndPose(double pose) {
+            return pose;
+        }
+
+        public double getLaunchAngle(double launchAngle) {
+            return launchAngle;
+        }
+
+        public double getInitialVelocity(double initialVelocity) {
+            return initialVelocity;
+        }
+
+
+    }
+}
diff --git a/src/main/java/com/team1816/season/subsystems/BallisitcConstants.java b/src/main/java/com/team1816/season/subsystems/BallisitcConstants.java
new file mode 100644
index 0000000..91f56f8
--- /dev/null
+++ b/src/main/java/com/team1816/season/subsystems/BallisitcConstants.java
@@ -0,0 +1,48 @@
+package com.team1816.season.subsystems;
+
+public class BallisitcConstants {
+    private double gravity = 9.81;
+    private double maxYaw = 350; // in degrees
+    private double minYaw = 0; // in degrees
+    private double minExitVelocity = 5; // m/s
+    private double maxExitVelocity = 30; // m/s
+    private double maxPitch = 80; // degrees
+    private double minPitch = 10; // degrees
+    private double endAngle;
+    private double height;
+    private double funFactorStagnant;//Factor in case the actual robot is missing despite the calculations being mathematically correct, this one is stationary...
+    private double funFactorMobile; //and this one if for the robot moving (might not be constant??)
+
+    public double getGravity() {
+        return this.gravity;
+    }
+    public double getEndAngle(double endAngle) {
+        this.endAngle = endAngle;
+
+        return endAngle;
+    }
+    public double getHeight(double height) {
+        this.height = height;
+
+        return height;
+    }
+    public double getFunFactorStagnant(double funFactor) {
+        this.funFactorStagnant = funFactor;
+
+        return funFactor;
+    }
+    public double getFunFactorMobile(double funFactor) {
+        this.funFactorMobile = funFactor;
+
+        return funFactor;
+    }
+    public boolean isYawValueValid (double yawValue) {
+        return yawValue > 0 && yawValue < 80;
+    }
+    public boolean isPitchValueValid (double pitchValue) {
+        return pitchValue > 0 && pitchValue < 80;
+    }
+    public boolean isExitVelocityValid (double exitVelocity) {
+        return exitVelocity > 5 && exitVelocity < 30;
+    }
+}
diff --git a/src/main/java/com/team1816/season/subsystems/BallisticContraints.java b/src/main/java/com/team1816/season/subsystems/BallisticContraints.java
new file mode 100644
index 0000000..6925e40
--- /dev/null
+++ b/src/main/java/com/team1816/season/subsystems/BallisticContraints.java
@@ -0,0 +1,54 @@
+package com.team1816.season.subsystems;
+
+public class BallisticContraints {
+    private double gravity = 9.81;
+    private double maxYaw = 350; // in degrees
+    private double minYaw = 0; // in degrees
+    private double minExitVelocity = 5; // m/s
+    private double maxExitVelocity = 30; // m/s
+    private double maxPitch = 80; // degrees
+    private double minPitch = 10; // degrees
+    private double endAngle;
+    private double height;
+    private double funFactorStagnant;//Factor in case the actual robot is missing despite the calculations being mathematically correct, this one is stationary...
+    private double funFactorMobile; //and this one if for the robot moving (might not be constant??)
+
+    public double getGravity() {
+        return this.gravity;
+    }
+    public double getEndAngle(double endAngle) {
+        this.endAngle = endAngle;
+
+        return endAngle;
+    }
+    public double getHeight(double height) {
+        this.height = height;
+
+        return height;
+    }
+    public double getFunFactorStagnant(double funFactor) {
+        this.funFactorStagnant = funFactor;
+
+        return funFactor;
+    }
+    public double getFunFactorMobile(double funFactor) {
+        this.funFactorMobile = funFactor;
+
+        return funFactor;
+    }
+    public boolean isYawValueValid (double yawValue) {
+        return yawValue > 0 && yawValue < 80;
+    }
+    public boolean isPitchValueValid (double pitchValue) {
+        return pitchValue > 0 && pitchValue < 80;
+    }
+    public boolean isExitVelocityValid (double exitVelocity) {
+        return exitVelocity > 5 && exitVelocity < 30;
+    }
+    private double enterAngle;
+    public double getEnterAngle (double enterAngle) {
+        this.enterAngle = enterAngle;
+        return enterAngle;
+    }
+
+}
diff --git a/src/main/java/com/team1816/season/subsystems/BallisticSolution.java b/src/main/java/com/team1816/season/subsystems/BallisticSolution.java
new file mode 100644
index 0000000..4014be0
--- /dev/null
+++ b/src/main/java/com/team1816/season/subsystems/BallisticSolution.java
@@ -0,0 +1,18 @@
+package com.team1816.season.subsystems;
+public class BallisticSolution {
+        private double rotationAngle;
+        private double launchAngle;
+        private double launchVelocity;
+
+        public BallisticSolution(double rotationAngle, double launchAngle, double launchVelocity) {
+            this.rotationAngle = rotationAngle;
+            this.launchAngle = launchAngle;
+            this.launchVelocity = launchVelocity;
+        }
+
+        public double getRotationAngle() { return rotationAngle; }
+
+        public double getLaunchAngle() { return launchAngle; }
+
+        public double getLaunchVelocity() { return launchVelocity; }
+}

From a5d209c065806be5254d2b391ba2f12347672e4e Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Thu, 19 Feb 2026 19:04:39 -0600
Subject: [PATCH 02/28] Created Max Ball Autos + Hang

---
 src/main/deploy/choreo/NewPath.traj           | 121 ++++++++++
 src/main/deploy/choreo/NewPath_copy1.traj     | 147 ++++++++++++
 src/main/deploy/choreo/NewPath_copy2.traj     | 106 +++++++++
 src/main/deploy/choreo/NewPath_copy3.traj     | 189 ++++++++++++++++
 .../deploy/choreo/NewPath_copy3_copy1.traj    | 196 ++++++++++++++++
 src/main/deploy/choreo/NewPath_copy4.traj     | 148 ++++++++++++
 .../deploy/choreo/NewPath_copy4_copy1.traj    | 168 ++++++++++++++
 .../deploy/choreo/Top Start To Depot End.chor | 211 ++++++++++++++++++
 .../Max Balls Depot + Human Station.auto      |  25 +++
 .../Max Balls Down From Middle +Hang.auto     |  25 +++
 .../autos/Max Balls From Depot + Hang.auto    |  25 +++
 .../Max Balls Up From Middle + Hang.auto      |  25 +++
 src/main/deploy/pathplanner/settings.json     |   4 +-
 .../com/team1816/season/RobotContainer.java   |   6 +-
 .../team1816/season/subsystems/Vision.java    |  37 +++
 15 files changed, 1431 insertions(+), 2 deletions(-)
 create mode 100644 src/main/deploy/choreo/NewPath.traj
 create mode 100644 src/main/deploy/choreo/NewPath_copy1.traj
 create mode 100644 src/main/deploy/choreo/NewPath_copy2.traj
 create mode 100644 src/main/deploy/choreo/NewPath_copy3.traj
 create mode 100644 src/main/deploy/choreo/NewPath_copy3_copy1.traj
 create mode 100644 src/main/deploy/choreo/NewPath_copy4.traj
 create mode 100644 src/main/deploy/choreo/NewPath_copy4_copy1.traj
 create mode 100644 src/main/deploy/choreo/Top Start To Depot End.chor
 create mode 100644 src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto
 create mode 100644 src/main/java/com/team1816/season/subsystems/Vision.java

diff --git a/src/main/deploy/choreo/NewPath.traj b/src/main/deploy/choreo/NewPath.traj
new file mode 100644
index 0000000..2dc42c9
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath.traj
@@ -0,0 +1,121 @@
+{
+ "name":"NewPath",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.021679878234863, "y":7.640250205993652, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.9422599077224731, "y":6.665750026702881, "heading":-2.440332634410412, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6719498991966248, "y":6.1979899406433105, "heading":-2.440332634410412, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6719498991966248, "y":5.00940017700195, "heading":-2.440332634410412, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"Top Start.x", "val":4.021679878234863}, "y":{"exp":"Top Start.y", "val":7.640250205993652}, "heading":{"exp":"Top Start.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"Depot Entry.x", "val":0.9422599077224731}, "y":{"exp":"Depot Entry.y", "val":6.665750026702881}, "heading":{"exp":"Depot Entry.heading", "val":-2.440332634410412}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.6719498991966248 m", "val":0.6719498991966248}, "y":{"exp":"6.1979899406433105 m", "val":6.1979899406433105}, "heading":{"exp":"DepotEntry.heading", "val":-2.440332634410412}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DepotEnd.x", "val":0.6719498991966248}, "y":{"exp":"DepotEnd.y", "val":5.00940017700195}, "heading":{"exp":"DepotEnd.heading", "val":-2.440332634410412}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.99487,1.19988,1.75805],
+  "samples":[
+    {"t":0.0, "x":4.02168, "y":7.64025, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-8.76874, "ay":-1.38542, "alpha":5.03211, "fx":[-142.37633,-153.27221,-153.35592,-147.61079], "fy":[-56.85947,2.4847,1.75622,-41.64389]},
+    {"t":0.03109, "x":4.01744, "y":7.63958, "heading":3.14159, "vx":-0.27262, "vy":-0.04307, "omega":0.15645, "ax":-8.77442, "ay":-1.37039, "alpha":4.9563, "fx":[-142.67756,-153.25917,-153.34522,-147.7198], "fy":[-56.05964,2.3579,1.67523,-41.21348]},
+    {"t":0.06218, "x":4.00473, "y":7.63758, "heading":-3.13673, "vx":-0.54541, "vy":-0.08568, "omega":0.31054, "ax":-8.78033, "ay":-1.3559, "alpha":4.87143, "fx":[-143.02593,-153.24329,-153.33456,-147.79983], "fy":[-55.11832,2.30587,1.43545,-40.87683]},
+    {"t":0.09327, "x":3.98353, "y":7.63426, "heading":-3.12707, "vx":-0.81839, "vy":-0.12783, "omega":0.46199, "ax":-8.78664, "ay":-1.34182, "alpha":4.7735, "fx":[-143.42789,-153.22478,-153.3229,-147.85705], "fy":[-54.00892,2.296,1.02963,-40.61251]},
+    {"t":0.12436, "x":3.95384, "y":7.62964, "heading":-3.11271, "vx":-1.09156, "vy":-0.16955, "omega":0.6104, "ax":-8.79355, "ay":-1.32802, "alpha":4.65732, "fx":[-143.89129,-153.20388,-153.30846,-147.89912], "fy":[-52.69662,2.28458,0.44712,-40.39204]},
+    {"t":0.15545, "x":3.91565, "y":7.62372, "heading":-3.09373, "vx":-1.36495, "vy":-0.21084, "omega":0.75519, "ax":-8.80129, "ay":-1.31441, "alpha":4.51618, "fx":[-144.42436,-153.18084,-153.28854,-147.93571], "fy":[-51.13882,2.21327,-0.32719,-40.17791]},
+    {"t":0.18654, "x":3.86896, "y":7.61653, "heading":-3.07026, "vx":-1.63858, "vy":-0.2517, "omega":0.8956, "ax":-8.8101, "ay":-1.30094, "alpha":4.34137, "fx":[-145.0349,-153.15583,-153.25913,-147.97949], "fy":[-49.28436,2.00422,-1.31466,-39.91948]},
+    {"t":0.21763, "x":3.81376, "y":7.60808, "heading":-3.04241, "vx":-1.91249, "vy":-0.29215, "omega":1.03057, "ax":-8.82024, "ay":-1.28766, "alpha":4.12126, "fx":[-145.72905,-153.12825,-153.21426,-148.04768], "fy":[-47.07236,1.55284,-2.54568,-39.54603]},
+    {"t":0.24872, "x":3.75004, "y":7.59838, "heading":-3.01037, "vx":-2.18671, "vy":-0.33218, "omega":1.1587, "ax":-8.83192, "ay":-1.27476, "alpha":3.84003, "fx":[-146.50958,-153.09509,-153.14487,-148.16423], "fy":[-44.43112,0.71695,-4.06413,-38.95495]},
+    {"t":0.27981, "x":3.67779, "y":7.58743, "heading":-2.97435, "vx":-2.46129, "vy":-0.37181, "omega":1.27808, "ax":-8.84524, "ay":-1.26256, "alpha":3.47537, "fx":[-147.37321,-153.04688,-153.03665,-148.36293], "fy":[-41.2772,-0.69996,-5.93524,-37.99091]},
+    {"t":0.3109, "x":3.59699, "y":7.57526, "heading":-2.93461, "vx":-2.73628, "vy":-0.41106, "omega":1.38613, "ax":-8.85999, "ay":-1.25158, "alpha":2.99437, "fx":[-148.30716,-152.95858,-152.86582,-148.69172], "fy":[-37.51385,-2.9764,-8.26014,-36.40597]},
+    {"t":0.34199, "x":3.50764, "y":7.56188, "heading":-2.89152, "vx":-3.01174, "vy":-0.44998, "omega":1.47923, "ax":-8.87523, "ay":-1.24244, "alpha":2.34425, "fx":[-149.28519,-152.76864,-152.58943,-149.21738], "fy":[-33.02464,-6.52537,-11.20893,-33.77558]},
+    {"t":0.37308, "x":3.40971, "y":7.54729, "heading":-2.84553, "vx":-3.28767, "vy":-0.4886, "omega":1.55211, "ax":-8.88805, "ay":-1.23565, "alpha":1.42993, "fx":[-150.26308,-152.32668,-152.11925,-150.02377], "fy":[-27.65306,-12.0094,-15.10963,-29.29996]},
+    {"t":0.40417, "x":3.30321, "y":7.5315, "heading":-2.79727, "vx":-3.56399, "vy":-0.52702, "omega":1.59656, "ax":-8.8891, "ay":-1.23094, "alpha":0.05274, "fx":[-151.16936,-151.24554,-151.23297,-151.15664], "fy":[-21.15384,-20.60715,-20.72302,-21.26779]},
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+    {"t":0.46635, "x":3.06444, "y":7.49635, "heading":-2.69795, "vx":-4.11526, "vy":-0.60338, "omega":1.52709, "ax":-8.54373, "ay":-1.22928, "alpha":-7.2793, "fx":[-152.11543,-140.14097,-140.95302,-148.09616], "fy":[-2.58198,-58.86322,-54.02009,31.82666]},
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/NewPath_copy1.traj b/src/main/deploy/choreo/NewPath_copy1.traj
new file mode 100644
index 0000000..1b99803
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy1.traj
@@ -0,0 +1,147 @@
+{
+ "name":"NewPath_copy1",
+ "version":3,
+ "snapshot":{
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+ "trajectory":{
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+   "cof":1.5,
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+    "side":0.4064,
+    "back":0.4064
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+  },
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+ "events":[]
+}
diff --git a/src/main/deploy/choreo/NewPath_copy2.traj b/src/main/deploy/choreo/NewPath_copy2.traj
new file mode 100644
index 0000000..f5d0581
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy2.traj
@@ -0,0 +1,106 @@
+{
+ "name":"NewPath_copy2",
+ "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}],
+  "targetDt":0.05
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+}
diff --git a/src/main/deploy/choreo/NewPath_copy3.traj b/src/main/deploy/choreo/NewPath_copy3.traj
new file mode 100644
index 0000000..2446c18
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy3.traj
@@ -0,0 +1,189 @@
+{
+ "name":"NewPath_copy3",
+ "version":3,
+ "snapshot":{
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+}
diff --git a/src/main/deploy/choreo/NewPath_copy3_copy1.traj b/src/main/deploy/choreo/NewPath_copy3_copy1.traj
new file mode 100644
index 0000000..dbd7691
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy3_copy1.traj
@@ -0,0 +1,196 @@
+{
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+}
diff --git a/src/main/deploy/choreo/NewPath_copy4.traj b/src/main/deploy/choreo/NewPath_copy4.traj
new file mode 100644
index 0000000..677c311
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy4.traj
@@ -0,0 +1,148 @@
+{
+ "name":"NewPath_copy4",
+ "version":3,
+ "snapshot":{
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/NewPath_copy4_copy1.traj b/src/main/deploy/choreo/NewPath_copy4_copy1.traj
new file mode 100644
index 0000000..aa23e5c
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy4_copy1.traj
@@ -0,0 +1,168 @@
+{
+ "name":"NewPath_copy4_copy1",
+ "version":3,
+ "snapshot":{
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Top Start To Depot End.chor b/src/main/deploy/choreo/Top Start To Depot End.chor
new file mode 100644
index 0000000..8e0b358
--- /dev/null
+++ b/src/main/deploy/choreo/Top Start To Depot End.chor	
@@ -0,0 +1,211 @@
+{
+ "name":"Top Start To Depot End",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{
+   "BottomStart":{
+    "x":{
+     "exp":"TopStart.x",
+     "val":4.021679878234863
+    },
+    "y":{
+     "exp":"0.5848698019981384 m",
+     "val":0.5848698019981384
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
+    }
+   },
+   "CenterDownEnd":{
+    "x":{
+     "exp":"7.568860054016113 m",
+     "val":7.568860054016113
+    },
+    "y":{
+     "exp":"1.5203896760940552 m",
+     "val":1.5203896760940552
+    },
+    "heading":{
+     "exp":"-2.259721068123533 rad",
+     "val":-2.259721068123533
+    }
+   },
+   "CenterUpEnd":{
+    "x":{
+     "exp":"CenterDownEnd.x",
+     "val":7.568860054016113
+    },
+    "y":{
+     "exp":"(8 - 1.5203896760940552) m",
+     "val":6.479610323905945
+    },
+    "heading":{
+     "exp":"((3 pi / 2) - 2.259721068123533) rad",
+     "val":2.4526679122611568
+    }
+   },
+   "DepotEnd":{
+    "x":{
+     "exp":"0.6719498991966248 m",
+     "val":0.6719498991966248
+    },
+    "y":{
+     "exp":"5.00940017700195 m",
+     "val":5.00940017700195
+    },
+    "heading":{
+     "exp":"DepotEntry.heading",
+     "val":-2.440332634410412
+    }
+   },
+   "DepotEntry":{
+    "x":{
+     "exp":"0.9422599077224731 m",
+     "val":0.9422599077224731
+    },
+    "y":{
+     "exp":"6.665750026702881 m",
+     "val":6.665750026702881
+    },
+    "heading":{
+     "exp":"-2.440332634410412 rad",
+     "val":-2.440332634410412
+    }
+   },
+   "EndHang":{
+    "x":{
+     "exp":"1.5269603729248047 m",
+     "val":1.526960372924805
+    },
+    "y":{
+     "exp":"2.8651998043060303 m",
+     "val":2.8651998043060303
+    },
+    "heading":{
+     "exp":"180 deg",
+     "val":3.141592653589793
+    }
+   },
+   "FeederEnd":{
+    "x":{
+     "exp":"0.4744999408721924 m",
+     "val":0.4744999408721924
+    },
+    "y":{
+     "exp":"0.5653796195983887 m",
+     "val":0.5653796195983887
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   },
+   "SweepUpFieldEnd":{
+    "x":{
+     "exp":"2.598909854888916 m",
+     "val":2.598909854888916
+    },
+    "y":{
+     "exp":"7.347899913787842 m",
+     "val":7.347899913787842
+    },
+    "heading":{
+     "exp":"90 deg",
+     "val":1.5707963267948966
+    }
+   },
+   "TopStart":{
+    "x":{
+     "exp":"4.021679878234863 m",
+     "val":4.021679878234863
+    },
+    "y":{
+     "exp":"7.640250205993652 m",
+     "val":7.640250205993652
+    },
+    "heading":{
+     "exp":"pi rad",
+     "val":3.141592653589793
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":"..\\C:\\Users\\jackb\\IdeaProjects\\ZTLDR\\src\\main\\deploy\\choreo",
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto b/src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto
new file mode 100644
index 0000000..e865b0e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto b/src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto
new file mode 100644
index 0000000..8bc0a6d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy4"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto b/src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto
new file mode 100644
index 0000000..1fa0b6e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto b/src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto
new file mode 100644
index 0000000..f044685
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy3_copy1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy4_copy1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 5bf438c..89e2b13 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -3,7 +3,9 @@
   "robotLength": 0.9,
   "holonomicMode": true,
   "pathFolders": [],
-  "autoFolders": [],
+  "autoFolders": [
+    "Choreo Autos"
+  ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java
index 40b9afd..5490772 100644
--- a/src/main/java/com/team1816/season/RobotContainer.java
+++ b/src/main/java/com/team1816/season/RobotContainer.java
@@ -1,15 +1,19 @@
 package com.team1816.season;
 
 import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.path.PathPlannerPath;
 import com.team1816.lib.BaseRobotContainer;
 import com.team1816.lib.Singleton;
 import com.team1816.season.subsystems.Indexer;
 import com.team1816.season.subsystems.Superstructure;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import org.json.simple.parser.ParseException;
+
+import java.io.IOException;
 
 public class RobotContainer extends BaseRobotContainer {
-    public RobotContainer() {
+    public RobotContainer() throws IOException, ParseException {
         NamedCommands.registerCommand("InTheZone", new InTheZoneCommand());
         // call the base to initialize library objects
         // i.e. subsystems that always exist like the drivetrain and path planner
diff --git a/src/main/java/com/team1816/season/subsystems/Vision.java b/src/main/java/com/team1816/season/subsystems/Vision.java
new file mode 100644
index 0000000..d9b01c7
--- /dev/null
+++ b/src/main/java/com/team1816/season/subsystems/Vision.java
@@ -0,0 +1,37 @@
+//package com.team1816.season.subsystems;
+//
+//import com.team1816.lib.subsystems.ITestableSubsystem;
+//import edu.wpi.first.apriltag.AprilTagFieldLayout;
+//import edu.wpi.first.apriltag.AprilTagFields;
+//import edu.wpi.first.math.geometry.Transform3d;
+//import edu.wpi.first.wpilibj2.command.SubsystemBase;
+//import org.photonvision.PhotonCamera;
+//import org.photonvision.PhotonPoseEstimator;
+//
+//import java.io.IOException;
+//import java.util.ArrayList;
+//import java.util.List;
+//
+//
+//public class Vision extends SubsystemBase implements ITestableSubsystem {
+//    private final List<PhotonCamera> cameraList = new ArrayList<>();
+//    private final List<Transform3d> positionList = new ArrayList<>();
+//    private final List<PhotonPoseEstimator> poseEstimatorList = new ArrayList<>();
+//    private final AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2026RebuiltWelded.m_resourceFile);
+//
+//    public void setupCameras(String name, Transform3d pos){
+//        var cam = new PhotonCamera(name);
+//        var estimator = new PhotonPoseEstimator(fieldLayout, PhotonPoseEstimator.PoseStrategy.);
+//    }
+//
+//    public Vision() throws IOException {
+//        setupCameras("frontCam", new Transform3d());
+//        setupCameras("backCam", new Transform3d());
+//        setupCameras("rightCam", new Transform3d());
+//        setupCameras("leftCam", new Transform3d());
+//    }
+//
+//    public void periodic(){
+//
+//    }
+//}

From fdd6335142404e1d10990c8e3ee1322004492411 Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Thu, 19 Feb 2026 19:05:42 -0600
Subject: [PATCH 03/28] Accidently Changed RobotContainer

---
 src/main/java/com/team1816/season/RobotContainer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java
index 5490772..1750eb7 100644
--- a/src/main/java/com/team1816/season/RobotContainer.java
+++ b/src/main/java/com/team1816/season/RobotContainer.java
@@ -13,7 +13,7 @@
 import java.io.IOException;
 
 public class RobotContainer extends BaseRobotContainer {
-    public RobotContainer() throws IOException, ParseException {
+    public RobotContainer() {
         NamedCommands.registerCommand("InTheZone", new InTheZoneCommand());
         // call the base to initialize library objects
         // i.e. subsystems that always exist like the drivetrain and path planner

From 508de4e52dfb65dffb74168175cf2f84f3394a15 Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Fri, 20 Feb 2026 18:09:43 -0600
Subject: [PATCH 04/28] Remove error in ballisticcalc

---
 .../java/com/team1816/season/subsystems/BallisitcCalculator.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
index 4834156..fdf53b1 100644
--- a/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
+++ b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
@@ -1,5 +1,4 @@
 package com.team1816.season.subsystems;
-import com.team1816.lib.ballisticCalc.BallisticSolution;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 public class BallisitcCalculator {

From dbc9dad954899927aea4334d1e84990ca563d09c Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Fri, 20 Feb 2026 19:44:11 -0600
Subject: [PATCH 05/28] got an auto to work and fixed some errors

---
 simgui-ds.json                                |   5 +
 src/main/deploy/choreo/NewPath_copy5.traj     | 136 ++++++++
 src/main/deploy/choreo/Test_Path.chor         | 113 +++++++
 src/main/deploy/choreo/TurretTableTest.traj   | 308 ------------------
 .../{TurretTableTest.auto => New Auto.auto}   |   4 +-
 .../pathplanner/autos/New New New Auto.auto   |  19 ++
 .../lib/hardware/components/GhostDevice.java  |  33 +-
 .../lib/hardware/components/motor/IMotor.java |   1 +
 .../subsystems/BallisitcCalculator.java       |   5 -
 .../team1816/season/subsystems/Shooter.java   |   2 +-
 src/main/resources/yaml/zmule.yml             |  88 ++++-
 11 files changed, 390 insertions(+), 324 deletions(-)
 create mode 100644 src/main/deploy/choreo/NewPath_copy5.traj
 create mode 100644 src/main/deploy/choreo/Test_Path.chor
 delete mode 100644 src/main/deploy/choreo/TurretTableTest.traj
 rename src/main/deploy/pathplanner/autos/{TurretTableTest.auto => New Auto.auto} (78%)
 create mode 100644 src/main/deploy/pathplanner/autos/New New New Auto.auto

diff --git a/simgui-ds.json b/simgui-ds.json
index c4295d7..2c7eccc 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
diff --git a/src/main/deploy/choreo/NewPath_copy5.traj b/src/main/deploy/choreo/NewPath_copy5.traj
new file mode 100644
index 0000000..ed459c5
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy5.traj
@@ -0,0 +1,136 @@
+{
+ "name":"NewPath_copy5",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.625870227813721, "y":7.328409671783447, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.69180965423584, "y":7.172489643096924, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.9001898765563965, "y":4.755729675292969, "heading":-1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.822229862213135, "y":4.931139945983887, "heading":0.0, "intervals":40, "split":false, "fixTranslation":false, "fixHeading":false, "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}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.625870227813721 m", "val":4.625870227813721}, "y":{"exp":"7.328409671783447 m", "val":7.328409671783447}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.69180965423584 m", "val":6.69180965423584}, "y":{"exp":"7.172489643096924 m", "val":7.172489643096924}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.9001898765563965 m", "val":7.9001898765563965}, "y":{"exp":"4.755729675292969 m", "val":4.755729675292969}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.822229862213135 m", "val":7.822229862213135}, "y":{"exp":"4.931139945983887 m", "val":4.931139945983887}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":false, "fixHeading":false, "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}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.74054,1.6152,1.61541],
+  "samples":[
+    {"t":0.0, "x":4.62587, "y":7.32841, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":8.49729, "ay":2.80485, "alpha":-3.43857, "fx":[150.85302,142.12672,135.93281,149.23336], "fy":[27.45154,57.56729,70.86643,34.95383]},
+    {"t":0.02743, "x":4.62907, "y":7.32946, "heading":0.0, "vx":0.23306, "vy":0.07693, "omega":-0.09431, "ax":8.53867, "ay":2.67293, "alpha":-3.44494, "fx":[151.21547,142.87056,137.04762,149.82739], "fy":[25.30732,55.66316,68.65221,32.24029]},
+    {"t":0.05486, "x":4.63867, "y":7.33258, "heading":-0.00259, "vx":0.46725, "vy":0.15024, "omega":-0.1888, "ax":8.58274, "ay":2.5241, "alpha":-3.45033, "fx":[151.58991,143.69534,138.25344,150.42121], "fy":[22.86917,53.46018,66.15159,29.25596]},
+    {"t":0.08228, "x":4.65471, "y":7.33765, "heading":-0.00777, "vx":0.70266, "vy":0.21947, "omega":-0.28343, "ax":8.6295, "ay":2.35507, "alpha":-3.45445, "fx":[151.96847,144.60358,139.55982,151.00937], "fy":[20.0872,50.90781,63.30358,25.93749]},
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+    {"t":1.61527, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00002, "vy":-0.00019, "omega":-0.00014, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61528, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.00017, "omega":-0.00013, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.6153, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.00015, "omega":-0.00011, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61531, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.00014, "omega":-0.0001, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61532, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.00012, "omega":-0.00009, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61533, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.0001, "omega":-0.00008, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61535, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.00009, "omega":-0.00006, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61536, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.00001, "vy":-0.00007, "omega":-0.00005, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61537, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.0, "vy":-0.00005, "omega":-0.00004, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61538, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.0, "vy":-0.00003, "omega":-0.00003, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.6154, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.0, "vy":-0.00002, "omega":-0.00001, "ax":-0.11202, "ay":1.36447, "alpha":1.01306, "fx":[0.87093,-4.66158,-4.7117,0.88032], "fy":[25.87812,25.85573,20.54249,20.56085]},
+    {"t":1.61541, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
new file mode 100644
index 0000000..ee75855
--- /dev/null
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -0,0 +1,113 @@
+{
+ "name":"Test_Path",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{
+   "BottomFuelDown":{
+    "x":{
+     "exp":"TopFuel.x",
+     "val":7.58834981918335
+    },
+    "y":{
+     "exp":"1.8855873346328735 m",
+     "val":1.8855873346328735
+    },
+    "heading":{
+     "exp":"TopFuel.heading",
+     "val":4.71238898038469
+    }
+   },
+   "TopFuelDown":{
+    "x":{
+     "exp":"7.58834981918335 m",
+     "val":7.58834981918335
+    },
+    "y":{
+     "exp":"6.3344197273254395 m",
+     "val":6.3344197273254395
+    },
+    "heading":{
+     "exp":"270 deg",
+     "val":4.71238898038469
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/src/main/deploy/choreo/TurretTableTest.traj b/src/main/deploy/choreo/TurretTableTest.traj
deleted file mode 100644
index f57fdec..0000000
--- a/src/main/deploy/choreo/TurretTableTest.traj
+++ /dev/null
@@ -1,308 +0,0 @@
-{
- "name":"TurretTableTest",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":4.0, "y":4.0, "heading":0.7853981633974483, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.65, "y":5.65, "heading":5.497787143782138, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.3, "y":4.0, "heading":-2.291259687861051, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.65, "y":2.35, "heading":2.356194490192345, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.0, "y":4.0, "heading":0.7853981633974483, "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":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"4 m", "val":4.0}, "heading":{"exp":"45 deg", "val":0.7853981633974483}, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.65 m", "val":5.65}, "y":{"exp":"5.65 m", "val":5.65}, "heading":{"exp":"315 deg", "val":5.497787143782138}, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.3 m", "val":7.3}, "y":{"exp":"4 m", "val":4.0}, "heading":{"exp":"-2.291259687861051 rad", "val":-2.291259687861051}, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.65 m", "val":5.65}, "y":{"exp":"2.35 m", "val":2.35}, "heading":{"exp":"135 deg", "val":2.356194490192345}, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"4 m", "val":4.0}, "heading":{"exp":"45 deg", "val":0.7853981633974483}, "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":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
-   },
-   "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
-   },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
-   "bumper":{
-    "front":0.4064,
-    "side":0.4064,
-    "back":0.4064
-   },
-   "differentialTrackWidth":0.5588
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.40028,4.75357,7.10686,9.50714],
-  "samples":[
-    {"t":0.0, "x":4.0, "y":4.0, "heading":0.7854, "vx":0.0, "vy":0.0, "omega":0.0, "ax":6.28011, "ay":6.46688, "alpha":-0.00495, "fx":[106.84214,106.80409,106.80348,106.84154], "fy":[109.98102,110.01797,110.01846,109.9815]},
-    {"t":0.04, "x":4.00503, "y":4.00517, "heading":0.7854, "vx":0.25123, "vy":0.25871, "omega":-0.0002, "ax":6.2716, "ay":6.45811, "alpha":-0.00882, "fx":[106.7125,106.64477,106.64358,106.71135], "fy":[109.81739,109.88317,109.88396,109.81815]},
-    {"t":0.08001, "x":4.02009, "y":4.02069, "heading":0.78539, "vx":0.50213, "vy":0.51706, "omega":-0.00055, "ax":4.85866, "ay":5.00316, "alpha":-0.72109, "fx":[85.38623,81.05477,79.81572,84.32082], "fy":[83.51091,87.75016,86.77682,82.37106]},
-    {"t":0.12001, "x":4.04407, "y":4.04538, "heading":0.78537, "vx":0.6965, "vy":0.71721, "omega":-0.0294, "ax":0.00005, "ay":0.00005, "alpha":-2.48708, "fx":[9.44225,0.00107,-9.44069,0.00051], "fy":[0.00053,9.44228,0.00109,-9.44066]},
-    {"t":0.16002, "x":4.07193, "y":4.07407, "heading":0.78419, "vx":0.6965, "vy":0.71721, "omega":-0.12889, "ax":0.0, "ay":0.0, "alpha":-2.17305, "fx":[8.24934,0.00995,-8.24934,-0.00995], "fy":[-0.00995,8.24934,0.00995,-8.24934]},
-    {"t":0.20002, "x":4.0998, "y":4.10276, "heading":0.77904, "vx":0.6965, "vy":0.71721, "omega":-0.21582, "ax":0.0, "ay":0.0, "alpha":-1.89809, "fx":[7.20539,0.04584,-7.20539,-0.04584], "fy":[-0.04584,7.20539,0.04584,-7.20539]},
-    {"t":0.24003, "x":4.12766, "y":4.13146, "heading":0.7704, "vx":0.6965, "vy":0.71721, "omega":-0.29176, "ax":0.0, "ay":0.0, "alpha":-1.6575, "fx":[6.29149,0.09436,-6.29149,-0.09436], "fy":[-0.09436,6.29149,0.09436,-6.29149]},
-    {"t":0.28003, "x":4.15552, "y":4.16015, "heading":0.75873, "vx":0.6965, "vy":0.71721, "omega":-0.35806, "ax":0.0, "ay":0.0, "alpha":-1.44709, "fx":[5.4915,0.14648,-5.4915,-0.14648], "fy":[-0.14648,5.4915,0.14648,-5.4915]},
-    {"t":0.32004, "x":4.18339, "y":4.18884, "heading":0.74441, "vx":0.6965, "vy":0.71721, "omega":-0.41596, "ax":0.0, "ay":0.0, "alpha":-1.26316, "fx":[4.79119,0.19651,-4.79119,-0.19651], "fy":[-0.19651,4.79119,0.19651,-4.79119]},
-    {"t":0.36004, "x":4.21125, "y":4.21753, "heading":0.72777, "vx":0.6965, "vy":0.71721, "omega":-0.46649, "ax":0.0, "ay":0.0, "alpha":-1.10243, "fx":[4.17811,0.24106,-4.17811,-0.24106], "fy":[-0.24106,4.17811,0.24106,-4.17811]},
-    {"t":0.40005, "x":4.23911, "y":4.24622, "heading":0.7091, "vx":0.6965, "vy":0.71721, "omega":-0.51059, "ax":0.0, "ay":0.0, "alpha":-0.96201, "fx":[3.64138,0.27836,-3.64138,-0.27836], "fy":[-0.27836,3.64138,0.27836,-3.64138]},
-    {"t":0.44005, "x":4.26698, "y":4.27492, "heading":0.68868, "vx":0.6965, "vy":0.71721, "omega":-0.54908, "ax":0.0, "ay":0.0, "alpha":-0.83937, "fx":[3.17152,0.30771,-3.17152,-0.30771], "fy":[-0.30771,3.17152,0.30771,-3.17152]},
-    {"t":0.48006, "x":4.29484, "y":4.30361, "heading":0.66671, "vx":0.6965, "vy":0.71721, "omega":-0.58265, "ax":0.0, "ay":0.0, "alpha":-0.73226, "fx":[2.76025,0.32915,-2.76025,-0.32915], "fy":[-0.32915,2.76025,0.32915,-2.76025]},
-    {"t":0.52006, "x":4.3227, "y":4.3323, "heading":0.6434, "vx":0.6965, "vy":0.71721, "omega":-0.61195, "ax":0.0, "ay":0.0, "alpha":-0.63873, "fx":[2.40033,0.34314,-2.40033,-0.34314], "fy":[-0.34314,2.40033,0.34314,-2.40033]},
-    {"t":0.56007, "x":4.35056, "y":4.36099, "heading":0.61892, "vx":0.6965, "vy":0.71721, "omega":-0.6375, "ax":0.0, "ay":0.0, "alpha":-0.55706, "fx":[2.08547,0.35042,-2.08547,-0.35042], "fy":[-0.35042,2.08547,0.35042,-2.08547]},
-    {"t":0.60007, "x":4.37843, "y":4.38968, "heading":0.59342, "vx":0.6965, "vy":0.71721, "omega":-0.65978, "ax":0.0, "ay":0.0, "alpha":-0.48575, "fx":[1.81012,0.35184,-1.81012,-0.35184], "fy":[-0.35184,1.81012,0.35184,-1.81012]},
-    {"t":0.64008, "x":4.40629, "y":4.41837, "heading":0.56703, "vx":0.6965, "vy":0.71721, "omega":-0.67922, "ax":0.0, "ay":0.0, "alpha":-0.42348, "fx":[1.56943,0.34828,-1.56943,-0.34828], "fy":[-0.34828,1.56943,0.34828,-1.56943]},
-    {"t":0.68008, "x":4.43415, "y":4.44707, "heading":0.53985, "vx":0.6965, "vy":0.71721, "omega":-0.69616, "ax":0.0, "ay":0.0, "alpha":-0.3691, "fx":[1.35914,0.3406,-1.35914,-0.3406], "fy":[-0.3406,1.35914,0.3406,-1.35914]},
-    {"t":0.72008, "x":4.46202, "y":4.47576, "heading":0.512, "vx":0.6965, "vy":0.71721, "omega":-0.71092, "ax":0.0, "ay":0.0, "alpha":-0.3216, "fx":[1.1755,0.32963,-1.1755,-0.32963], "fy":[-0.32963,1.1755,0.32963,-1.1755]},
-    {"t":0.76009, "x":4.48988, "y":4.50445, "heading":0.48356, "vx":0.6965, "vy":0.71721, "omega":-0.72379, "ax":0.0, "ay":0.0, "alpha":-0.28009, "fx":[1.01523,0.31609,-1.01523,-0.31609], "fy":[-0.31609,1.01523,0.31609,-1.01523]},
-    {"t":0.80009, "x":4.51774, "y":4.53314, "heading":0.45461, "vx":0.6965, "vy":0.71721, "omega":-0.73499, "ax":0.0, "ay":0.0, "alpha":-0.24382, "fx":[0.87542,0.30063,-0.87542,-0.30063], "fy":[-0.30063,0.87542,0.30063,-0.87542]},
-    {"t":0.8401, "x":4.54561, "y":4.56183, "heading":0.42521, "vx":0.6965, "vy":0.71721, "omega":-0.74475, "ax":0.0, "ay":0.0, "alpha":-0.21211, "fx":[0.75353,0.2838,-0.75353,-0.2838], "fy":[-0.2838,0.75353,0.2838,-0.75353]},
-    {"t":0.8801, "x":4.57347, "y":4.59053, "heading":0.39541, "vx":0.6965, "vy":0.71721, "omega":-0.75323, "ax":0.0, "ay":0.0, "alpha":-0.18435, "fx":[0.6473,0.26607,-0.6473,-0.26607], "fy":[-0.26607,0.6473,0.26607,-0.6473]},
-    {"t":0.92011, "x":4.60133, "y":4.61922, "heading":0.36528, "vx":0.6965, "vy":0.71721, "omega":-0.76061, "ax":0.0, "ay":0.0, "alpha":-0.16005, "fx":[0.55474,0.24781,-0.55474,-0.24781], "fy":[-0.24781,0.55474,0.24781,-0.55474]},
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-    {"t":7.98697, "x":5.01928, "y":2.9504, "heading":1.68173, "vx":-0.6965, "vy":0.71721, "omega":-0.7779, "ax":0.0, "ay":0.0, "alpha":0.01405, "fx":[-0.0333,0.04165,0.0333,-0.04165], "fy":[-0.04165,-0.0333,0.04165,0.0333]},
-    {"t":8.02697, "x":4.99142, "y":2.9791, "heading":1.65061, "vx":-0.6965, "vy":0.71721, "omega":-0.77733, "ax":0.0, "ay":0.0, "alpha":0.01866, "fx":[-0.04593,0.05392,0.04593,-0.05392], "fy":[-0.05392,-0.04593,0.05392,0.04593]},
-    {"t":8.06697, "x":4.96356, "y":3.00779, "heading":1.61952, "vx":-0.6965, "vy":0.71721, "omega":-0.77659, "ax":0.0, "ay":0.0, "alpha":0.02362, "fx":[-0.06023,0.0664,0.06023,-0.0664], "fy":[-0.0664,-0.06023,0.0664,0.06023]},
-    {"t":8.10698, "x":4.93569, "y":3.03648, "heading":1.58845, "vx":-0.6965, "vy":0.71721, "omega":-0.77564, "ax":0.0, "ay":0.0, "alpha":0.02902, "fx":[-0.0765,0.07925,0.0765,-0.07925], "fy":[-0.07925,-0.0765,0.07925,0.0765]},
-    {"t":8.14698, "x":4.90783, "y":3.06517, "heading":1.55742, "vx":-0.6965, "vy":0.71721, "omega":-0.77448, "ax":0.0, "ay":0.0, "alpha":0.03496, "fx":[-0.09509,0.09258,0.09509,-0.09258], "fy":[-0.09258,-0.09509,0.09258,0.09509]},
-    {"t":8.18699, "x":4.87997, "y":3.09386, "heading":1.52644, "vx":-0.6965, "vy":0.71721, "omega":-0.77308, "ax":0.0, "ay":0.0, "alpha":0.04156, "fx":[-0.11639,0.10649,0.11639,-0.10649], "fy":[-0.10649,-0.11639,0.10649,0.11639]},
-    {"t":8.22699, "x":4.8521, "y":3.12256, "heading":1.49551, "vx":-0.6965, "vy":0.71721, "omega":-0.77142, "ax":0.0, "ay":0.0, "alpha":0.04893, "fx":[-0.14085,0.1211,0.14085,-0.1211], "fy":[-0.1211,-0.14085,0.1211,0.14085]},
-    {"t":8.267, "x":4.82424, "y":3.15125, "heading":1.46465, "vx":-0.6965, "vy":0.71721, "omega":-0.76946, "ax":0.0, "ay":0.0, "alpha":0.05722, "fx":[-0.16901,0.13646,0.16901,-0.13646], "fy":[-0.13646,-0.16901,0.13646,0.16901]},
-    {"t":8.307, "x":4.79638, "y":3.17994, "heading":1.43387, "vx":-0.6965, "vy":0.71721, "omega":-0.76717, "ax":0.0, "ay":0.0, "alpha":0.06658, "fx":[-0.20145,0.15266,0.20145,-0.15266], "fy":[-0.15266,-0.20145,0.15266,0.20145]},
-    {"t":8.34701, "x":4.76851, "y":3.20863, "heading":1.40318, "vx":-0.6965, "vy":0.71721, "omega":-0.76451, "ax":0.0, "ay":0.0, "alpha":0.07719, "fx":[-0.23886,0.16972,0.23886,-0.16972], "fy":[-0.16972,-0.23886,0.16972,0.23886]},
-    {"t":8.38701, "x":4.74065, "y":3.23732, "heading":1.37259, "vx":-0.6965, "vy":0.71721, "omega":-0.76142, "ax":0.0, "ay":0.0, "alpha":0.08923, "fx":[-0.28201,0.18768,0.28201,-0.18768], "fy":[-0.18768,-0.28201,0.18768,0.28201]},
-    {"t":8.42702, "x":4.71279, "y":3.26602, "heading":1.34213, "vx":-0.6965, "vy":0.71721, "omega":-0.75785, "ax":0.0, "ay":0.0, "alpha":0.10295, "fx":[-0.33179,0.20651,0.33179,-0.20651], "fy":[-0.20651,-0.33179,0.20651,0.33179]},
-    {"t":8.46702, "x":4.68492, "y":3.29471, "heading":1.31181, "vx":-0.6965, "vy":0.71721, "omega":-0.75373, "ax":0.0, "ay":0.0, "alpha":0.11858, "fx":[-0.38922,0.22618,0.38922,-0.22618], "fy":[-0.22618,-0.38922,0.22618,0.38922]},
-    {"t":8.50703, "x":4.65706, "y":3.3234, "heading":1.28166, "vx":-0.6965, "vy":0.71721, "omega":-0.74899, "ax":0.0, "ay":0.0, "alpha":0.13644, "fx":[-0.45546,0.24662,0.45546,-0.24662], "fy":[-0.24662,-0.45546,0.24662,0.45546]},
-    {"t":8.54703, "x":4.6292, "y":3.35209, "heading":1.2517, "vx":-0.6965, "vy":0.71721, "omega":-0.74353, "ax":0.0, "ay":0.0, "alpha":0.15684, "fx":[-0.53183,0.26768,0.53183,-0.26768], "fy":[-0.26768,-0.53183,0.26768,0.53183]},
-    {"t":8.58704, "x":4.60133, "y":3.38078, "heading":1.22195, "vx":-0.6965, "vy":0.71721, "omega":-0.73726, "ax":0.0, "ay":0.0, "alpha":0.18017, "fx":[-0.61982,0.28919,0.61982,-0.28919], "fy":[-0.28919,-0.61982,0.28919,0.61982]},
-    {"t":8.62704, "x":4.57347, "y":3.40947, "heading":1.19246, "vx":-0.6965, "vy":0.71721, "omega":-0.73005, "ax":0.0, "ay":0.0, "alpha":0.20687, "fx":[-0.72114,0.31091,0.72114,-0.31091], "fy":[-0.31091,-0.72114,0.31091,0.72114]},
-    {"t":8.66705, "x":4.54561, "y":3.43817, "heading":1.16325, "vx":-0.6965, "vy":0.71721, "omega":-0.72177, "ax":0.0, "ay":0.0, "alpha":0.23742, "fx":[-0.83773,0.33252,0.83773,-0.33252], "fy":[-0.33252,-0.83773,0.33252,0.83773]},
-    {"t":8.70705, "x":4.51774, "y":3.46686, "heading":1.13438, "vx":-0.6965, "vy":0.71721, "omega":-0.71228, "ax":0.0, "ay":0.0, "alpha":0.27241, "fx":[-0.97179,0.35361,0.97179,-0.35361], "fy":[-0.35361,-0.97179,0.35361,0.97179]},
-    {"t":8.74705, "x":4.48988, "y":3.49555, "heading":1.10589, "vx":-0.6965, "vy":0.71721, "omega":-0.70138, "ax":0.0, "ay":0.0, "alpha":0.31248, "fx":[-1.12585,0.37371,1.12585,-0.37371], "fy":[-0.37371,-1.12585,0.37371,1.12585]},
-    {"t":8.78706, "x":4.46202, "y":3.52424, "heading":1.07783, "vx":-0.6965, "vy":0.71721, "omega":-0.68888, "ax":0.0, "ay":0.0, "alpha":0.35838, "fx":[-1.30273,0.3922,1.30273,-0.3922], "fy":[-0.3922,-1.30273,0.3922,1.30273]},
-    {"t":8.82706, "x":4.43415, "y":3.55293, "heading":1.05027, "vx":-0.6965, "vy":0.71721, "omega":-0.67454, "ax":0.0, "ay":0.0, "alpha":0.41096, "fx":[-1.50568,0.40841,1.50568,-0.40841], "fy":[-0.40841,-1.50568,0.40841,1.50568]},
-    {"t":8.86707, "x":4.40629, "y":3.58163, "heading":1.02328, "vx":-0.6965, "vy":0.71721, "omega":-0.6581, "ax":0.0, "ay":0.0, "alpha":0.47119, "fx":[-1.73835,0.42151,1.73835,-0.42151], "fy":[-0.42151,-1.73835,0.42151,1.73835]},
-    {"t":8.90707, "x":4.37843, "y":3.61032, "heading":0.99696, "vx":-0.6965, "vy":0.71721, "omega":-0.63925, "ax":0.0, "ay":0.0, "alpha":0.54018, "fx":[-2.00492,0.43061,2.00492,-0.43061], "fy":[-0.43061,-2.00492,0.43061,2.00492]},
-    {"t":8.94708, "x":4.35056, "y":3.63901, "heading":0.97138, "vx":-0.6965, "vy":0.71721, "omega":-0.61764, "ax":0.0, "ay":0.0, "alpha":0.61922, "fx":[-2.31013,0.43468,2.31013,-0.43468], "fy":[-0.43468,-2.31013,0.43468,2.31013]},
-    {"t":8.98708, "x":4.3227, "y":3.6677, "heading":0.94668, "vx":-0.6965, "vy":0.71721, "omega":-0.59287, "ax":0.0, "ay":0.0, "alpha":0.70975, "fx":[-2.65938,0.43266,2.65938,-0.43266], "fy":[-0.43266,-2.65938,0.43266,2.65938]},
-    {"t":9.02709, "x":4.29484, "y":3.69639, "heading":0.92296, "vx":-0.6965, "vy":0.71721, "omega":-0.56448, "ax":0.0, "ay":0.0, "alpha":0.81343, "fx":[-3.05878,0.42344,3.05878,-0.42344], "fy":[-0.42344,-3.05878,0.42344,3.05878]},
-    {"t":9.06709, "x":4.26698, "y":3.72508, "heading":0.90038, "vx":-0.6965, "vy":0.71721, "omega":-0.53194, "ax":0.0, "ay":0.0, "alpha":0.93218, "fx":[-3.51536,0.40598,3.51536,-0.40598], "fy":[-0.40598,-3.51536,0.40598,3.51536]},
-    {"t":9.1071, "x":4.23911, "y":3.75378, "heading":0.8791, "vx":-0.6965, "vy":0.71721, "omega":-0.49464, "ax":0.0, "ay":0.0, "alpha":1.06814, "fx":[-4.03708,0.37938,4.03708,-0.37938], "fy":[-0.37938,-4.03708,0.37938,4.03708]},
-    {"t":9.1471, "x":4.21125, "y":3.78247, "heading":0.85931, "vx":-0.6965, "vy":0.71721, "omega":-0.45191, "ax":0.0, "ay":0.0, "alpha":1.22378, "fx":[-4.63304,0.34306,4.63304,-0.34306], "fy":[-0.34306,-4.63304,0.34306,4.63304]},
-    {"t":9.18711, "x":4.18339, "y":3.81116, "heading":0.84123, "vx":-0.6965, "vy":0.71721, "omega":-0.40296, "ax":0.0, "ay":0.0, "alpha":1.40191, "fx":[-5.31364,0.29698,5.31364,-0.29698], "fy":[-0.29698,-5.31364,0.29698,5.31364]},
-    {"t":9.22711, "x":4.15552, "y":3.83985, "heading":0.82511, "vx":-0.6965, "vy":0.71721, "omega":-0.34687, "ax":0.0, "ay":0.0, "alpha":1.6057, "fx":[-6.09076,0.242,6.09076,-0.242], "fy":[-0.242,-6.09076,0.242,6.09076]},
-    {"t":9.26712, "x":4.12766, "y":3.86854, "heading":0.81123, "vx":-0.6965, "vy":0.71721, "omega":-0.28264, "ax":0.0, "ay":0.0, "alpha":1.83875, "fx":[-6.97796,0.18031,6.97796,-0.18031], "fy":[-0.18031,-6.97796,0.18031,6.97796]},
-    {"t":9.30712, "x":4.0998, "y":3.89724, "heading":0.79993, "vx":-0.6965, "vy":0.71721, "omega":-0.20908, "ax":0.0, "ay":0.0, "alpha":2.10514, "fx":[-7.99072,0.1161,7.99072,-0.1161], "fy":[-0.1161,-7.99072,0.1161,7.99072]},
-    {"t":9.34713, "x":4.07193, "y":3.92593, "heading":0.79156, "vx":-0.6965, "vy":0.71721, "omega":-0.12486, "ax":0.00005, "ay":-0.00005, "alpha":2.40945, "fx":[-9.1458,0.05717,9.14737,-0.05559], "fy":[-0.05719,-9.14739,0.05556,9.14578]},
-    {"t":9.38713, "x":4.04407, "y":3.95462, "heading":0.78657, "vx":-0.6965, "vy":0.71721, "omega":-0.02847, "ax":4.85866, "ay":-5.00316, "alpha":0.69845, "fx":[79.90401,81.10649,85.30327,84.26376], "fy":[-86.72599,-87.66647,-83.55655,-82.45995]},
-    {"t":9.42713, "x":4.02009, "y":3.97931, "heading":0.78543, "vx":-0.50213, "vy":0.51706, "omega":-0.00053, "ax":6.2716, "ay":-6.45811, "alpha":0.00854, "fx":[106.64466,106.64582,106.71141,106.71029], "fy":[-109.88292,-109.88214,-109.81844,-109.81917]},
-    {"t":9.46714, "x":4.00503, "y":3.99483, "heading":0.78541, "vx":-0.25123, "vy":0.25871, "omega":-0.00019, "ax":6.28011, "ay":-6.46688, "alpha":0.00479, "fx":[106.80408,106.80468,106.84153,106.84095], "fy":[-110.01788,-110.01739,-109.98161,-109.98207]},
-    {"t":9.50714, "x":4.0, "y":4.0, "heading":0.7854, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/pathplanner/autos/TurretTableTest.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
similarity index 78%
rename from src/main/deploy/pathplanner/autos/TurretTableTest.auto
rename to src/main/deploy/pathplanner/autos/New Auto.auto
index c5e6062..a67cc62 100644
--- a/src/main/deploy/pathplanner/autos/TurretTableTest.auto
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto	
@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CircleTest"
+            "pathName": "NewPath.0"
           }
         }
       ]
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Choreo Autos",
   "choreoAuto": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/New New New Auto.auto b/src/main/deploy/pathplanner/autos/New New New Auto.auto
new file mode 100644
index 0000000..a3a12ff
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/New New New Auto.auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NewPath_copy5.0"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java b/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java
index 7a9724a..b77b443 100644
--- a/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java
+++ b/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java
@@ -4,8 +4,9 @@
 import com.ctre.phoenix6.StatusCode;
 import com.ctre.phoenix6.configs.ParentConfiguration;
 import com.ctre.phoenix6.controls.ControlRequest;
+import com.team1816.lib.hardware.components.motor.IMotor;
 
-public class GhostDevice implements IPhoenix6 {
+public class GhostDevice implements IMotor {
 
     private int Id = 0;
 
@@ -32,4 +33,34 @@ public boolean isConnected() {
     public StatusCode setSimSupplyVoltage(double volts) {
         return StatusCode.OK;
     }
+
+    @Override
+    public double getMotorVelocity() {
+        return 0;
+    }
+
+    @Override
+    public double getMotorPosition() {
+        return 0;
+    }
+
+    @Override
+    public void zeroMotorPosition() {
+
+    }
+
+    @Override
+    public StatusCode setSimRotorVelocity(double rps) {
+        return StatusCode.OK;
+    }
+
+    @Override
+    public StatusCode setSimRotorPosition(double rotations) {
+        return StatusCode.OK;
+    }
+
+    @Override
+    public double getSimMotorVoltage() {
+        return 12;
+    }
 }
diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java b/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java
index a3abcc0..7c13531 100644
--- a/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java
+++ b/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java
@@ -6,6 +6,7 @@
 public interface IMotor extends IPhoenix6 {
     // method to get the current velocity of rotor in rps
     double getMotorVelocity();
+
     // method to get the angle of rotor in rotations
     double getMotorPosition();
     // used to zero the motor position
diff --git a/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
index 4834156..3ed7be7 100644
--- a/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
+++ b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java
@@ -1,5 +1,4 @@
 package com.team1816.season.subsystems;
-import com.team1816.lib.ballisticCalc.BallisticSolution;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 public class BallisitcCalculator {
@@ -18,10 +17,6 @@ public class BallisticCalculator {
         private Translation2d robotSpeed;
         private Translation3d hubTranslation;
 
-        public BallisticSolution getBallisticSolution(Translation3d launcher, Translation3d target, double velocity) {
-            return new BallisticSolution(0, 0, 0);
-        }
-
         public void getConstants(BallisitcConstants ballistic_Constants, BallisticContraints ballisitc_Constraints) {
             this.ballisticConstants = ballistic_Constants;
             this.ballisticConstraints = ballisitc_Constraints;
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index e621beb..d12b551 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -49,7 +49,7 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
 
     //DEVICES
     private final DigitalInput rotationAngleSensorClockwiseLeft = new DigitalInput((int) factory.getConstant(NAME, "rotationAngleSensorClockwiseLeft", 0));
-    private final DigitalInput rotationAngleSensorClockwiseRight = new DigitalInput((int) factory.getConstant(NAME, "rotationAngleSensorClockwiseRight", 0));
+    private final DigitalInput rotationAngleSensorClockwiseRight = new DigitalInput((int) factory.getConstant(NAME, "rotationAngleSensorClockwiseRight", 1));
 
     //HARDWARE RECORDED VALUES
     double currentRotationPosition;
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index dfdd048..e363031 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -1,6 +1,33 @@
 defaultAuto: "Simple S"
+shooterSettings:
+
+    distances:
+        - 47
+        - 100
+        - 135
+        - 160
+        - 220
+        - 338
+        - 420
+    angles:
+        - 25
+        - 25
+        - 25
+        - 25
+        - 25
+        - 25
+        - 25
+    powers:
+        - 17
+        - 27
+        - 37
+        - 47
+        - 57
+        - 67
+        - 77
 subsystems:
     intake:
+        implemented: false
         devices:
             intakeMotor:
                 id: 2
@@ -40,8 +67,9 @@ subsystems:
             downAngle: 225
             upAngle: 45
     climber:
+        implemented: false
         devices:
-            climberFlipMotor:
+            flipMotor:
                 deviceType: TalonFX
                 id: 16
                 motorRotation: Clockwise_Positive
@@ -49,7 +77,7 @@ subsystems:
                 motionMagic:
                     expoKV: 0.05
                     expoKA: 0.04
-            linearMotor:
+            linearSlideMotor:
                 deviceType: TalonFX
                 id: 28
                 motorRotation: Clockwise_Positive
@@ -57,10 +85,23 @@ subsystems:
                 motionMagic:
                     expoKV: 0.05
                     expoKA: 0.04
+        constants:
+            flipIdling: 0
+            flipL3UpClimbing: 0
+            flipL3DownClimbing: 0
+            flipL1UpClimbing: 0
+            flipL1DownClimbing: 0
 
-    indexer:
+            linearSlideIdling: 0
+            linearSlideL3UpClimbing: 0
+            linearSlideL3DownClimbing: 0
+            linearSlideL1UpClimbing: 0
+            linearSlideL1DownClimbing: 0
+
+    feeder:
+        implemented: false
         devices:
-            indexerMotor:
+            feedMotor:
                 deviceType: TalonFX
                 id: 16
                 motorRotation: Clockwise_Positive
@@ -68,7 +109,13 @@ subsystems:
                 motionMagic:
                     expoKV: 0.05
                     expoKA: 0.04
+        constants:
+            fastFeeding: 50
+            slowFeeding: 20
+            reversing: -50
+            idling: 0
     shooter:
+        implemented: false
         devices:
             topLaunchMotor:
                 deviceType: TalonFX
@@ -130,15 +177,36 @@ subsystems:
                 deviceType: TalonFX
                 motorType: Minion_JST
                 id: 13
-                motorRotation: Clockwise_Positive
+                motorRotation: Clockwise_Positive #as a note, the rotation motor should move clockwise on positive dutycycle, otherwise directions will be flipped
                 statorCurrentLimit: 60
                 neutralMode: Brake
                 motionMagic:
                     expoKV: 0.05
                     expoKA: 0.04
+        constants:
+            rotationAngleSensorClockwiseLeft: 0
+            rotationAngleSensorClockwiseRight: 1
+            motorRotationsPerLaunchAngleDegree: 3.5
+            motorRotationsPerRotationAngleDegree: 3.5
+            initialShooterOffsetX: 0
+            initialShooterOffsetY: 0
+            initialShooterOffsetZ: 22
+            calibrationThreshold: 10
+            calibrationPositionArcAngle: 0.75
+            rotationOffsetFromCalibrationZero: 70
+            distanceOneLaunchAngle: 3
+            distanceOneRotationAngle: 45
+            distanceOneLaunchVelocity: 10
+            distanceTwoLaunchAngle: 45
+            distanceTwoRotationAngle: 90
+            distanceTwoLaunchVelocity: 20
+            distanceThreeLaunchAngle: 86
+            distanceThreeRotationAngle: 0
+            distanceThreeLaunchVelocity: 30
     gatekeeper:
+        implemented: false
         devices:
-            gatekeeperTopMotor:
+            topMotor:
                 deviceType: TalonFX
                 id: 14
                 motorRotation: Clockwise_Positive
@@ -150,7 +218,7 @@ subsystems:
                     slot0:
                         kP: 0.1
                         kV: 0.1
-            gatekeeperBottomMotor:
+            bottomMotor:
                 deviceType: TalonFX
                 id: 22
                 motorRotation: Clockwise_Positive
@@ -158,7 +226,13 @@ subsystems:
                 motionMagic:
                     expoKV: 0.05
                     expoKA: 0.04
+        constants:
+            topClosedVelocity: 0
+            topOpenVelocity: 10
+            bottomClosedVelocity: 0
+            bottomOpenVelocity: 5
     ledManager:
+
         implemented: false
         devices:
             argb:

From 67ed681e2f023c39931f00e574959fe5cffdef3f Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Sat, 21 Feb 2026 13:09:49 -0600
Subject: [PATCH 06/28] Added new paths

---
 gradle/wrapper/gradle-wrapper.jar             | Bin 59536 -> 63721 bytes
 gradlew                                       | 282 +++++++++++-------
 gradlew.bat                                   |  15 +-
 .../deploy/choreo/Top Start To Depot End.chor |  28 ++
 src/main/deploy/choreo/TopGateToFuel.traj     | 135 ++++++---
 .../deploy/pathplanner/autos/New Auto.auto    |  19 --
 .../pathplanner/autos/New New New Auto.auto   |  19 --
 7 files changed, 300 insertions(+), 198 deletions(-)
 delete mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto
 delete mode 100644 src/main/deploy/pathplanner/autos/New New New Auto.auto

diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 7454180f2ae8848c63b8b4dea2cb829da983f2fa..7f93135c49b765f8051ef9d0a6055ff8e46073d8 100644
GIT binary patch
delta 44391
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z(6dXmi=?}*sweGj89!Q#J>Qsb5A^)Z8Yi@ktOB87iTajjkOo=Ph}Ef?KQ}+S?;(cn
zx^GwzD1TVX$l0w&mwxe??gxg(T|0SvHS+?!ZfhgbEGN>6m$Kzq!xBRht<7mmoaQa?
zUz{i6)ESK#wJ|N-6)ow%h__p$dg*6OdoR<rOAlA}D@C1gHcBm_R2w>kEG7rYUw_)A
zR8SjZV*qYsje9_fQA?~_fWMiV&Dd{$vw(eYh1l~NRCH7j(XBt7)wGbbs8|V{V0avo
z89@B@UmHMD{&jbWr2p$qaFy*^?2OlpW4U#}(G(asn&N_cuQI@g4vF{}c>dhJQdhcC
zkAi{$B(_44La{|<|44(5g2Di7eF5S6|NqMgqQ3<<8zlzF_kn8m4(UO$7*~RqKKI!F
zt;M_2@Dm?k&pZvp>yY}t4iuD}AScYfNSJV6U&j9sGlPp~vw?;N07SkU#9O%kC*BDp
z`w#J@liC0aus@g2gn~kQgLs1f7ZC&JMwj7cNAw^QhQABpFOo?B+loI2y9FpxWxOi-
zal{1l_x>?GNSpmiVDgsyKegXT0eho%FxM4H6_xb=%6$P{*uwC)$E-~M>@VKPEp|i0
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qK#`+x(S2z^5U@`VG9HJEJQpQVS3(D#*6;P54@D7JvbiUJ|N9?#ksp`<

diff --git a/gradlew b/gradlew
index 744e882..1aa94a4 100755
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,67 +17,99 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
 
-APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MSYS* | MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +119,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,88 +130,120 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
 fi
 
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
 # For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
     # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
         fi
-        i=`expr $i + 1`
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
     done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 107acd3..93e3f59 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +25,8 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,7 +41,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +76,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal
diff --git a/src/main/deploy/choreo/Top Start To Depot End.chor b/src/main/deploy/choreo/Top Start To Depot End.chor
index 8e0b358..debaa0f 100644
--- a/src/main/deploy/choreo/Top Start To Depot End.chor	
+++ b/src/main/deploy/choreo/Top Start To Depot End.chor	
@@ -75,6 +75,20 @@
      "val":-2.440332634410412
     }
    },
+   "EndFieldTop":{
+    "x":{
+     "exp":"7.41294002532959 m",
+     "val":7.41294002532959
+    },
+    "y":{
+     "exp":"6.3344197273254395 m",
+     "val":6.3344197273254395
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
+    }
+   },
    "EndHang":{
     "x":{
      "exp":"1.5269603729248047 m",
@@ -117,6 +131,20 @@
      "val":1.5707963267948966
     }
    },
+   "TopEndFuel":{
+    "x":{
+     "exp":"8.02740097045898 m",
+     "val":8.02740097045898
+    },
+    "y":{
+     "exp":"5.710739612579346 m",
+     "val":5.710739612579346
+    },
+    "heading":{
+     "exp":"270 deg",
+     "val":4.71238898038469
+    }
+   },
    "TopStart":{
     "x":{
      "exp":"4.021679878234863 m",
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 64ce6a3..2a45255 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,24 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.566978693008423, "y":7.496474742889404, "heading":4.71238898038469, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.582844257354736, "y":6.12936437, "heading":0.0, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.58834981918335, "y":5.9769783, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.691810131072998, "y":7.036059856414795, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"StartTopGate.x", "val":3.566978693008423}, "y":{"exp":"StartTopGate.y", "val":7.496474742889404}, "heading":{"exp":"StartTopGate.heading", "val":4.71238898038469}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"t":1.16867, "x":7.96716, "y":5.82653, "heading":-1.40334, "vx":1.66181, "vy":-2.96812, "omega":-4.07884, "ax":-7.33217, "ay":2.38507, "alpha":-11.61721, "fx":[-145.17294,-133.88889,-86.6609,-133.14961], "fy":[-15.58216,-0.21661,115.02197,63.05424]},
+    {"t":1.17854, "x":7.98321, "y":5.79734, "heading":-1.44361, "vx":1.58941, "vy":-2.94458, "omega":-4.19354, "ax":-7.22452, "ay":2.21848, "alpha":-10.88507, "fx":[-141.95837,-128.30444,-90.55014,-130.73497], "fy":[-12.01725,-3.11425,105.46385,60.61055]},
+    {"t":1.18842, "x":7.99855, "y":5.76837, "heading":-1.48502, "vx":1.51808, "vy":-2.92267, "omega":-4.30102, "ax":-6.96659, "ay":1.45972, "alpha":-8.65491, "fx":[-132.05133,-116.00579,-99.86268,-126.07924], "fy":[-11.66949,-10.49972,74.86901,46.6179]},
+    {"t":1.19829, "x":8.0132, "y":5.73958, "heading":-1.52749, "vx":1.44929, "vy":-2.90826, "omega":-4.38648, "ax":-2.32441, "ay":-2.65477, "alpha":14.53672, "fx":[-2.32664,-88.6865,-69.34192,2.20459], "fy":[-5.73191,-7.58831,-77.35938,-89.94803]},
+    {"t":1.20817, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":1.42634, "vy":-2.93447, "omega":-4.24294, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
deleted file mode 100644
index a67cc62..0000000
--- a/src/main/deploy/pathplanner/autos/New Auto.auto	
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "NewPath.0"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "Choreo Autos",
-  "choreoAuto": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/New New New Auto.auto b/src/main/deploy/pathplanner/autos/New New New Auto.auto
deleted file mode 100644
index a3a12ff..0000000
--- a/src/main/deploy/pathplanner/autos/New New New Auto.auto	
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "NewPath_copy5.0"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "Choreo Autos",
-  "choreoAuto": true
-}
\ No newline at end of file

From 40a29e159ba3f640e110aef7777c472eeb6e6dcc Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Sat, 21 Feb 2026 13:12:10 -0600
Subject: [PATCH 07/28] Added new paths

---
 .../deploy/choreo/TopGateToFuel_copy1.traj    | 139 ++++++++++++++++++
 .../pathplanner/autos/TestFuelBackTop.auto    |  19 +++
 .../deploy/pathplanner/autos/TestTopFuel.auto |  19 +++
 .../pathplanner/autos/TestTopFuelToBack.auto  |  79 ++++++++++
 4 files changed, 256 insertions(+)
 create mode 100644 src/main/deploy/choreo/TopGateToFuel_copy1.traj
 create mode 100644 src/main/deploy/pathplanner/autos/TestFuelBackTop.auto
 create mode 100644 src/main/deploy/pathplanner/autos/TestTopFuel.auto
 create mode 100644 src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto

diff --git a/src/main/deploy/choreo/TopGateToFuel_copy1.traj b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
new file mode 100644
index 0000000..33bad0b
--- /dev/null
+++ b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
@@ -0,0 +1,139 @@
+{
+ "name":"TopGateToFuel_copy1",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":6.691810131072998, "y":7.036059856414795, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":26, "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":false},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"6.691810131072998 m", "val":6.691810131072998}, "y":{"exp":"7.036059856414795 m", "val":7.036059856414795}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":26, "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":false},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":68.0388555,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.39983,0.53563,0.70397,1.18301],
+  "samples":[
+    {"t":0.0, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.75384, "ay":7.02624, "alpha":13.60818, "fx":[-3.7958,-92.74571,-144.68074,-14.18494], "fy":[153.27493,122.14599,50.5824,152.05415]},
+    {"t":0.02352, "x":8.02636, "y":5.71268, "heading":-1.5708, "vx":-0.08829, "vy":0.16525, "omega":0.32005, "ax":-3.8789, "ay":7.02472, "alpha":13.18089, "fx":[-5.74783,-93.112,-144.29604,-20.76011], "fy":[153.20027,121.85354,51.62576,151.27405]},
+    {"t":0.04704, "x":8.02321, "y":5.71851, "heading":-1.56327, "vx":-0.17952, "vy":0.33047, "omega":0.63006, "ax":-3.99687, "ay":7.01308, "alpha":12.84193, "fx":[-8.26134,-93.89909,-144.00682,-25.77531], "fy":[153.07044,121.23284,52.37564,150.48317]},
+    {"t":0.07056, "x":8.01789, "y":5.72822, "heading":-1.54845, "vx":-0.27352, "vy":0.49541, "omega":0.93209, "ax":-4.11176, "ay":6.99333, "alpha":12.5637, "fx":[-11.33508,-95.08232,-143.79412,-29.54759], "fy":[152.85749,120.28972,52.89645,149.77427]},
+    {"t":0.09408, "x":8.01032, "y":5.74181, "heading":-1.52653, "vx":-0.37023, "vy":0.65989, "omega":1.22758, "ax":-4.22851, "ay":6.96617, "alpha":12.32084, "fx":[-14.97821,-96.63672,-143.63356,-32.45444], "fy":[152.52597,119.02454,53.26001,149.15985]},
+    {"t":0.1176, "x":8.00044, "y":5.75926, "heading":-1.49766, "vx":-0.46968, "vy":0.82373, "omega":1.51736, "ax":-4.35251, "ay":6.93151, "alpha":12.08862, "fx":[-19.21083,-98.53581,-143.49442,-34.89853], "fy":[152.03124,117.43379,53.55046,148.59679]},
+    {"t":0.14112, "x":7.98819, "y":5.78055, "heading":-1.46197, "vx":-0.57204, "vy":0.98675, "omega":1.80167, "ax":-4.48925, "ay":6.88876, "alpha":11.84065, "fx":[-24.06535,-100.75032,-143.338,-37.28945], "fy":[151.31652,115.51177,53.86974,148.005]},
+    {"t":0.16463, "x":7.97349, "y":5.80566, "heading":-1.4196, "vx":-0.67763, "vy":1.14877, "omega":2.08015, "ax":-4.64419, "ay":6.83697, "alpha":11.5466, "fx":[-29.58868,-103.2467,-143.11534,-40.03487], "fy":[150.30842,113.25263,54.34331,147.27548]},
+    {"t":0.18815, "x":7.95627, "y":5.83457, "heading":-1.37067, "vx":-0.78686, "vy":1.30957, "omega":2.35172, "ax":-4.82271, "ay":6.77486, "alpha":11.17044, "fx":[-35.84597,-105.98541,-142.764,-43.53638], "fy":[148.90983,110.653,55.12493,146.2662]},
+    {"t":0.21167, "x":7.93643, "y":5.86724, "heading":-1.31536, "vx":-0.90028, "vy":1.46891, "omega":2.61444, "ax":-5.03003, "ay":6.70039, "alpha":10.6692, "fx":[-42.92682,-108.91888,-142.20383,-48.18791], "fy":[146.98824,107.71567,56.39812,144.78474]},
+    {"t":0.23519, "x":7.91387, "y":5.90364, "heading":-1.25387, "vx":-1.01858, "vy":1.6265, "omega":2.86537, "ax":-5.27127, "ay":6.60999, "alpha":9.99242, "fx":[-50.95563,-111.98897,-141.33264,-54.37396], "fy":[144.3555,104.45482,58.3691,142.55661]},
+    {"t":0.25871, "x":7.88845, "y":5.94373, "heading":-1.18648, "vx":-1.14256, "vy":1.78196, "omega":3.10039, "ax":-5.55153, "ay":6.49706, "alpha":9.08281, "fx":[-60.10952,-115.12364,-140.02506,-62.46179], "fy":[140.73066,100.90377,61.24205,139.17626]},
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+    {"t":0.35279, "x":7.75506, "y":6.13944, "heading":-0.86752, "vx":-1.71538, "vy":2.36595, "omega":3.7494, "ax":-7.15789, "ay":5.36823, "alpha":1.78171, "fx":[-115.24662,-125.91329,-128.69196,-117.16261], "fy":[99.92872,86.14386,81.70749,97.46826]},
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+    {"t":0.39983, "x":7.66631, "y":6.25646, "heading":-0.69017, "vx":-2.06386, "vy":2.60068, "omega":3.7543, "ax":-7.86364, "ay":3.84567, "alpha":-3.34073, "fx":[-142.80152,-127.08191,-125.49136,-139.65806], "fy":[44.75114,78.51916,82.61481,55.77001]},
+    {"t":0.40888, "x":7.6473, "y":6.28016, "heading":-0.65618, "vx":-2.13505, "vy":2.63549, "omega":3.72406, "ax":-7.94438, "ay":3.41232, "alpha":-5.3075, "fx":[-147.4004,-125.18213,-124.21214,-143.73192], "fy":[23.34517,80.19584,84.40535,44.22417]},
+    {"t":0.41793, "x":7.62765, "y":6.30416, "heading":-0.62247, "vx":-2.20697, "vy":2.66638, "omega":3.67601, "ax":-7.95303, "ay":2.91936, "alpha":-7.60172, "fx":[-148.82248,-122.1291,-123.22679,-146.93656], "fy":[-2.25852,83.08925,85.73389,32.06498]},
+    {"t":0.42699, "x":7.60734, "y":6.32842, "heading":-0.58919, "vx":-2.27897, "vy":2.69281, "omega":3.60719, "ax":-7.85487, "ay":2.39625, "alpha":-10.20073, "fx":[-145.32291,-117.34628,-122.63676,-149.13051], "fy":[-30.66492,87.5714,86.48536,19.64655]},
+    {"t":0.43604, "x":7.58639, "y":6.3529, "heading":-0.55653, "vx":-2.35008, "vy":2.71451, "omega":3.51484, "ax":-7.63664, "ay":1.90163, "alpha":-12.92521, "fx":[-136.42403,-110.2981,-122.60733,-150.25872], "fy":[-58.28129,93.6603,86.44243,7.56313]},
+    {"t":0.44509, "x":7.5648, "y":6.37755, "heading":-0.52471, "vx":-2.41922, "vy":2.73172, "omega":3.39782, "ax":-7.3662, "ay":1.49342, "alpha":-15.27686, "fx":[-124.96799,-102.32289,-123.46236,-150.43452], "fy":[-79.8785,99.50091,85.12154,-3.13315]},
+    {"t":0.45415, "x":7.5426, "y":6.40234, "heading":-0.49395, "vx":-2.48591, "vy":2.74524, "omega":3.25952, "ax":-7.22409, "ay":1.16046, "alpha":-16.4287, "fx":[-116.40588,-99.5289,-125.55614,-150.02799], "fy":[-91.89693,100.22537,81.87021,-11.24239]},
+    {"t":0.4632, "x":7.51979, "y":6.42724, "heading":-0.46444, "vx":-2.55131, "vy":2.75575, "omega":3.11078, "ax":-7.25651, "ay":0.83519, "alpha":-16.40397, "fx":[-111.82246,-104.00601,-128.50166,-149.39477], "fy":[-97.36993,94.54874,76.9927,-17.34639]},
+    {"t":0.47225, "x":7.4964, "y":6.45223, "heading":-0.43628, "vx":-2.617, "vy":2.76331, "omega":2.96227, "ax":-7.35319, "ay":0.4846, "alpha":-15.90385, "fx":[-108.7385,-111.3214,-131.64419,-148.59836], "fy":[-100.75276,85.25627,71.28924,-22.82145]},
+    {"t":0.48131, "x":7.47241, "y":6.47726, "heading":-0.40946, "vx":-2.68357, "vy":2.7677, "omega":2.81829, "ax":-7.45388, "ay":0.10225, "alpha":-15.26147, "fx":[-105.89118,-118.94566,-134.7063,-147.61014], "fy":[-103.72086,73.81074,65.10371,-28.2369]},
+    {"t":0.49036, "x":7.44781, "y":6.50232, "heading":-0.38395, "vx":-2.75106, "vy":2.76862, "omega":2.68013, "ax":-7.54034, "ay":-0.31221, "alpha":-14.56131, "fx":[-102.99211,-126.03336,-137.5996,-146.41105], "fy":[-106.61296,60.56288,58.51073,-33.7029]},
+    {"t":0.49941, "x":7.42259, "y":6.52738, "heading":-0.35968, "vx":-2.81932, "vy":2.7658, "omega":2.5483, "ax":-7.60583, "ay":-0.75597, "alpha":-13.82237, "fx":[-100.07971,-132.13129,-140.28135,-144.99955], "fy":[-109.39394,45.6415,51.5038,-39.18689]},
+    {"t":0.50847, "x":7.39675, "y":6.55238, "heading":-0.33661, "vx":-2.88818, "vy":2.75895, "omega":2.42316, "ax":-7.64629, "ay":-1.222, "alpha":-13.05479, "fx":[-97.30969,-136.83061,-142.71351,-143.39124], "fy":[-111.93116,29.34473,44.05263,-44.60988]},
+    {"t":0.51752, "x":7.37029, "y":6.57731, "heading":-0.31467, "vx":-2.9574, "vy":2.74789, "omega":2.30497, "ax":-7.65993, "ay":-1.69784, "alpha":-12.27011, "fx":[-94.90121,-139.80018,-144.85181,-141.6199], "fy":[-114.06315,12.30001,36.11671,-49.87237]},
+    {"t":0.52657, "x":7.34321, "y":6.60212, "heading":-0.29381, "vx":-3.02675, "vy":2.73252, "omega":2.19389, "ax":-7.65075, "ay":-2.16518, "alpha":-11.46671, "fx":[-93.19646,-140.95756,-146.64543,-139.74862], "fy":[-115.55175,-4.55314,27.62419,-54.83563]},
+    {"t":0.53563, "x":7.31549, "y":6.62677, "heading":-0.27394, "vx":-3.09601, "vy":2.71292, "omega":2.09008, "ax":-7.62912, "ay":-2.43167, "alpha":-11.19184, "fx":[-91.2736,-141.53817,-147.75258,-138.51204], "fy":[-117.52984,-12.17679,22.70907,-58.45063]},
+    {"t":0.54553, "x":7.28446, "y":6.65351, "heading":-0.25325, "vx":-3.17156, "vy":2.68884, "omega":1.97925, "ax":-7.57859, "ay":-2.53396, "alpha":-11.21903, "fx":[-89.36589,-140.97075,-147.92938,-137.3726], "fy":[-118.67986,-13.21692,20.17971,-60.69036]},
+    {"t":0.55543, "x":7.25268, "y":6.68002, "heading":-0.23365, "vx":-3.24661, "vy":2.66375, "omega":1.86816, "ax":-7.53022, "ay":-2.65254, "alpha":-11.17015, "fx":[-87.72372,-140.34719,-148.09074,-136.18558], "fy":[-119.58227,-15.2616,17.27097,-62.90269]},
+    {"t":0.56533, "x":7.22016, "y":6.70626, "heading":-0.21515, "vx":-3.32117, "vy":2.63748, "omega":1.75754, "ax":-7.47751, "ay":-2.79207, "alpha":-11.06995, "fx":[-86.08232,-139.56697,-148.20934,-134.90282], "fy":[-120.4489,-18.35785,14.02963,-65.19209]},
+    {"t":0.57524, "x":7.18691, "y":6.73224, "heading":-0.19775, "vx":-3.39522, "vy":2.60983, "omega":1.64792, "ax":-7.41763, "ay":-2.95448, "alpha":-10.92295, "fx":[-84.37479,-138.54825,-148.26419,-133.49982], "fy":[-121.33037,-22.52548,10.43051,-67.59429]},
+    {"t":0.58514, "x":7.15292, "y":6.75794, "heading":-0.18143, "vx":-3.46867, "vy":2.58057, "omega":1.53976, "ax":-7.3485, "ay":-3.14078, "alpha":-10.72863, "fx":[-82.59514,-137.19953,-148.23046,-131.95816], "fy":[-122.23044,-27.76321,6.42351,-70.12492]},
+    {"t":0.59504, "x":7.11821, "y":6.78334, "heading":-0.16618, "vx":-3.54144, "vy":2.54947, "omega":1.43352, "ax":-7.26812, "ay":-3.35127, "alpha":-10.4857, "fx":[-80.76186,-135.41673,-148.07502,-130.26068], "fy":[-123.13632,-34.03411,1.94623,-72.7921]},
+    {"t":0.60494, "x":7.08279, "y":6.80842, "heading":-0.15198, "vx":-3.61341, "vy":2.51629, "omega":1.32969, "ax":-7.17446, "ay":-3.5854, "alpha":-10.19354, "fx":[-78.90657,-133.09213,-147.75306,-128.39011], "fy":[-124.02844,-41.2464,-3.0713,-75.60006]},
+    {"t":0.61485, "x":7.04666, "y":6.83317, "heading":-0.13882, "vx":-3.68446, "vy":2.48078, "omega":1.22875, "ax":-7.06553, "ay":-3.84159, "alpha":-9.85277, "fx":[-77.0661,-130.132,-147.2046,-126.32812], "fy":[-124.88664,-49.23793,-8.70164,-78.55111]},
+    {"t":0.62475, "x":7.00982, "y":6.85754, "heading":-0.12665, "vx":-3.75442, "vy":2.44274, "omega":1.13118, "ax":-6.93953, "ay":-4.11722, "alpha":-9.46536, "fx":[-75.27293,-126.47899,-146.35157,-124.05412], "fy":[-125.69648,-57.77428,-15.01223,-81.64761]},
+    {"t":0.63465, "x":6.97231, "y":6.88153, "heading":-0.11545, "vx":-3.82314, "vy":2.40197, "omega":1.03745, "ax":-6.79489, "ay":-4.4088, "alpha":-9.0342, "fx":[-73.54484,-122.13168,-145.09624,-121.54408], "fy":[-126.45461,-66.568,-22.05402,-84.89341]},
+    {"t":0.64455, "x":6.93412, "y":6.9051, "heading":-0.10517, "vx":-3.89043, "vy":2.35831, "omega":0.94799, "ax":-6.63038, "ay":-4.71243, "alpha":-8.56244, "fx":[-71.87813,-117.1522,-143.32305,-118.77011], "fy":[-127.17127,-75.31688,-29.84694,-88.29351]},
+    {"t":0.65445, "x":6.89527, "y":6.92822, "heading":-0.09579, "vx":-3.95608, "vy":2.31165, "omega":0.8632, "ax":-6.44505, "ay":-5.02405, "alpha":-8.05293, "fx":[-70.24812,-111.65797,-140.90549,-115.70207], "fy":[-127.86806,-83.74732,-38.36419,-91.85091]},
+    {"t":0.66436, "x":6.85577, "y":6.95087, "heading":-0.08724, "vx":-4.0199, "vy":2.2619, "omega":0.78346, "ax":-6.23845, "ay":-5.3395, "alpha":-7.50794, "fx":[-68.62072,-105.80435,-137.71934,-112.31238], "fy":[-128.5699,-91.64447,-47.51887,-95.56015]},
+    {"t":0.67426, "x":6.81566, "y":6.973, "heading":-0.07948, "vx":-4.08168, "vy":2.20903, "omega":0.70911, "ax":-6.01162, "ay":-5.65398, "alpha":-6.92695, "fx":[-66.99404,-99.7825,-133.65911,-108.58826], "fy":[-129.28193,-98.85017,-57.16437,-99.39399]},
+    {"t":0.68416, "x":6.77495, "y":6.9946, "heading":-0.07246, "vx":-4.14121, "vy":2.15304, "omega":0.64052, "ax":-5.77308, "ay":-5.95902, "alpha":-6.28437, "fx":[-65.6283,-93.95693,-128.62441,-104.58397], "fy":[-129.87178,-105.15963,-67.16431,-103.24934]},
+    {"t":0.69406, "x":6.73366, "y":7.01563, "heading":-0.06612, "vx":-4.19838, "vy":2.09403, "omega":0.57829, "ax":-5.58188, "ay":-6.22091, "alpha":-5.34631, "fx":[-66.76145,-90.04534,-122.19861,-100.77949], "fy":[-129.18188,-109.5924,-77.9116,-106.5776]},
+    {"t":0.70397, "x":6.69181, "y":7.03606, "heading":-0.06039, "vx":-4.25365, "vy":2.03243, "omega":0.52535, "ax":-5.5551, "ay":-6.44971, "alpha":-6.13834, "fx":[-60.99026,-88.6697,-126.96071,-101.34192], "fy":[-135.72545,-116.16626,-76.89344,-110.046]},
+    {"t":0.72239, "x":6.61249, "y":7.07241, "heading":-0.05071, "vx":-4.356, "vy":1.91359, "omega":0.41225, "ax":-5.16249, "ay":-6.71641, "alpha":-5.76282, "fx":[-56.22278,-79.81893,-119.78552,-95.42271], "fy":[-136.64824,-120.83224,-85.53709,-113.95921]},
+    {"t":0.74082, "x":6.53136, "y":7.10653, "heading":-0.04312, "vx":-4.45112, "vy":1.78984, "omega":0.30607, "ax":-4.66479, "ay":-7.01907, "alpha":-4.99514, "fx":[-51.86645,-69.81998,-108.32877,-87.3719], "fy":[-136.81966,-125.16092,-97.10807,-118.48067]},
+    {"t":0.75924, "x":6.44856, "y":7.13832, "heading":-0.03748, "vx":-4.53707, "vy":1.66052, "omega":0.21403, "ax":-4.02008, "ay":-7.33189, "alpha":-3.82235, "fx":[-47.26412,-58.88622,-91.22942,-76.14198], "fy":[-136.30837,-128.70974,-110.34088,-123.49451]},
+    {"t":0.77767, "x":6.36428, "y":7.16767, "heading":-0.03353, "vx":-4.61114, "vy":1.52543, "omega":0.14361, "ax":-3.26439, "ay":-7.56624, "alpha":-2.37985, "fx":[-42.37579,-48.33859,-69.67969,-61.71109], "fy":[-134.80795,-130.57803,-121.62612,-127.78637]},
+    {"t":0.79609, "x":6.27876, "y":7.19449, "heading":-0.03089, "vx":-4.67129, "vy":1.38602, "omega":0.09976, "ax":-2.54692, "ay":-7.61218, "alpha":-1.11201, "fx":[-37.28057,-39.54165,-49.63211,-46.83539], "fy":[-131.90731,-129.96647,-126.88427,-129.16585]},
+    {"t":0.81452, "x":6.19226, "y":7.21873, "heading":-0.02905, "vx":-4.71821, "vy":1.24577, "omega":0.07927, "ax":-1.98962, "ay":-7.43087, "alpha":-0.35785, "fx":[-31.9803,-32.55683,-35.73463,-35.09975], "fy":[-127.09526,-126.41639,-125.68551,-126.39081]},
+    {"t":0.83294, "x":6.10499, "y":7.24043, "heading":-0.02759, "vx":-4.75487, "vy":1.10885, "omega":0.07268, "ax":-1.56615, "ay":-7.02195, "alpha":-0.02791, "fx":[-26.50433,-26.53809,-26.77529,-26.7412], "fy":[-119.49363,-119.43114,-119.3889,-119.4515]},
+    {"t":0.85137, "x":6.01712, "y":7.25966, "heading":-0.02625, "vx":-4.78373, "vy":0.97947, "omega":0.07216, "ax":-1.20831, "ay":-6.3506, "alpha":0.0903, "fx":[-20.94914,-20.87513,-20.15851,-20.22945], "fy":[-107.84728,-108.09867,-108.19624,-107.94557]},
+    {"t":0.86979, "x":5.92877, "y":7.27663, "heading":-0.02492, "vx":-4.80599, "vy":0.86246, "omega":0.07383, "ax":-0.88376, "ay":-5.37224, "alpha":0.12095, "fx":[-15.49785,-15.44181,-14.56923,-14.62096], "fy":[-91.12524,-91.5491,-91.63505,-91.21179]},
+    {"t":0.88822, "x":5.84007, "y":7.29161, "heading":-0.02356, "vx":-4.82227, "vy":0.76348, "omega":0.07605, "ax":-0.59736, "ay":-4.13404, "alpha":0.11204, "fx":[-10.53401,-10.51336,-9.789,-9.80706], "fy":[-70.05648,-70.53356,-70.58119,-70.10426]},
+    {"t":0.90664, "x":5.75112, "y":7.30498, "heading":-0.02216, "vx":-4.83328, "vy":0.68731, "omega":0.07812, "ax":-0.37174, "ay":-2.85772, "alpha":0.08464, "fx":[-6.57345,-6.57221,-6.07338,-6.07368], "fy":[-48.39394,-48.80327,-48.82418,-48.41485]},
+    {"t":0.92507, "x":5.66201, "y":7.31716, "heading":-0.02072, "vx":-4.84013, "vy":0.63466, "omega":0.07968, "ax":-0.21804, "ay":-1.80622, "alpha":0.0545, "fx":[-3.85909,-3.86245,-3.55849,-3.5549], "fy":[-30.57844,-30.85938,-30.86803,-30.58707]},
+    {"t":0.94349, "x":5.57279, "y":7.32854, "heading":-0.01925, "vx":-4.84415, "vy":0.60138, "omega":0.08068, "ax":-0.12383, "ay":-1.07323, "alpha":0.03028, "fx":[-2.18742,-2.19005,-2.0253,-2.02264], "fy":[-18.17349,-18.33373,-18.33735,-18.17711]},
+    {"t":0.96192, "x":5.48352, "y":7.33944, "heading":-0.01776, "vx":-4.84643, "vy":0.5816, "omega":0.08124, "ax":-0.06856, "ay":-0.60546, "alpha":0.01346, "fx":[-1.20178,-1.203,-1.13045,-1.12923], "fy":[-10.26203,-10.33394,-10.3353,-10.26338]},
+    {"t":0.98034, "x":5.39421, "y":7.35005, "heading":-0.01627, "vx":-4.84769, "vy":0.57045, "omega":0.08149, "ax":-0.03627, "ay":-0.31749, "alpha":0.00254, "fx":[-0.62358,-0.6238,-0.61014,-0.60993], "fy":[-5.39353,-5.40715,-5.40738,-5.39376]},
+    {"t":0.99877, "x":5.30489, "y":7.36051, "heading":-0.01477, "vx":-4.84836, "vy":0.5646, "omega":0.08153, "ax":-0.0172, "ay":-0.14219, "alpha":-0.00432, "fx":[-0.2812,-0.28086,-0.30407,-0.30441], "fy":[-2.43045,-2.40725,-2.40691,-2.43011]},
+    {"t":1.01719, "x":5.21555, "y":7.37089, "heading":-0.01326, "vx":-4.84868, "vy":0.56198, "omega":0.08145, "ax":-0.00579, "ay":-0.03554, "alpha":-0.00858, "fx":[-0.07579,-0.07518,-0.12122,-0.12183], "fy":[-0.62792,-0.58188,-0.58127,-0.62731]},
+    {"t":1.03562, "x":5.12621, "y":7.38124, "heading":-0.01176, "vx":-4.84878, "vy":0.56132, "omega":0.0813, "ax":0.00114, "ay":0.02958, "alpha":-0.0112, "fx":[0.04907,0.04978,-0.01033,-0.01103], "fy":[0.47272,0.53283,0.53353,0.47343]},
+    {"t":1.05404, "x":5.03688, "y":7.39159, "heading":-0.01026, "vx":-4.84876, "vy":0.56187, "omega":0.08109, "ax":0.00539, "ay":0.06944, "alpha":-0.0128, "fx":[0.12569,0.1264,0.05767,0.05696], "fy":[1.14643,1.21515,1.21586,1.14714]},
+    {"t":1.07247, "x":4.94754, "y":7.40195, "heading":-0.00877, "vx":-4.84866, "vy":0.56315, "omega":0.08085, "ax":0.00798, "ay":0.09354, "alpha":-0.01379, "fx":[0.17239,0.17304,0.099,0.09836], "fy":[1.55379,1.62781,1.62846,1.55444]},
+    {"t":1.09089, "x":4.8582, "y":7.41234, "heading":-0.00728, "vx":-4.84852, "vy":0.56487, "omega":0.0806, "ax":0.00939, "ay":0.10712, "alpha":-0.01458, "fx":[0.19859,0.19916,0.1209,0.12033], "fy":[1.78265,1.86088,1.86146,1.78322]},
+    {"t":1.10932, "x":4.76887, "y":7.42277, "heading":-0.0058, "vx":-4.84834, "vy":0.56685, "omega":0.08033, "ax":0.00931, "ay":0.11255, "alpha":-0.01711, "fx":[0.20403,0.20455,0.11269,0.11216], "fy":[1.86821,1.96004,1.96058,1.86874]},
+    {"t":1.12774, "x":4.67954, "y":7.43323, "heading":-0.00432, "vx":-4.84817, "vy":0.56892, "omega":0.08002, "ax":0.00261, "ay":0.11037, "alpha":-0.03839, "fx":[0.14696,0.14784,-0.0583,-0.05919], "fy":[1.77395,1.98003,1.98092,1.77484]},
+    {"t":1.14616, "x":4.59022, "y":7.44373, "heading":-0.00284, "vx":-4.84812, "vy":0.57095, "omega":0.07931, "ax":-0.05792, "ay":0.10309, "alpha":-0.2388, "fx":[-0.34599,-0.34228,-1.62428,-1.62824], "fy":[1.11081,2.39278,2.39616,1.11434]},
+    {"t":1.16459, "x":4.50088, "y":7.45427, "heading":-0.00138, "vx":-4.84919, "vy":0.57285, "omega":0.07491, "ax":-0.32638, "ay":0.09488, "alpha":-3.98041, "fx":[5.11277,5.12734,-16.18548,-16.26142], "fy":[-9.1445,12.35836,12.26453,-9.02316]},
+    {"t":1.18301, "x":4.41148, "y":7.46484, "heading":0.0, "vx":-4.8552, "vy":0.5746, "omega":0.00157, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/pathplanner/autos/TestFuelBackTop.auto b/src/main/deploy/pathplanner/autos/TestFuelBackTop.auto
new file mode 100644
index 0000000..bbf72d8
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/TestFuelBackTop.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel_copy1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/TestTopFuel.auto b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
new file mode 100644
index 0000000..071c238
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto b/src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto
new file mode 100644
index 0000000..f6d8a78
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto
@@ -0,0 +1,79 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel_copy1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel_copy1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel_copy1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file

From 89c8b24c9da2c2cbd43fc209237e64ccba759d61 Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Sat, 21 Feb 2026 16:43:42 -0600
Subject: [PATCH 08/28] a few changes in choreo

---
 src/main/deploy/choreo/TopGateToFuel.traj     | 157 ++++++++----------
 .../deploy/choreo/TopGateToFuel_copy1.traj    | 149 +++++++----------
 .../lib/subsystems/drivetrain/Swerve.java     |   1 +
 3 files changed, 128 insertions(+), 179 deletions(-)

diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 2a45255..3438527 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,30 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.691810131072998, "y":7.036059856414795, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
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diff --git a/src/main/deploy/choreo/TopGateToFuel_copy1.traj b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
index 33bad0b..0990ff5 100644
--- a/src/main/deploy/choreo/TopGateToFuel_copy1.traj
+++ b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
@@ -3,27 +3,23 @@
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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@@ -55,84 +51,63 @@
    "differentialTrackWidth":0.5588
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  "events":[]
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
index ed0aa13..a5abeb0 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java
@@ -5,6 +5,7 @@
 import com.ctre.phoenix6.swerve.SwerveRequest;
 import com.team1816.lib.BaseRobotState;
 import com.team1816.lib.subsystems.ITestableSubsystem;
+import com.team1816.lib.util.GreenLogger;
 import com.team1816.lib.util.SubsystemDataProcessor;
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.geometry.Pose2d;

From d290c5e9290d4c606b0e066df23def59a7baaf5e Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Tue, 24 Feb 2026 18:38:39 -0600
Subject: [PATCH 09/28] Got rid of nulls in schema

---
 src/main/deploy/choreo/TopGateToFuel.traj     | 157 ++++++++++--------
 .../deploy/choreo/TopGateToFuel_copy1.traj    | 156 +++++++++--------
 .../shootersettingsconfig.schema.json         |  21 ++-
 src/main/resources/yaml/zmule.yml             |  13 +-
 4 files changed, 205 insertions(+), 142 deletions(-)

diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 3438527..7d4b415 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,24 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.372500896453857, "y":7.48043155670166, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.3215012550354, "y":7.285531520843506, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.58834981918335, "y":5.9769783, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.372500896453857 m", "val":4.372500896453857}, "y":{"exp":"7.48043155670166 m", "val":7.48043155670166}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.3215012550354 m", "val":6.3215012550354}, "y":{"exp":"7.285531520843506 m", "val":7.285531520843506}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"TopFuelDown.x", "val":7.58834981918335}, "y":{"exp":"5.9769783 m", "val":5.9769783}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -51,62 +57,83 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.69434,1.36334],
+  "waypoints":[0.0,0.73529,0.91377,1.03064,1.20838],
   "samples":[
-    {"t":0.0, "x":4.3725, "y":7.48043, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":8.82617, "ay":1.14553, "alpha":-4.54241, "fx":[153.29114,148.85675,145.19465,153.18022], "fy":[-3.34474,36.78236,49.07451,-4.57174]},
-    {"t":0.02572, "x":4.37542, "y":7.48081, "heading":0.0, "vx":0.22698, "vy":0.02946, "omega":-0.11681, "ax":8.83617, "ay":1.08208, "alpha":-4.4864, "fx":[153.26254,149.10888,145.69696,153.13456], "fy":[-4.06167,35.69779,47.51583,-5.52831]},
-    {"t":0.05143, "x":4.38418, "y":7.48193, "heading":-0.003, "vx":0.45421, "vy":0.05729, "omega":-0.23219, "ax":8.84678, "ay":1.01124, "alpha":-4.42314, "fx":[153.22465,149.39778,146.22168,153.08035], "fy":[-4.9241,34.41276,45.82285,-6.5081]},
-    {"t":0.07715, "x":4.39878, "y":7.48373, "heading":-0.00897, "vx":0.68172, "vy":0.08329, "omega":-0.34593, "ax":8.85796, "ay":0.93173, "alpha":-4.35166, "fx":[153.17433,149.7223,146.77314,153.01579], "fy":[-5.94368,32.90695,43.96398,-7.53367]},
-    {"t":0.10287, "x":4.41924, "y":7.48618, "heading":-0.01787, "vx":0.90951, "vy":0.10725, "omega":-0.45784, "ax":8.86967, "ay":0.84198, "alpha":-4.27065, "fx":[153.10749,150.08066,147.35591,152.93818], "fy":[-7.13463,31.15453,41.899,-8.63152]},
-    {"t":0.12858, "x":4.44557, "y":7.48922, "heading":-0.02965, "vx":1.1376, "vy":0.1289, "omega":-0.56767, "ax":8.88179, "ay":0.74003, "alpha":-4.17843, "fx":[153.01876,150.47008,147.97431,152.84353], "fy":[-8.51478,29.12234,39.57673,-9.83366]},
-    {"t":0.1543, "x":4.47776, "y":7.49278, "heading":-0.04424, "vx":1.36601, "vy":0.14793, "omega":-0.67512, "ax":8.89411, "ay":0.62336, "alpha":-4.07279, "fx":[152.90106,150.88618,148.63165,152.72607], "fy":[-10.10683,26.76741,36.93181,-11.17958]},
-    {"t":0.18001, "x":4.51583, "y":7.49679, "heading":-0.0616, "vx":1.59473, "vy":0.16397, "omega":-0.77986, "ax":8.90628, "ay":0.48875, "alpha":-3.95087, "fx":[152.7448,151.32206,149.32879,152.57729], "fy":[-11.94036,24.0333,33.88006,-12.71886]},
-    {"t":0.20573, "x":4.55978, "y":7.50117, "heading":-0.08166, "vx":1.82377, "vy":0.17653, "omega":-0.88146, "ax":8.9177, "ay":0.33197, "alpha":-3.80885, "fx":[152.53682,151.76667,150.06181,152.3846], "fy":[-14.05459,20.84464,30.31187,-14.51482]},
-    {"t":0.23145, "x":4.60963, "y":7.50582, "heading":-0.10433, "vx":2.0531, "vy":0.18507, "omega":-0.97941, "ax":8.92736, "ay":0.14741, "alpha":-3.64158, "fx":[152.25849,152.20187,150.81769,152.12901], "fy":[-16.50254,17.09887,26.0825,-16.64938]},
-    {"t":0.25716, "x":4.66538, "y":7.51063, "heading":-0.12951, "vx":2.28268, "vy":0.18886, "omega":-1.07306, "ax":8.93354, "ay":-0.07255, "alpha":-3.44196, "fx":[151.88265,152.5972,151.56649,151.78136], "fy":[-19.35734,12.65328,20.998,-19.22986]},
-    {"t":0.28288, "x":4.72704, "y":7.51546, "heading":-0.15711, "vx":2.51241, "vy":0.187, "omega":-1.16157, "ax":8.93329, "ay":-0.33836, "alpha":-3.2, "fx":[151.36829,152.89982,152.24693,151.29597], "fy":[-22.72203,7.30441,14.79456,-22.39826]},
-    {"t":0.3086, "x":4.7946, "y":7.52016, "heading":-0.18698, "vx":2.74215, "vy":0.1783, "omega":-1.24386, "ax":8.92143, "ay":-0.66472, "alpha":-2.90129, "fx":[150.65085,153.01447,152.73893,150.59976], "fy":[-26.74544,0.75409,7.10887,-26.34407]},
-    {"t":0.33431, "x":4.86807, "y":7.52452, "heading":-0.21897, "vx":2.97157, "vy":0.1612, "omega":-1.31847, "ax":8.88859, "ay":-1.0726, "alpha":-2.52463, "fx":[149.62387,152.76171,152.81071,149.57322], "fy":[-31.6484,-7.4472,-2.56149,-31.32142]},
-    {"t":0.36003, "x":4.94743, "y":7.52831, "heading":-0.25287, "vx":3.20015, "vy":0.13362, "omega":-1.3834, "ax":8.81732, "ay":-1.59225, "alpha":-2.0382, "fx":[148.10204,151.78537,152.01627,148.01683], "fy":[-37.76859,-17.99512,-14.90116,-37.67031]},
-    {"t":0.38574, "x":5.03264, "y":7.53122, "heading":-0.28845, "vx":3.4269, "vy":0.09267, "omega":-1.43581, "ax":8.67406, "ay":-2.26701, "alpha":-1.39356, "fx":[145.74161,149.33684,149.50285,145.5915], "fy":[-45.63914,-31.98094,-30.7869,-45.83758]},
-    {"t":0.41146, "x":5.12363, "y":7.53285, "heading":-0.32537, "vx":3.64997, "vy":0.03437, "omega":-1.47165, "ax":8.39251, "ay":-3.1556, "alpha":-0.51654, "fx":[141.85594,143.75451,143.69039,141.71623], "fy":[-56.12538,-51.06317,-51.13527,-56.37957]},
-    {"t":0.43718, "x":5.22027, "y":7.5327, "heading":-0.36322, "vx":3.86579, "vy":-0.04678, "omega":-1.48493, "ax":7.84221, "ay":-4.32205, "alpha":0.70406, "fx":[134.95538,131.27201,131.93872,135.40874], "fy":[-70.63728,-77.28457,-76.25465,-69.89109]},
-    {"t":0.46289, "x":5.32228, "y":7.53006, "heading":-0.40141, "vx":4.06746, "vy":-0.15793, "omega":-1.46683, "ax":6.78981, "ay":-5.7748, "alpha":2.39412, "fx":[121.55569,104.32443,110.98171,125.10939], "fy":[-91.24847,-110.65734,-104.27694,-86.72773]},
-    {"t":0.48861, "x":5.42912, "y":7.52409, "heading":-0.43913, "vx":4.24207, "vy":-0.30643, "omega":-1.40526, "ax":4.96781, "ay":-7.29688, "alpha":4.39387, "fx":[93.65563,55.81112,79.87293,108.66424], "fy":[-119.15587,-141.30029,-129.61414,-106.40141]},
-    {"t":0.51433, "x":5.53986, "y":7.5138, "heading":-0.47527, "vx":4.36982, "vy":-0.49408, "omega":-1.29227, "ax":2.48551, "ay":-8.3781, "alpha":5.83959, "fx":[41.69721,-0.27829,44.07184,83.62081], "fy":[-145.36157,-151.99523,-145.77578,-126.90389]},
-    {"t":0.54004, "x":5.65305, "y":7.49832, "heading":-0.5085, "vx":4.43374, "vy":-0.70953, "omega":-1.14209, "ax":0.4411, "ay":-8.79001, "alpha":4.95739, "fx":[-3.38502,-26.43936,14.57904,45.25742], "fy":[-151.51387,-149.82895,-151.62444,-145.0948]},
-    {"t":0.56576, "x":5.76722, "y":7.47717, "heading":-0.53787, "vx":4.44509, "vy":-0.93558, "omega":-1.01461, "ax":-0.9503, "ay":-8.85668, "alpha":2.69002, "fx":[-24.13304,-34.03291,-10.01781,3.52651], "fy":[-150.07604,-148.40936,-152.01358,-152.09926]},
-    {"t":0.59147, "x":5.88122, "y":7.45018, "heading":-0.56396, "vx":4.42065, "vy":-1.16334, "omega":-0.94543, "ax":-2.04702, "ay":-8.71555, "alpha":0.86613, "fx":[-37.70133,-40.41879,-32.16826,-28.98855], "fy":[-147.56631,-146.91766,-148.96391,-149.54818]},
-    {"t":0.61719, "x":5.99422, "y":7.41738, "heading":-0.58827, "vx":4.36801, "vy":-1.38747, "omega":-0.92316, "ax":-2.90317, "ay":-8.48124, "alpha":-0.39355, "fx":[-48.00174,-46.92654,-50.81428,-51.78612], "fy":[-144.76226,-145.08549,-143.76188,-143.4445]},
-    {"t":0.64291, "x":6.10559, "y":7.3789, "heading":-0.61201, "vx":4.29335, "vy":-1.60558, "omega":-0.93328, "ax":-3.57552, "ay":-8.22051, "alpha":-1.20146, "fx":[-56.50353,-53.63276,-65.6243,-67.51392], "fy":[-141.82025,-142.85173,-137.73595,-136.90623]},
-    {"t":0.66862, "x":6.21482, "y":7.33489, "heading":-0.63601, "vx":4.2014, "vy":-1.81698, "omega":-0.96417, "ax":-4.11329, "ay":-7.96352, "alpha":-1.67118, "fx":[-63.9065,-60.4145,-76.96448,-78.57796], "fy":[-138.76444,-140.22036,-131.84325,-131.00084]},
-    {"t":0.69434, "x":6.3215, "y":7.28553, "heading":-0.66081, "vx":4.09562, "vy":-2.02177, "omega":-1.00715, "ax":-4.60832, "ay":-7.67645, "alpha":-2.13927, "fx":[-70.6676,-66.75243,-87.59651,-88.52844], "fy":[-135.46267,-137.30414,-125.01852,-124.51182]},
-    {"t":0.72007, "x":6.42536, "y":7.23097, "heading":-0.68672, "vx":3.97704, "vy":-2.21929, "omega":-1.0622, "ax":-5.1839, "ay":-7.26497, "alpha":-2.96569, "fx":[-77.75224,-73.1408,-101.26229,-100.55136], "fy":[-131.44652,-133.86073,-114.0573,-114.93567]},
-    {"t":0.7458, "x":6.52598, "y":7.17146, "heading":-0.71405, "vx":3.84366, "vy":-2.40623, "omega":-1.13851, "ax":-5.80307, "ay":-6.71424, "alpha":-4.11426, "fx":[-85.03017,-79.81296,-116.82974,-113.16134], "fy":[-126.77559,-129.79164,-97.80908,-102.45299]},
-    {"t":0.77153, "x":6.62296, "y":7.10732, "heading":-0.74335, "vx":3.69434, "vy":-2.57899, "omega":-1.24437, "ax":-6.44334, "ay":-5.97543, "alpha":-5.64898, "fx":[-92.6101,-87.17917,-133.06695,-125.54118], "fy":[-121.25792,-124.68163,-73.87156,-86.75016]},
-    {"t":0.79726, "x":6.71588, "y":7.03898, "heading":-0.77537, "vx":3.52855, "vy":-2.73274, "omega":-1.38972, "ax":-7.07334, "ay":-4.99052, "alpha":-7.44019, "fx":[-101.18316,-96.94754,-146.47447,-136.65665], "fy":[-114.10148,-116.83982,-40.78952,-67.81834]},
-    {"t":0.82299, "x":6.80433, "y":6.96702, "heading":-0.81113, "vx":3.34654, "vy":-2.86115, "omega":-1.58116, "ax":-7.81541, "ay":-3.57907, "alpha":-8.04201, "fx":[-115.50418,-118.60425,-151.94264,-145.70062], "fy":[-99.43339,-94.27218,-4.70015,-45.11038]},
-    {"t":0.84872, "x":6.88785, "y":6.89221, "heading":-0.85181, "vx":3.14545, "vy":-2.95324, "omega":-1.78809, "ax":-8.62509, "ay":-1.45579, "alpha":-5.97238, "fx":[-138.25607,-146.40869,-150.64766,-151.52909], "fy":[-63.88575,-39.37564,21.2203,-17.00891]},
-    {"t":0.87445, "x":6.96593, "y":6.81574, "heading":-0.89782, "vx":2.92352, "vy":-2.9907, "omega":-1.94177, "ax":-8.8461, "ay":0.73644, "alpha":-3.67722, "fx":[-151.55788,-151.53872,-146.8996,-151.88199], "fy":[-14.98953,11.60871,40.13728,13.35026]},
-    {"t":0.90019, "x":7.03823, "y":6.73903, "heading":-0.94778, "vx":2.6959, "vy":-2.97175, "omega":-2.03638, "ax":-8.57889, "ay":2.54143, "alpha":-1.53488, "fx":[-148.99664,-145.59527,-142.51536,-146.59087], "fy":[32.06016,44.76845,54.0713,42.01613]},
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diff --git a/src/main/deploy/choreo/TopGateToFuel_copy1.traj b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
index 0990ff5..ba0edcd 100644
--- a/src/main/deploy/choreo/TopGateToFuel_copy1.traj
+++ b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
@@ -3,23 +3,27 @@
  "version":3,
  "snapshot":{
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"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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+    {"x":{"exp":"6.691810131072998 m", "val":6.691810131072998}, "y":{"exp":"7.036059856414795 m", "val":7.036059856414795}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
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@@ -40,7 +44,7 @@
    "inertia":6.0,
    "gearing":6.5,
    "radius":0.0508,
-   "vmax":628.3185307179587,
+   "vmax":418.87902047863906,
    "tmax":1.2,
    "cof":1.5,
    "bumper":{
@@ -51,63 +55,85 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.75855,1.42928],
+  "waypoints":[0.0,0.41766,0.57843,0.82874,1.57396],
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+    {"t":1.29795, "x":5.27662, "y":7.32612, "heading":-0.09203, "vx":-3.11363, "vy":0.47446, "omega":0.40973, "ax":-0.10459, "ay":0.11275, "alpha":-0.53818, "fx":[-0.47346,-0.20764,-3.08416,-3.35108], "fy":[0.34666,3.2245,3.48845,0.6121]},
+    {"t":1.32555, "x":5.19064, "y":7.33926, "heading":-0.08072, "vx":-3.11652, "vy":0.47758, "omega":0.39488, "ax":-0.11197, "ay":0.15388, "alpha":-0.57048, "fx":[-0.50168,-0.2543,-3.30647,-3.55566], "fy":[0.96802,4.02138,4.2661,1.21457]},
+    {"t":1.35315, "x":5.10458, "y":7.3525, "heading":-0.06982, "vx":-3.11961, "vy":0.48182, "omega":0.37913, "ax":-0.11168, "ay":0.17379, "alpha":-0.5657, "fx":[-0.49071,-0.27838,-3.30754,-3.52195], "fy":[1.33586,4.36584,4.57534,1.54715]},
+    {"t":1.38076, "x":5.01844, "y":7.36586, "heading":-0.05936, "vx":-3.12269, "vy":0.48662, "omega":0.36352, "ax":-0.10792, "ay":0.18255, "alpha":-0.5445, "fx":[-0.46326,-0.28942,-3.20716,-3.38307], "fy":[1.5601,4.47828,4.64945,1.73285]},
+    {"t":1.40836, "x":4.93221, "y":7.37936, "heading":-0.04933, "vx":-3.12567, "vy":0.49166, "omega":0.34849, "ax":-0.10538, "ay":0.18979, "alpha":-0.5276, "fx":[-0.44754,-0.30749,-3.13628,-3.2784], "fy":[1.7447,4.57365,4.71117,1.88364]},
+    {"t":1.43596, "x":4.8459, "y":7.39301, "heading":-0.03971, "vx":-3.12858, "vy":0.4969, "omega":0.33393, "ax":-0.11084, "ay":0.20745, "alpha":-0.54258, "fx":[-0.48756,-0.37145,-3.28191,-3.40044], "fy":[2.01651,4.92689,5.04006,2.13123]},
+    {"t":1.46356, "x":4.7595, "y":7.4068, "heading":-0.03049, "vx":-3.13164, "vy":0.50262, "omega":0.31895, "ax":-0.13951, "ay":0.25668, "alpha":-0.64706, "fx":[-0.68948,-0.58262,-4.05456,-4.16572], "fy":[2.57877,6.05043,6.15188,2.6829]},
+    {"t":1.49116, "x":4.67302, "y":7.42077, "heading":-0.02169, "vx":-3.13549, "vy":0.50971, "omega":0.3011, "ax":-0.23894, "ay":0.38099, "alpha":-1.00807, "fx":[-1.41704,-1.29529,-6.70376,-6.84111], "fy":[3.72272,9.13314,9.23298,3.83322]},
+    {"t":1.51876, "x":4.58638, "y":7.43498, "heading":-0.01338, "vx":-3.14208, "vy":0.52022, "omega":0.27327, "ax":-0.6006, "ay":0.65654, "alpha":-2.2431, "fx":[-4.29678,-4.0853,-16.07023,-16.41216], "fy":[5.0972,17.19233,17.17513,5.2053]},
+    {"t":1.54636, "x":4.49943, "y":7.44959, "heading":-0.00583, "vx":-3.15866, "vy":0.53834, "omega":0.21136, "ax":-2.02209, "ay":1.01947, "alpha":-7.64043, "fx":[-15.33978,-14.02999,-52.61906,-55.59165], "fy":[-4.35581,40.64837,36.64861,-3.57793]},
+    {"t":1.57396, "x":4.41148, "y":7.46484, "heading":0.0, "vx":-3.21447, "vy":0.56648, "omega":0.00048, "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/resources/schemas/hardware/shootersettingsconfig.schema.json b/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json
index 2670c27..5fb7f2c 100644
--- a/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json
+++ b/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json
@@ -5,39 +5,48 @@
     "properties": {
         "distances": {
             "type": "array",
+            "default": 0,
             "items": {
                 "type": "number"
             }
         },
         "angles": {
             "type": "array",
+            "default": 0,
             "items": {
                 "type": "number"
             }
         },
         "powers": {
             "type": "array",
+            "default": 0,
             "items": {
                 "type": "number"
             }
         },
         "minimumDefaultAngle": {
-            "type": "number"
+            "type": "number",
+            "default": 0
         },
         "minimumDefaultPower": {
-            "type": "number"
+            "type": "number",
+            "default": 0
         },
         "mediumDefaultAngle": {
-            "type": "number"
+            "type": "number",
+            "default": 0
         },
         "mediumDefaultPower": {
-            "type": "number"
+            "type": "number",
+            "default": 0
         },
         "maximumDefaultAngle": {
-            "type": "number"
+            "type": "number",
+            "default": 0
         },
         "maximumDefaultPower": {
-            "type": "number"
+            "type": "number",
+            "default": 0
         }
     },
     "anyOf": [
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index e363031..955780c 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -322,13 +322,14 @@ subsystems:
                 azimuth: brAz
         drivePID:
             slot0:
-                kP: 0.4
-                kI: 0
-                kD: 0.0008
-                kV: 0.115
+                kP: 100
+                kI: 1
+                kD: 0
+                kV: 0.129
+                kS: 0.05
         azimuthPID:
             slot0:
-                kP: 75
+                kP: 100
                 kD: 0.5
                 kV: 2.66
                 kS: 0.1
@@ -340,7 +341,7 @@ subsystems:
             robotMass: 74.088 # kg
             wheelRadius: .04935 # meters
             maxDriveRPS: 90 # measured motor max speed rps
-            maxAngularRate: .75 # rad/sec
+            maxAngularRate: 8.285 # rad/sec
             wheelCOF: 1.7
         constants:
             translationKp: 3

From 6c6768069eaab9eccd0a55c2e4118eb2bba4baba Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Tue, 24 Feb 2026 18:56:57 -0600
Subject: [PATCH 10/28] changed the max velocity a bit

---
 src/main/deploy/choreo/Test_Path.chor         |   8 +-
 src/main/deploy/choreo/TopGateToFuel.traj     | 147 ++++++-----------
 .../deploy/choreo/TopGateToFuel_copy1.traj    | 152 +++++++-----------
 .../deploy/pathplanner/autos/TestTopFuel.auto |   2 +-
 4 files changed, 119 insertions(+), 190 deletions(-)

diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
index ee75855..fd9616f 100644
--- a/src/main/deploy/choreo/Test_Path.chor
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -57,8 +57,8 @@
    }
   },
   "mass":{
-   "exp":"150 lbs",
-   "val":68.0388555
+   "exp":"60 lbs",
+   "val":27.2155422
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
@@ -73,8 +73,8 @@
    "val":0.0508
   },
   "vmax":{
-   "exp":"6000 RPM",
-   "val":628.3185307179587
+   "exp":"4000 RPM",
+   "val":418.87902047863906
   },
   "tmax":{
    "exp":"1.2 N * m",
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 7d4b415..f5d44b5 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,30 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.372500896453857, "y":7.48043155670166, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.3215012550354, "y":7.285531520843506, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.58834981918335, "y":5.9769783, "heading":4.71238898038469, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"4.372500896453857 m", "val":4.372500896453857}, "y":{"exp":"7.48043155670166 m", "val":7.48043155670166}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.3215012550354 m", "val":6.3215012550354}, "y":{"exp":"7.285531520843506 m", "val":7.285531520843506}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopFuelDown.x", "val":7.58834981918335}, "y":{"exp":"5.9769783 m", "val":5.9769783}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":true}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -42,11 +36,11 @@
     "x":-0.2794,
     "y":0.2794
    },
-   "mass":68.0388555,
+   "mass":27.2155422,
    "inertia":6.0,
    "gearing":6.5,
    "radius":0.0508,
-   "vmax":628.3185307179587,
+   "vmax":418.87902047863906,
    "tmax":1.2,
    "cof":1.5,
    "bumper":{
@@ -57,83 +51,48 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.73529,0.91377,1.03064,1.20838],
+  "waypoints":[0.0,0.75028,1.52159],
   "samples":[
-    {"t":0.0, "x":4.41148, "y":7.46484, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":8.58993, "ay":-1.05486, "alpha":-8.25179, "fx":[146.49076,152.41454,150.4569,135.08669], "fy":[-45.41048,17.00829,29.02711,-72.39623]},
-    {"t":0.02828, "x":4.41491, "y":7.46442, "heading":0.0, "vx":0.24293, "vy":-0.02983, "omega":-0.23336, "ax":8.60498, "ay":-1.05688, "alpha":-8.05868, "fx":[146.60991,152.46374,150.6748,135.72444], "fy":[-44.98584,16.45326,27.78365,-71.15966]},
-    {"t":0.05656, "x":4.42523, "y":7.46315, "heading":-0.0066, "vx":0.48628, "vy":-0.05972, "omega":-0.46127, "ax":8.62073, "ay":-1.06021, "alpha":-7.85117, "fx":[146.66986,152.54045,150.85724,136.47693], "fy":[-44.74548,15.59914,26.67614,-69.6652]},
-    {"t":0.08484, "x":4.44243, "y":7.46104, "heading":-0.01964, "vx":0.73008, "vy":-0.0897, "omega":-0.6833, "ax":8.63757, "ay":-1.06464, "alpha":-7.62253, "fx":[146.68164,152.63913,151.0172,137.3525], "fy":[-44.65513,14.44759,25.64482,-67.87429]},
-    {"t":0.11312, "x":4.46653, "y":7.45808, "heading":-0.03897, "vx":0.97435, "vy":-0.11981, "omega":-0.89887, "ax":8.65596, "ay":-1.06995, "alpha":-7.36416, "fx":[146.65849,152.7527,151.16893,138.36143], "fy":[-44.67058,12.99759,24.61,-65.73505]},
-    {"t":0.1414, "x":4.49754, "y":7.45426, "heading":-0.06439, "vx":1.21915, "vy":-0.15007, "omega":-1.10713, "ax":8.67636, "ay":-1.07586, "alpha":-7.06574, "fx":[146.61728,152.87229,151.32737,139.513], "fy":[-44.73421,11.24557,23.47218,-63.184]},
-    {"t":0.16968, "x":4.53549, "y":7.44959, "heading":-0.0957, "vx":1.46452, "vy":-0.1805, "omega":-1.30695, "ax":8.69923, "ay":-1.08206, "alpha":-6.71526, "fx":[146.58032,152.98709,151.50709,140.81143], "fy":[-44.76969,9.18539,22.11103,-60.14912]},
-    {"t":0.19796, "x":4.58039, "y":7.44405, "heading":-0.13266, "vx":1.71054, "vy":-0.2111, "omega":-1.49686, "ax":8.72491, "ay":-1.08819, "alpha":-6.29899, "fx":[146.57788,153.08393,151.72058,142.25078], "fy":[-44.67365,6.80789,20.38213,-56.55552]},
-    {"t":0.22624, "x":4.63225, "y":7.43764, "heading":-0.17499, "vx":1.95728, "vy":-0.24187, "omega":-1.675, "ax":8.75356, "ay":-1.0939, "alpha":-5.80116, "fx":[146.65141,153.14675,151.97487,143.80896], "fy":[-44.30215,4.0994,18.10986,-52.33498]},
-    {"t":0.25452, "x":4.6911, "y":7.43037, "heading":-0.22236, "vx":2.20483, "vy":-0.27281, "omega":-1.83906, "ax":8.78499, "ay":-1.09903, "alpha":-5.20256, "fx":[146.85751,153.15562,152.2656,145.44199], "fy":[-43.44762,1.03834,15.07343,-47.4407]},
-    {"t":0.2828, "x":4.75697, "y":7.42221, "heading":-0.27437, "vx":2.45328, "vy":-0.30389, "omega":-1.98619, "ax":8.81854, "ay":-1.10373, "alpha":-4.47682, "fx":[147.27226,153.08467,152.56559,147.08056], "fy":[-41.79706,-2.41245,10.98059,-41.86782]},
-    {"t":0.31108, "x":4.82988, "y":7.41318, "heading":-0.33054, "vx":2.70267, "vy":-0.3351, "omega":-2.1128, "ax":8.85263, "ay":-1.1087, "alpha":-3.58154, "fx":[147.99243,152.89743,152.80106,148.63221], "fy":[-38.85191,-6.32282,5.41855,-35.67853]},
-    {"t":0.33937, "x":4.90985, "y":7.40325, "heading":-0.39029, "vx":2.95303, "vy":-0.36646, "omega":-2.21409, "ax":8.88382, "ay":-1.11502, "alpha":-2.43861, "fx":[149.12058,152.5347,152.7978,149.99215], "fy":[-33.7635,-10.83606,-2.23799,-29.02745]},
-    {"t":0.36765, "x":4.99691, "y":7.39245, "heading":-0.45291, "vx":3.20426, "vy":-0.39799, "omega":-2.28305, "ax":8.90326, "ay":-1.12335, "alpha":-0.89125, "fx":[150.67806,151.87864,152.14702,151.06381], "fy":[-24.97253,-16.27877,-13.0002,-22.17972]},
-    {"t":0.39593, "x":5.09109, "y":7.38074, "heading":-0.51747, "vx":3.45605, "vy":-0.42976, "omega":-2.30826, "ax":8.88383, "ay":-1.13171, "alpha":1.39128, "fx":[152.19943,150.61953,149.84169,151.7851], "fy":[-9.38707,-23.52217,-28.57801,-15.51287]},
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diff --git a/src/main/deploy/choreo/TopGateToFuel_copy1.traj b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
index ba0edcd..ae240ee 100644
--- a/src/main/deploy/choreo/TopGateToFuel_copy1.traj
+++ b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
@@ -3,27 +3,25 @@
  "version":3,
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-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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@@ -40,7 +38,7 @@
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@@ -55,85 +53,57 @@
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+    {"t":1.36861, "x":7.56885, "y":6.55335, "heading":-1.57089, "vx":1.5632, "vy":-2.87315, "omega":0.00001, "ax":0.00229, "ay":0.00125, "alpha":0.0, "fx":[0.0156,0.0156,0.0156,0.0156], "fy":[0.00852,0.00852,0.00852,0.00852]},
+    {"t":1.4136, "x":7.63918, "y":6.42409, "heading":-1.57089, "vx":1.56331, "vy":-2.8731, "omega":0.00001, "ax":0.00206, "ay":0.00112, "alpha":0.0, "fx":[0.014,0.014,0.014,0.014], "fy":[0.00765,0.00765,0.00765,0.00765]},
+    {"t":1.45859, "x":7.70952, "y":6.29482, "heading":-1.57089, "vx":1.5634, "vy":-2.87305, "omega":0.00001, "ax":0.00185, "ay":0.00101, "alpha":0.0, "fx":[0.0126,0.0126,0.0126,0.0126], "fy":[0.00688,0.00688,0.00688,0.00688]},
+    {"t":1.50358, "x":7.77986, "y":6.16556, "heading":-1.57089, "vx":1.56348, "vy":-2.873, "omega":0.00001, "ax":-0.00083, "ay":0.00661, "alpha":0.0001, "fx":[-0.00534,-0.00589,-0.0059,-0.00534], "fy":[0.04524,0.04524,0.04469,0.04468]},
+    {"t":1.54858, "x":7.85021, "y":6.0363, "heading":-1.57089, "vx":1.56345, "vy":-2.8727, "omega":0.00001, "ax":-6.69891, "ay":12.31177, "alpha":0.01765, "fx":[-45.47171,-45.61321,-45.68561,-45.54401], "fy":[83.82796,83.75572,83.70765,83.78008]},
+    {"t":1.59357, "x":7.91377, "y":5.91951, "heading":-1.57089, "vx":1.26205, "vy":-2.31877, "omega":0.00081, "ax":-6.9995, "ay":12.86083, "alpha":-0.0036, "fx":[-47.64667,-47.61697,-47.60088,-47.63058], "fy":[87.49114,87.50723,87.51613,87.50005]},
+    {"t":1.63856, "x":7.96347, "y":5.8282, "heading":-1.57086, "vx":0.94713, "vy":-1.74013, "omega":0.00065, "ax":-7.01291, "ay":12.88502, "alpha":-0.00451, "fx":[-47.74384,-47.70651,-47.68625,-47.72358], "fy":[87.65252,87.67278,87.6839,87.66365]},
+    {"t":1.68355, "x":7.99898, "y":5.76295, "heading":-1.57083, "vx":0.6316, "vy":-1.16041, "omega":0.00044, "ax":-7.01773, "ay":12.89351, "alpha":-0.00484, "fx":[-47.7787,-47.73869,-47.71695,-47.75696], "fy":[87.70916,87.7309,87.7428,87.72107]},
+    {"t":1.72855, "x":8.0203, "y":5.72379, "heading":-1.57081, "vx":0.31586, "vy":-0.5803, "omega":0.00022, "ax":-7.02025, "ay":12.89782, "alpha":-0.005, "fx":[-47.79692,-47.75554,-47.73305,-47.77443], "fy":[87.73787,87.76038,87.77267,87.75018]},
+    {"t":1.77354, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/pathplanner/autos/TestTopFuel.auto b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
index 071c238..bbf72d8 100644
--- a/src/main/deploy/pathplanner/autos/TestTopFuel.auto
+++ b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "TopGateToFuel"
+            "pathName": "TopGateToFuel_copy1"
           }
         }
       ]

From 8759ada41ad7d2850f38cdf401029b1f08db4431 Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Tue, 24 Feb 2026 20:47:16 -0600
Subject: [PATCH 11/28] Got auto following path fairly closely

---
 .../deploy/choreo/Top Start To Depot End.chor |   8 +-
 src/main/deploy/choreo/TopGateToFuel.traj     | 164 +++++++++++------
 .../deploy/choreo/TopGateToFuel_copy1.traj    | 172 +++++++++++-------
 .../deploy/pathplanner/autos/TestTopFuel.auto |   4 +-
 src/main/resources/yaml/zmule.yml             |   6 +-
 5 files changed, 230 insertions(+), 124 deletions(-)

diff --git a/src/main/deploy/choreo/Top Start To Depot End.chor b/src/main/deploy/choreo/Top Start To Depot End.chor
index debaa0f..c1df88a 100644
--- a/src/main/deploy/choreo/Top Start To Depot End.chor	
+++ b/src/main/deploy/choreo/Top Start To Depot End.chor	
@@ -199,12 +199,12 @@
    "val":0.0508
   },
   "vmax":{
-   "exp":"6000 RPM",
-   "val":628.3185307179587
+   "exp":"3000 RPM",
+   "val":314.1592653589793
   },
   "tmax":{
-   "exp":"1.2 N * m",
-   "val":1.2
+   "exp":"0.8 N * m",
+   "val":0.8
   },
   "cof":{
    "exp":"1.5",
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index f5d44b5..76930c3 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,24 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.372500896453857, "y":7.48043155670166, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.3215012550354, "y":7.285531520843506, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.58834981918335, "y":5.9769783, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.372500896453857 m", "val":4.372500896453857}, "y":{"exp":"7.48043155670166 m", "val":7.48043155670166}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.3215012550354 m", "val":6.3215012550354}, "y":{"exp":"7.285531520843506 m", "val":7.285531520843506}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"TopFuelDown.x", "val":7.58834981918335}, "y":{"exp":"5.9769783 m", "val":5.9769783}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -36,12 +42,12 @@
     "x":-0.2794,
     "y":0.2794
    },
-   "mass":27.2155422,
+   "mass":68.0388555,
    "inertia":6.0,
    "gearing":6.5,
    "radius":0.0508,
-   "vmax":418.87902047863906,
-   "tmax":1.2,
+   "vmax":314.1592653589793,
+   "tmax":0.8,
    "cof":1.5,
    "bumper":{
     "front":0.4064,
@@ -51,48 +57,102 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.75028,1.52159],
+  "waypoints":[0.0,1.16303,1.51361,1.72726,2.226],
   "samples":[
-    {"t":0.0, "x":4.3725, "y":7.48043, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.51141, "ay":-0.83243, "alpha":-7.6734, "fx":[95.41057,97.72441,91.06778,83.51754], "fy":[-29.71006,20.86572,40.9235,-54.73414]},
-    {"t":0.03751, "x":4.38201, "y":7.47985, "heading":0.0, "vx":0.50687, "vy":-0.03123, "omega":-0.28786, "ax":13.52115, "ay":-0.84378, "alpha":-7.61962, "fx":[95.40155,97.73594,91.21616,83.63182], "fy":[-29.66509,20.70324,40.48416,-54.48616]},
-    {"t":0.07503, "x":4.41054, "y":7.47808, "heading":-0.0108, "vx":1.0141, "vy":-0.06288, "omega":-0.5737, "ax":13.53431, "ay":-0.87403, "alpha":-7.53997, "fx":[95.28284,97.82223,91.35401,83.88458], "fy":[-29.92149,20.1076,39.99761,-53.97095]},
-    {"t":0.11254, "x":4.4581, "y":7.47511, "heading":-0.03232, "vx":1.52183, "vy":-0.09567, "omega":-0.85656, "ax":13.56012, "ay":-0.93539, "alpha":-7.37906, "fx":[95.04415,97.98456,91.63832,84.37888], "fy":[-30.42976,18.91487,38.99773,-52.93994]},
-    {"t":0.15006, "x":4.52474, "y":7.47086, "heading":-0.06445, "vx":2.03053, "vy":-0.13076, "omega":-1.13338, "ax":13.63585, "ay":-1.08849, "alpha":-6.88631, "fx":[94.63975,98.22874,92.70659,85.53205], "fy":[-30.96375,16.31152,35.31881,-50.29035]},
-    {"t":0.18757, "x":4.6105, "y":7.46519, "heading":-0.10697, "vx":2.54206, "vy":-0.17159, "omega":-1.39171, "ax":10.3236, "ay":-4.43703, "alpha":8.60732, "fx":[65.91266,47.03221,76.54515,91.47227], "fy":[6.03567,-72.56017,-52.07715,-2.15447]},
-    {"t":0.22508, "x":4.71313, "y":7.45563, "heading":-0.15918, "vx":2.92934, "vy":-0.33804, "omega":-1.06882, "ax":4.50593, "ay":0.77591, "alpha":14.84767, "fx":[-1.76958,-13.67251,65.5178,72.55568], "fy":[54.62617,-32.19423,-38.52819,37.21305]},
-    {"t":0.2626, "x":4.82619, "y":7.44349, "heading":-0.19928, "vx":3.09838, "vy":-0.30894, "omega":-0.51182, "ax":2.74644, "ay":1.63897, "alpha":8.4561, "fx":[0.19965,-7.437,37.85001,44.13312], "fy":[37.91186,-7.82118,-14.91613,29.43092]},
-    {"t":0.30011, "x":4.94436, "y":7.43306, "heading":-0.21848, "vx":3.20141, "vy":-0.24745, "omega":-0.1946, "ax":0.72943, "ay":0.82653, "alpha":2.13808, "fx":[-0.39465,-1.24598,10.36543,11.12692], "fy":[11.8672,0.25024,-0.58043,10.95752]},
-    {"t":0.33763, "x":5.06497, "y":7.42436, "heading":-0.22578, "vx":3.22877, "vy":-0.21645, "omega":-0.11439, "ax":0.07692, "ay":0.22151, "alpha":0.20754, "fx":[-0.31657,0.12057,1.37103,0.91843], "fy":[1.91655,0.66557,1.10358,2.34284]},
-    {"t":0.37514, "x":5.18615, "y":7.41639, "heading":-0.23007, "vx":3.23166, "vy":-0.20814, "omega":-0.1066, "ax":-0.09783, "ay":-0.03318, "alpha":-0.28822, "fx":[-0.78243,0.6952,-0.54873,-2.0265], "fy":[-1.58462,-0.3419,1.13325,-0.10983]},
-    {"t":0.41266, "x":5.30731, "y":7.40856, "heading":-0.23407, "vx":3.22799, "vy":-0.20938, "omega":-0.11741, "ax":0.034, "ay":0.03143, "alpha":0.10848, "fx":[-0.3562,0.10973,0.8188,0.35286], "fy":[0.33702,-0.37315,0.09073,0.8008]},
-    {"t":0.45017, "x":5.42843, "y":7.40073, "heading":-0.23847, "vx":3.22926, "vy":-0.2082, "omega":-0.11334, "ax":0.00088, "ay":0.05023, "alpha":0.00271, "fx":[-0.55589,0.33629,0.56656,-0.32299], "fy":[0.01189,-0.21839,0.67059,0.90302]},
-    {"t":0.48768, "x":5.54958, "y":7.39295, "heading":-0.24272, "vx":3.2293, "vy":-0.20632, "omega":-0.11324, "ax":0.15182, "ay":0.02262, "alpha":0.46904, "fx":[-0.56336,-0.08315,2.62779,2.15061], "fy":[1.27068,-1.44205,-0.96316,1.75006]},
-    {"t":0.5252, "x":5.67083, "y":7.38523, "heading":-0.24697, "vx":3.23499, "vy":-0.20547, "omega":-0.09565, "ax":-0.63345, "ay":-0.60753, "alpha":-1.81883, "fx":[-1.68053,2.15615,-7.03214,-10.68309], "fy":[-10.64506,-1.45969,2.32617,-6.75563]},
-    {"t":0.56271, "x":5.79174, "y":7.37709, "heading":-0.25056, "vx":3.21123, "vy":-0.22826, "omega":-0.16388, "ax":-1.94716, "ay":-1.367, "alpha":-5.6486, "fx":[-3.68495,6.0184,-23.09735,-32.22905], "fy":[-28.66054,0.32026,9.9509,-18.8142]},
-    {"t":0.60023, "x":5.91083, "y":7.36757, "heading":-0.25671, "vx":3.13818, "vy":-0.27954, "omega":-0.37578, "ax":-4.69471, "ay":-2.36971, "alpha":-13.61013, "fx":[-9.31473,14.1395,-60.08292,-72.5109], "fy":[-65.55953,8.72182,30.24464,-37.8998]},
-    {"t":0.63774, "x":6.02526, "y":7.35541, "heading":-0.2708, "vx":2.96206, "vy":-0.36844, "omega":-0.88635, "ax":-5.781, "ay":-2.94364, "alpha":-16.03366, "fx":[-15.4343,16.40444,-77.61618,-80.68703], "fy":[-83.23074,8.40811,36.07057,-41.36075]},
-    {"t":0.67525, "x":6.13231, "y":7.33952, "heading":-0.30406, "vx":2.7452, "vy":-0.47887, "omega":-1.48784, "ax":-6.11699, "ay":-4.85374, "alpha":-15.21793, "fx":[-17.08588,17.16738,-86.92047,-79.63808], "fy":[-88.96154,-17.17291,22.2493,-48.21199]},
-    {"t":0.71277, "x":6.23099, "y":7.31814, "heading":-0.35987, "vx":2.51572, "vy":-0.66095, "omega":-2.05873, "ax":-5.48783, "ay":-11.10651, "alpha":-7.75944, "fx":[-15.41392,3.64296,-75.50535,-62.07807], "fy":[-93.24139,-87.96544,-49.4318,-71.63113]},
-    {"t":0.75028, "x":6.3215, "y":7.28553, "heading":-0.4371, "vx":2.30985, "vy":-1.0776, "omega":-2.34982, "ax":-3.69777, "ay":-10.55237, "alpha":8.66002, "fx":[-58.10259,-56.40826,-6.3934,20.26755], "fy":[-44.99502,-71.99463,-91.77815,-78.42056]},
-    {"t":0.79088, "x":6.41222, "y":7.23309, "heading":-0.53249, "vx":2.15974, "vy":-1.50597, "omega":-1.99826, "ax":0.88843, "ay":-5.81042, "alpha":11.97794, "fx":[-6.0793,-39.21181,16.81763,52.65259], "fy":[4.4232,-52.74162,-79.78441,-30.03103]},
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diff --git a/src/main/deploy/choreo/TopGateToFuel_copy1.traj b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
index ae240ee..e2bc6b6 100644
--- a/src/main/deploy/choreo/TopGateToFuel_copy1.traj
+++ b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
@@ -3,25 +3,27 @@
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  "snapshot":{
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+    {"t":0.77672, "x":6.89146, "y":6.92778, "heading":-0.45444, "vx":-3.4175, "vy":2.00552, "omega":2.15661, "ax":-5.35902, "ay":-2.44262, "alpha":-2.2469, "fx":[-83.79838,-90.70987,-97.53697,-92.57624], "fy":[-56.26529,-43.49638,-25.79339,-40.63778]},
+    {"t":0.78605, "x":6.85933, "y":6.94639, "heading":-0.43431, "vx":-3.46752, "vy":1.98272, "omega":2.13564, "ax":-5.3073, "ay":-2.5237, "alpha":-2.49879, "fx":[-81.77606,-89.82503,-97.579,-91.92247], "fy":[-59.10285,-45.08081,-25.47123,-42.05446]},
+    {"t":0.79539, "x":6.82674, "y":6.96479, "heading":-0.41438, "vx":-3.51706, "vy":1.95917, "omega":2.11232, "ax":-5.25048, "ay":-2.60778, "alpha":-2.76031, "fx":[-79.56009,-88.8477,-97.61711,-91.21194], "fy":[-61.99211,-46.75026,-25.15476,-43.53354]},
+    {"t":0.80472, "x":6.79368, "y":6.98296, "heading":-0.39466, "vx":-3.56606, "vy":1.93483, "omega":2.08656, "ax":-5.18814, "ay":-2.69484, "alpha":-3.03111, "fx":[-77.14049,-87.76298,-97.65012,-90.44173], "fy":[-64.91846,-48.51481,-24.84858,-45.07204]},
+    {"t":0.81405, "x":6.76017, "y":7.0009, "heading":-0.37519, "vx":-3.61449, "vy":1.90967, "omega":2.05826, "ax":-5.11986, "ay":-2.78477, "alpha":-3.31057, "fx":[-74.51027,-86.55339,-97.67669,-89.60931], "fy":[-67.86331,-50.38498,-24.55825,-46.66596]},
+    {"t":0.82339, "x":6.72621, "y":7.0186, "heading":-0.35598, "vx":-3.66227, "vy":1.88368, "omega":2.02737, "ax":-5.04526, "ay":-2.8774, "alpha":-3.59771, "fx":[-71.66715,-85.19873,-97.69517,-88.71277], "fy":[-70.80352,-52.37092,-24.29073,-48.31001]},
+    {"t":0.83272, "x":6.69181, "y":7.03606, "heading":-0.33705, "vx":-3.70936, "vy":1.85683, "omega":1.99379, "ax":-4.97383, "ay":-3.00539, "alpha":-4.1129, "fx":[-67.60319,-83.96863,-98.70746,-88.13425], "fy":[-75.52215,-55.74405,-22.78918,-50.42805]},
+    {"t":0.84838, "x":6.63313, "y":7.06476, "heading":-0.30584, "vx":-3.78723, "vy":1.80977, "omega":1.9294, "ax":-4.83087, "ay":-3.13483, "alpha":-4.7321, "fx":[-61.67248,-81.31481,-99.05522,-86.64402], "fy":[-80.36952,-59.11307,-20.91344,-52.8943]},
+    {"t":0.86403, "x":6.57324, "y":7.09271, "heading":-0.27563, "vx":-3.86286, "vy":1.7607, "omega":1.85531, "ax":-4.66143, "ay":-3.27161, "alpha":-5.38706, "fx":[-54.98813,-77.83237,-99.3686,-84.96948], "fy":[-85.01633,-63.09471,-18.99583,-55.48939]},
+    {"t":0.87969, "x":6.51219, "y":7.11988, "heading":-0.24659, "vx":-3.93584, "vy":1.70948, "omega":1.77097, "ax":-4.46602, "ay":-3.41212, "alpha":-6.05636, "fx":[-47.82447,-73.26855,-99.62382,-83.14587], "fy":[-89.17818,-67.69187,-17.15911,-58.12762]},
+    {"t":0.89534, "x":6.45003, "y":7.14622, "heading":-0.21886, "vx":-4.00576, "vy":1.65606, "omega":1.67615, "ax":-4.25923, "ay":-3.54544, "alpha":-6.6797, "fx":[-40.91836,-67.80914,-99.77928,-81.28606], "fy":[-92.48351,-72.41139,-15.69864,-60.63406]},
+    {"t":0.911, "x":6.38679, "y":7.17171, "heading":-0.19262, "vx":-4.07244, "vy":1.60055, "omega":1.57158, "ax":-4.08512, "ay":-3.64985, "alpha":-7.12708, "fx":[-35.53284,-63.03286,-99.77522,-79.60575], "fy":[-94.60403,-75.86229,-15.12521,-62.73976]},
+    {"t":0.92665, "x":6.32253, "y":7.19632, "heading":-0.16801, "vx":-4.1364, "vy":1.54341, "omega":1.46, "ax":-3.97699, "ay":-3.717, "alpha":-7.32464, "fx":[-32.20205,-60.57989,-99.59321,-78.21454], "fy":[-95.68918,-77.21342,-15.63886,-64.35896]},
+    {"t":0.94231, "x":6.25729, "y":7.22003, "heading":-0.14516, "vx":-4.19866, "vy":1.48522, "omega":1.34532, "ax":-3.90876, "ay":-3.76623, "alpha":-7.37155, "fx":[-30.07731,-59.61729,-99.27694,-76.97595], "fy":[-96.25853,-77.42986,-16.85404,-65.70753]},
+    {"t":0.95797, "x":6.19108, "y":7.24282, "heading":-0.12409, "vx":-4.25986, "vy":1.42625, "omega":1.22991, "ax":-3.84984, "ay":-3.81431, "alpha":-7.36103, "fx":[-28.41876,-58.91535,-98.8514,-75.75318], "fy":[-96.62321,-77.46497,-18.46764,-66.96576]},
+    {"t":0.97362, "x":6.12391, "y":7.26468, "heading":-0.10484, "vx":-4.32013, "vy":1.36653, "omega":1.11467, "ax":-3.78702, "ay":-3.86857, "alpha":-7.32448, "fx":[-26.95172,-57.92973,-98.30469,-74.47863], "fy":[-96.88481,-77.70828,-20.4098,-68.21023]},
+    {"t":0.98928, "x":6.05581, "y":7.2856, "heading":-0.08739, "vx":-4.37942, "vy":1.30597, "omega":1.0, "ax":-3.71498, "ay":-3.93248, "alpha":-7.26567, "fx":[-25.59916,-56.4553,-97.59885,-73.1098], "fy":[-97.0695,-78.29241,-22.72141,-69.4779]},
+    {"t":1.00493, "x":5.98679, "y":7.30557, "heading":-0.07173, "vx":-4.43758, "vy":1.2444, "omega":0.88625, "ax":-3.63025, "ay":-4.00856, "alpha":-7.17941, "fx":[-24.33693,-54.38937,-96.67033,-71.60124], "fy":[-97.18328,-79.25895,-25.49541,-70.8]},
+    {"t":1.02059, "x":5.91687, "y":7.32456, "heading":-0.05786, "vx":-4.49442, "vy":1.18165, "omega":0.77385, "ax":-3.52913, "ay":-4.09928, "alpha":-7.05654, "fx":[-23.14631,-51.66174,-95.41937,-69.8905], "fy":[-97.22732,-80.60245,-28.86594,-72.21431]},
+    {"t":1.03625, "x":5.84608, "y":7.34256, "heading":-0.04574, "vx":-4.54967, "vy":1.11747, "omega":0.66337, "ax":-3.40678, "ay":-4.20735, "alpha":-6.8838, "fx":[-21.99761,-48.22217,-93.68791,-67.88605], "fy":[-97.20166,-82.27716,-33.01384,-73.77075]},
+    {"t":1.0519, "x":5.77443, "y":7.35954, "heading":-0.03536, "vx":-4.603, "vy":1.0516, "omega":0.5556, "ax":-3.25632, "ay":-4.33594, "alpha":-6.64166, "fx":[-20.8404,-44.04404,-91.22099,-65.45086], "fy":[-97.10593,-84.19732,-38.17376,-75.53516]},
+    {"t":1.06756, "x":5.70197, "y":7.37547, "heading":-0.02666, "vx":-4.65398, "vy":0.98371, "omega":0.45162, "ax":-3.06754, "ay":-4.48853, "alpha":-6.30037, "fx":[-19.59506,-39.13516,-87.60359,-62.37836], "fy":[-96.9386,-86.23918,-44.62698,-77.58999]},
+    {"t":1.08321, "x":5.62873, "y":7.39032, "heading":-0.01959, "vx":-4.70201, "vy":0.91344, "omega":0.35298, "ax":-2.82553, "ay":-4.66795, "alpha":-5.81548, "fx":[-18.15066,-33.5619,-82.17268,-58.36048], "fy":[-96.69342,-88.24462,-52.64009,-80.02414]},
+    {"t":1.09887, "x":5.55477, "y":7.40405, "heading":-0.01406, "vx":-4.74625, "vy":0.84036, "omega":0.26194, "ax":-2.51071, "ay":-4.87252, "alpha":-5.12706, "fx":[-16.39065,-27.50925,-73.96279,-52.96322], "fy":[-96.34896,-90.0256,-62.25549,-82.89038]},
+    {"t":1.11453, "x":5.48015, "y":7.41661, "heading":-0.00996, "vx":-4.78555, "vy":0.76408, "omega":0.18167, "ax":-2.10676, "ay":-5.08707, "alpha":-4.17857, "fx":[-14.2959,-21.40733,-61.957,-45.68139], "fy":[-95.84728,-91.37717,-72.80551,-86.08861]},
+    {"t":1.13018, "x":5.40497, "y":7.42795, "heading":-0.00712, "vx":-4.81854, "vy":0.68444, "omega":0.11625, "ax":-1.62666, "ay":-5.27248, "alpha":-2.98664, "fx":[-12.12148,-16.02647,-46.25513,-36.27291], "fy":[-95.08008,-92.12758,-82.36638,-89.15944]},
+    {"t":1.14584, "x":5.32934, "y":7.43802, "heading":-0.0053, "vx":-4.844, "vy":0.60189, "omega":0.06949, "ax":-1.14413, "ay":-5.37726, "alpha":-1.7523, "fx":[-10.27957,-12.07102,-29.88131,-25.61328], "fy":[-93.955,-92.21242,-88.47672,-91.21844]},
+    {"t":1.16149, "x":5.25336, "y":7.44678, "heading":-0.00421, "vx":-4.86192, "vy":0.5177, "omega":0.04205, "ax":-0.76311, "ay":-5.38393, "alpha":-0.81307, "fx":[-8.75248,-9.41855,-17.49409,-16.2562], "fy":[-92.51083,-91.64362,-90.57428,-91.58792]},
+    {"t":1.17715, "x":5.17715, "y":7.45423, "heading":-0.00355, "vx":-4.87386, "vy":0.43341, "omega":0.02933, "ax":-0.51821, "ay":-5.32054, "alpha":-0.31157, "fx":[-7.22949,-7.43127,-10.44192,-10.15581], "fy":[-90.81375,-90.44403,-90.18078,-90.56481]},
+    {"t":1.1928, "x":5.10078, "y":7.46036, "heading":-0.00309, "vx":-4.88198, "vy":0.35012, "omega":0.02445, "ax":-0.36373, "ay":-5.21315, "alpha":-0.11001, "fx":[-5.6443,-5.69784,-6.73478,-6.67101], "fy":[-88.77967,-88.6309,-88.56799,-88.71796]},
+    {"t":1.20846, "x":5.0243, "y":7.4652, "heading":-0.00271, "vx":-4.88767, "vy":0.2685, "omega":0.02273, "ax":-0.25153, "ay":-5.06636, "alpha":-0.04234, "fx":[-4.07736,-4.09159,-4.48036,-4.4647], "fy":[-86.21861,-86.15212,-86.13588,-86.20249]},
+    {"t":1.22412, "x":4.94775, "y":7.46878, "heading":-0.00235, "vx":-4.89161, "vy":0.18918, "omega":0.02206, "ax":-0.15867, "ay":-4.87172, "alpha":-0.02164, "fx":[-2.60072,-2.60505,-2.79745,-2.79277], "fy":[-82.88921,-82.84911,-82.84405,-82.88416]},
+    {"t":1.23977, "x":4.87115, "y":7.47115, "heading":-0.00201, "vx":-4.89409, "vy":0.11291, "omega":0.02172, "ax":-0.07841, "ay":-4.61228, "alpha":-0.01499, "fx":[-1.26921,-1.27048,-1.3983,-1.39687], "fy":[-78.47105,-78.43784,-78.43616,-78.46938]},
+    {"t":1.25543, "x":4.79452, "y":7.47235, "heading":-0.00167, "vx":-4.89532, "vy":0.0407, "omega":0.02149, "ax":-0.01121, "ay":-4.26107, "alpha":-0.01197, "fx":[-0.14247,-0.14243,-0.23896,-0.2389], "fy":[-72.49567,-72.46362,-72.4634,-72.49544]},
+    {"t":1.27108, "x":4.71788, "y":7.47247, "heading":-0.00133, "vx":-4.8955, "vy":-0.02601, "omega":0.0213, "ax":0.0391, "ay":-3.77571, "alpha":-0.00944, "fx":[0.7002,0.70073,0.63008,0.6296], "fy":[-64.23898,-64.20825,-64.20862,-64.23935]},
+    {"t":1.28674, "x":4.64124, "y":7.4716, "heading":-0.001, "vx":-4.89488, "vy":-0.08512, "omega":0.02115, "ax":0.06738, "ay":-3.08969, "alpha":-0.00404, "fx":[1.15969,1.15997,1.1326,1.13233], "fy":[-52.56255,-52.5466,-52.54683,-52.56279]},
+    {"t":1.3024, "x":4.56461, "y":7.46988, "heading":-0.00066, "vx":-4.89383, "vy":-0.13349, "omega":0.02109, "ax":0.08365, "ay":-2.10799, "alpha":0.01849, "fx":[1.36768,1.36668,1.47806,1.47914], "fy":[-35.81319,-35.90029,-35.89938,-35.81228]},
+    {"t":1.31805, "x":4.48801, "y":7.46754, "heading":-0.00033, "vx":-4.89252, "vy":-0.1665, "omega":0.02138, "ax":0.5783, "ay":-0.73854, "alpha":-1.25802, "fx":[13.1271,13.33968,6.4944,6.38584], "fy":[-15.82217,-9.14648,-9.26375,-16.01708]},
+    {"t":1.33371, "x":4.41148, "y":7.46484, "heading":0.0, "vx":-4.88346, "vy":-0.17806, "omega":0.00168, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/pathplanner/autos/TestTopFuel.auto b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
index bbf72d8..531a96d 100644
--- a/src/main/deploy/pathplanner/autos/TestTopFuel.auto
+++ b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "TopGateToFuel_copy1"
+            "pathName": "TopGateToFuel"
           }
         }
       ]
     }
   },
-  "resetOdom": true,
+  "resetOdom": false,
   "folder": "Choreo Autos",
   "choreoAuto": true
 }
\ No newline at end of file
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 955780c..afb9f56 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -322,8 +322,8 @@ subsystems:
                 azimuth: brAz
         drivePID:
             slot0:
-                kP: 100
-                kI: 1
+                kP: 0.7
+                kI: 0.5
                 kD: 0
                 kV: 0.129
                 kS: 0.05
@@ -340,7 +340,7 @@ subsystems:
             wheelbaseWidth: .60325 # meters
             robotMass: 74.088 # kg
             wheelRadius: .04935 # meters
-            maxDriveRPS: 90 # measured motor max speed rps
+            maxDriveRPS: 50 # measured motor max speed rps
             maxAngularRate: 8.285 # rad/sec
             wheelCOF: 1.7
         constants:

From f814d655529968afe9ce96fb9bd31766d9e326ef Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Wed, 25 Feb 2026 18:48:06 -0600
Subject: [PATCH 12/28] PID changes

---
 src/main/deploy/choreo/Straight_Line.traj     |  99 ++++++++++
 src/main/deploy/choreo/Test_Path.chor         |   4 +-
 src/main/deploy/choreo/TopGateToFuel.traj     | 171 +++++++-----------
 .../deploy/choreo/TopGateToFuel_copy1.traj    | 156 ----------------
 .../deploy/pathplanner/autos/TestTopFuel.auto |   2 +-
 .../deploy/pathplanner/autos/test_line.auto   |  19 ++
 src/main/resources/yaml/zmule.yml             |   2 +-
 7 files changed, 187 insertions(+), 266 deletions(-)
 create mode 100644 src/main/deploy/choreo/Straight_Line.traj
 delete mode 100644 src/main/deploy/choreo/TopGateToFuel_copy1.traj
 create mode 100644 src/main/deploy/pathplanner/autos/test_line.auto

diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
new file mode 100644
index 0000000..23de64d
--- /dev/null
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -0,0 +1,99 @@
+{
+ "name":"Straight_Line",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.50892972946167, "y":7.640249729156494, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":5, "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}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4.50892972946167 m", "val":4.50892972946167}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "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}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":27.2155422,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":418.87902047863906,
+   "tmax":0.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,2.02764],
+  "samples":[
+    {"t":0.0, "x":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.75804, "ay":0.0, "alpha":0.0, "fx":[25.56926,25.56926,25.56926,25.56926], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.04945, "x":4.51353, "y":7.64025, "heading":0.0, "vx":0.18585, "vy":0.0, "omega":0.0, "ax":3.75784, "ay":0.0, "alpha":0.0, "fx":[25.56793,25.56793,25.56793,25.56793], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.09891, "x":4.52731, "y":7.64025, "heading":0.0, "vx":0.3717, "vy":0.0, "omega":0.0, "ax":3.75762, "ay":0.0, "alpha":0.0, "fx":[25.56642,25.56642,25.56642,25.56642], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.14836, "x":4.55029, "y":7.64025, "heading":0.0, "vx":0.55753, "vy":0.0, "omega":0.0, "ax":3.75737, "ay":0.0, "alpha":0.0, "fx":[25.5647,25.5647,25.5647,25.5647], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.19782, "x":4.58246, "y":7.64025, "heading":0.0, "vx":0.74335, "vy":0.0, "omega":0.0, "ax":3.75708, "ay":0.0, "alpha":0.0, "fx":[25.56271,25.56271,25.56271,25.56271], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.24727, "x":4.62381, "y":7.64025, "heading":0.0, "vx":0.92915, "vy":0.0, "omega":0.0, "ax":3.75673, "ay":0.0, "alpha":0.0, "fx":[25.56039,25.56039,25.56039,25.56039], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.29673, "x":4.67436, "y":7.64025, "heading":0.0, "vx":1.11494, "vy":0.0, "omega":0.0, "ax":3.75633, "ay":0.0, "alpha":0.0, "fx":[25.55764,25.55764,25.55764,25.55764], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.34618, "x":4.73409, "y":7.64025, "heading":0.0, "vx":1.30071, "vy":0.0, "omega":0.0, "ax":3.75585, "ay":0.0, "alpha":0.0, "fx":[25.55435,25.55435,25.55435,25.55435], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.39564, "x":4.80301, "y":7.64025, "heading":0.0, "vx":1.48645, "vy":0.0, "omega":0.0, "ax":3.75526, "ay":0.0, "alpha":0.0, "fx":[25.55033,25.55033,25.55033,25.55033], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.44509, "x":4.88111, "y":7.64025, "heading":0.0, "vx":1.67217, "vy":0.0, "omega":0.0, "ax":3.75452, "ay":0.0, "alpha":0.0, "fx":[25.5453,25.5453,25.5453,25.5453], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.49455, "x":4.9684, "y":7.64025, "heading":0.0, "vx":1.85784, "vy":0.0, "omega":0.0, "ax":3.75357, "ay":0.0, "alpha":0.0, "fx":[25.53884,25.53884,25.53884,25.53884], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.544, "x":5.06487, "y":7.64025, "heading":0.0, "vx":2.04347, "vy":0.0, "omega":0.0, "ax":3.7523, "ay":0.0, "alpha":0.0, "fx":[25.53023,25.53023,25.53023,25.53023], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.59346, "x":5.17052, "y":7.64025, "heading":0.0, "vx":2.22904, "vy":0.0, "omega":0.0, "ax":3.75053, "ay":0.0, "alpha":0.0, "fx":[25.51818,25.51818,25.51818,25.51818], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.64291, "x":5.28534, "y":7.64025, "heading":0.0, "vx":2.41452, "vy":0.0, "omega":0.0, "ax":3.74788, "ay":0.0, "alpha":0.0, "fx":[25.50013,25.50013,25.50013,25.50013], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.69236, "x":5.40933, "y":7.64025, "heading":0.0, "vx":2.59987, "vy":0.0, "omega":0.0, "ax":3.74347, "ay":0.0, "alpha":0.0, "fx":[25.47012,25.47012,25.47012,25.47012], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.74182, "x":5.54249, "y":7.64025, "heading":0.0, "vx":2.78501, "vy":0.0, "omega":0.0, "ax":3.73469, "ay":0.0, "alpha":0.0, "fx":[25.41043,25.41043,25.41043,25.41043], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.79127, "x":5.68479, "y":7.64025, "heading":0.0, "vx":2.9697, "vy":0.0, "omega":0.0, "ax":3.70885, "ay":0.0, "alpha":0.0, "fx":[25.23456,25.23456,25.23456,25.23456], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.84073, "x":5.83619, "y":7.64025, "heading":0.0, "vx":3.15312, "vy":0.0, "omega":0.0, "ax":2.38336, "ay":0.0, "alpha":0.0, "fx":[16.21614,16.21614,16.21614,16.21614], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.89018, "x":5.99504, "y":7.64025, "heading":0.0, "vx":3.27099, "vy":0.0, "omega":0.0, "ax":0.00165, "ay":0.0, "alpha":0.0, "fx":[0.01125,0.01125,0.01125,0.01125], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.93964, "x":6.15681, "y":7.64025, "heading":0.0, "vx":3.27107, "vy":0.0, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.98909, "x":6.31857, "y":7.64025, "heading":0.0, "vx":3.27107, "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":1.03855, "x":6.48034, "y":7.64025, "heading":0.0, "vx":3.27107, "vy":0.0, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.088, "x":6.64211, "y":7.64025, "heading":0.0, "vx":3.27107, "vy":0.0, "omega":0.0, "ax":-0.00165, "ay":0.0, "alpha":0.0, "fx":[-0.01125,-0.01125,-0.01125,-0.01125], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.13746, "x":6.80388, "y":7.64025, "heading":0.0, "vx":3.27099, "vy":0.0, "omega":0.0, "ax":-2.38336, "ay":0.0, "alpha":0.0, "fx":[-16.21614,-16.21614,-16.21614,-16.21614], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.18691, "x":6.96273, "y":7.64025, "heading":0.0, "vx":3.15312, "vy":0.0, "omega":0.0, "ax":-3.70885, "ay":0.0, "alpha":0.0, "fx":[-25.23456,-25.23456,-25.23456,-25.23456], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.23637, "x":7.11413, "y":7.64025, "heading":0.0, "vx":2.9697, "vy":0.0, "omega":0.0, "ax":-3.73469, "ay":0.0, "alpha":0.0, "fx":[-25.41043,-25.41043,-25.41043,-25.41043], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.28582, "x":7.25643, "y":7.64025, "heading":0.0, "vx":2.78501, "vy":0.0, "omega":0.0, "ax":-3.74347, "ay":0.0, "alpha":0.0, "fx":[-25.47012,-25.47012,-25.47012,-25.47012], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.33527, "x":7.38959, "y":7.64025, "heading":0.0, "vx":2.59987, "vy":0.0, "omega":0.0, "ax":-3.74788, "ay":0.0, "alpha":0.0, "fx":[-25.50013,-25.50013,-25.50013,-25.50013], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.38473, "x":7.51358, "y":7.64025, "heading":0.0, "vx":2.41452, "vy":0.0, "omega":0.0, "ax":-3.75053, "ay":0.0, "alpha":0.0, "fx":[-25.51818,-25.51818,-25.51818,-25.51818], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.43418, "x":7.6284, "y":7.64025, "heading":0.0, "vx":2.22904, "vy":0.0, "omega":0.0, "ax":-3.7523, "ay":0.0, "alpha":0.0, "fx":[-25.53023,-25.53023,-25.53023,-25.53023], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.48364, "x":7.73405, "y":7.64025, "heading":0.0, "vx":2.04347, "vy":0.0, "omega":0.0, "ax":-3.75357, "ay":0.0, "alpha":0.0, "fx":[-25.53884,-25.53884,-25.53884,-25.53884], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.53309, "x":7.83052, "y":7.64025, "heading":0.0, "vx":1.85784, "vy":0.0, "omega":0.0, "ax":-3.75452, "ay":0.0, "alpha":0.0, "fx":[-25.5453,-25.5453,-25.5453,-25.5453], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.58255, "x":7.91781, "y":7.64025, "heading":0.0, "vx":1.67217, "vy":0.0, "omega":0.0, "ax":-3.75526, "ay":0.0, "alpha":0.0, "fx":[-25.55033,-25.55033,-25.55033,-25.55033], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.632, "x":7.99591, "y":7.64025, "heading":0.0, "vx":1.48645, "vy":0.0, "omega":0.0, "ax":-3.75585, "ay":0.0, "alpha":0.0, "fx":[-25.55435,-25.55435,-25.55435,-25.55435], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.68146, "x":8.06483, "y":7.64025, "heading":0.0, "vx":1.30071, "vy":0.0, "omega":0.0, "ax":-3.75633, "ay":0.0, "alpha":0.0, "fx":[-25.55764,-25.55764,-25.55764,-25.55764], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.73091, "x":8.12456, "y":7.64025, "heading":0.0, "vx":1.11494, "vy":0.0, "omega":0.0, "ax":-3.75673, "ay":0.0, "alpha":0.0, "fx":[-25.56039,-25.56039,-25.56039,-25.56039], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.78037, "x":8.17511, "y":7.64025, "heading":0.0, "vx":0.92915, "vy":0.0, "omega":0.0, "ax":-3.75708, "ay":0.0, "alpha":0.0, "fx":[-25.56271,-25.56271,-25.56271,-25.56271], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.82982, "x":8.21646, "y":7.64025, "heading":0.0, "vx":0.74335, "vy":0.0, "omega":0.0, "ax":-3.75737, "ay":0.0, "alpha":0.0, "fx":[-25.5647,-25.5647,-25.5647,-25.5647], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.87928, "x":8.24863, "y":7.64025, "heading":0.0, "vx":0.55753, "vy":0.0, "omega":0.0, "ax":-3.75762, "ay":0.0, "alpha":0.0, "fx":[-25.56642,-25.56642,-25.56642,-25.56642], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.92873, "x":8.27161, "y":7.64025, "heading":0.0, "vx":0.3717, "vy":0.0, "omega":0.0, "ax":-3.75784, "ay":0.0, "alpha":0.0, "fx":[-25.56793,-25.56793,-25.56793,-25.56793], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.97818, "x":8.28539, "y":7.64025, "heading":0.0, "vx":0.18585, "vy":0.0, "omega":0.0, "ax":-3.75804, "ay":0.0, "alpha":0.0, "fx":[-25.56926,-25.56926,-25.56926,-25.56926], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.02764, "x":8.28999, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
index fd9616f..424165f 100644
--- a/src/main/deploy/choreo/Test_Path.chor
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -77,8 +77,8 @@
    "val":418.87902047863906
   },
   "tmax":{
-   "exp":"1.2 N * m",
-   "val":1.2
+   "exp":"0.2 N * m",
+   "val":0.2
   },
   "cof":{
    "exp":"1.5",
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 76930c3..27e02df 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -17,10 +17,10 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -42,12 +42,12 @@
     "x":-0.2794,
     "y":0.2794
    },
-   "mass":68.0388555,
+   "mass":27.2155422,
    "inertia":6.0,
    "gearing":6.5,
    "radius":0.0508,
-   "vmax":314.1592653589793,
-   "tmax":0.8,
+   "vmax":418.87902047863906,
+   "tmax":1.2,
    "cof":1.5,
    "bumper":{
     "front":0.4064,
@@ -57,102 +57,61 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.16303,1.51361,1.72726,2.226],
+  "waypoints":[0.0,0.81974,1.12615,1.2925,1.65486],
   "samples":[
-    {"t":0.0, "x":4.41148, "y":7.46484, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.16912, "ay":-0.42493, "alpha":-16.28131, "fx":[91.06723,98.20222,57.47395,36.91866], "fy":[-46.55188,28.55269,84.37037,-95.28274]},
-    {"t":0.03421, "x":4.41392, "y":7.46459, "heading":0.0, "vx":0.14261, "vy":-0.01454, "omega":-0.55693, "ax":4.30378, "ay":-0.47116, "alpha":-15.58345, "fx":[91.28571,98.51251,62.72018,40.30588], "fy":[-46.09381,27.41166,80.49762,-93.87286]},
-    {"t":0.06841, "x":4.42132, "y":7.46382, "heading":-0.01905, "vx":0.28983, "vy":-0.03065, "omega":-1.08999, "ax":4.46016, "ay":-0.56446, "alpha":-14.72611, "fx":[91.16423,99.11673,69.16985,44.01362], "fy":[-46.29538,25.06681,74.97493,-92.15185]},
-    {"t":0.10262, "x":4.43384, "y":7.46244, "heading":-0.05634, "vx":0.4424, "vy":-0.04996, "omega":-1.59372, "ax":4.64993, "ay":-0.70193, "alpha":-13.60187, "fx":[90.81247,99.94355,76.61487,49.00528], "fy":[-46.92766,21.41881,67.28556,-89.53491]},
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/TopGateToFuel_copy1.traj b/src/main/deploy/choreo/TopGateToFuel_copy1.traj
deleted file mode 100644
index e2bc6b6..0000000
--- a/src/main/deploy/choreo/TopGateToFuel_copy1.traj
+++ /dev/null
@@ -1,156 +0,0 @@
-{
- "name":"TopGateToFuel_copy1",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":6.691810131072998, "y":7.036059856414795, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":26, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"6.691810131072998 m", "val":6.691810131072998}, "y":{"exp":"7.036059856414795 m", "val":7.036059856414795}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":26, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
-   },
-   "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
-   },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":0.8,
-   "cof":1.5,
-   "bumper":{
-    "front":0.4064,
-    "side":0.4064,
-    "back":0.4064
-   },
-   "differentialTrackWidth":0.5588
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.47419,0.63672,0.83272,1.33371],
-  "samples":[
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-    {"t":0.02371, "x":8.02664, "y":5.71219, "heading":-1.5708, "vx":-0.06401, "vy":0.12268, "omega":0.10747, "ax":-2.75997, "ay":5.14488, "alpha":4.49837, "fx":[-21.21836,-55.04914,-76.0641,-35.45342], "fy":[99.97246,86.13312,68.21012,95.7362]},
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-    {"t":0.07113, "x":8.02049, "y":5.72379, "heading":-1.56317, "vx":-0.1964, "vy":0.36587, "omega":0.31999, "ax":-2.89152, "ay":5.07647, "alpha":4.43231, "fx":[-23.70951,-56.77294,-77.46936,-38.78406], "fy":[99.39789,84.99425,66.5901,94.41512]},
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-    {"t":0.16597, "x":7.98856, "y":5.78115, "heading":-1.51795, "vx":-0.48137, "vy":0.84125, "omega":0.7356, "ax":-3.21153, "ay":4.88968, "alpha":4.29477, "fx":[-30.32663,-61.52204,-80.85269,-45.80762], "fy":[97.55018,81.58972,62.38445,91.16375]},
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-    {"t":1.06756, "x":5.70197, "y":7.37547, "heading":-0.02666, "vx":-4.65398, "vy":0.98371, "omega":0.45162, "ax":-3.06754, "ay":-4.48853, "alpha":-6.30037, "fx":[-19.59506,-39.13516,-87.60359,-62.37836], "fy":[-96.9386,-86.23918,-44.62698,-77.58999]},
-    {"t":1.08321, "x":5.62873, "y":7.39032, "heading":-0.01959, "vx":-4.70201, "vy":0.91344, "omega":0.35298, "ax":-2.82553, "ay":-4.66795, "alpha":-5.81548, "fx":[-18.15066,-33.5619,-82.17268,-58.36048], "fy":[-96.69342,-88.24462,-52.64009,-80.02414]},
-    {"t":1.09887, "x":5.55477, "y":7.40405, "heading":-0.01406, "vx":-4.74625, "vy":0.84036, "omega":0.26194, "ax":-2.51071, "ay":-4.87252, "alpha":-5.12706, "fx":[-16.39065,-27.50925,-73.96279,-52.96322], "fy":[-96.34896,-90.0256,-62.25549,-82.89038]},
-    {"t":1.11453, "x":5.48015, "y":7.41661, "heading":-0.00996, "vx":-4.78555, "vy":0.76408, "omega":0.18167, "ax":-2.10676, "ay":-5.08707, "alpha":-4.17857, "fx":[-14.2959,-21.40733,-61.957,-45.68139], "fy":[-95.84728,-91.37717,-72.80551,-86.08861]},
-    {"t":1.13018, "x":5.40497, "y":7.42795, "heading":-0.00712, "vx":-4.81854, "vy":0.68444, "omega":0.11625, "ax":-1.62666, "ay":-5.27248, "alpha":-2.98664, "fx":[-12.12148,-16.02647,-46.25513,-36.27291], "fy":[-95.08008,-92.12758,-82.36638,-89.15944]},
-    {"t":1.14584, "x":5.32934, "y":7.43802, "heading":-0.0053, "vx":-4.844, "vy":0.60189, "omega":0.06949, "ax":-1.14413, "ay":-5.37726, "alpha":-1.7523, "fx":[-10.27957,-12.07102,-29.88131,-25.61328], "fy":[-93.955,-92.21242,-88.47672,-91.21844]},
-    {"t":1.16149, "x":5.25336, "y":7.44678, "heading":-0.00421, "vx":-4.86192, "vy":0.5177, "omega":0.04205, "ax":-0.76311, "ay":-5.38393, "alpha":-0.81307, "fx":[-8.75248,-9.41855,-17.49409,-16.2562], "fy":[-92.51083,-91.64362,-90.57428,-91.58792]},
-    {"t":1.17715, "x":5.17715, "y":7.45423, "heading":-0.00355, "vx":-4.87386, "vy":0.43341, "omega":0.02933, "ax":-0.51821, "ay":-5.32054, "alpha":-0.31157, "fx":[-7.22949,-7.43127,-10.44192,-10.15581], "fy":[-90.81375,-90.44403,-90.18078,-90.56481]},
-    {"t":1.1928, "x":5.10078, "y":7.46036, "heading":-0.00309, "vx":-4.88198, "vy":0.35012, "omega":0.02445, "ax":-0.36373, "ay":-5.21315, "alpha":-0.11001, "fx":[-5.6443,-5.69784,-6.73478,-6.67101], "fy":[-88.77967,-88.6309,-88.56799,-88.71796]},
-    {"t":1.20846, "x":5.0243, "y":7.4652, "heading":-0.00271, "vx":-4.88767, "vy":0.2685, "omega":0.02273, "ax":-0.25153, "ay":-5.06636, "alpha":-0.04234, "fx":[-4.07736,-4.09159,-4.48036,-4.4647], "fy":[-86.21861,-86.15212,-86.13588,-86.20249]},
-    {"t":1.22412, "x":4.94775, "y":7.46878, "heading":-0.00235, "vx":-4.89161, "vy":0.18918, "omega":0.02206, "ax":-0.15867, "ay":-4.87172, "alpha":-0.02164, "fx":[-2.60072,-2.60505,-2.79745,-2.79277], "fy":[-82.88921,-82.84911,-82.84405,-82.88416]},
-    {"t":1.23977, "x":4.87115, "y":7.47115, "heading":-0.00201, "vx":-4.89409, "vy":0.11291, "omega":0.02172, "ax":-0.07841, "ay":-4.61228, "alpha":-0.01499, "fx":[-1.26921,-1.27048,-1.3983,-1.39687], "fy":[-78.47105,-78.43784,-78.43616,-78.46938]},
-    {"t":1.25543, "x":4.79452, "y":7.47235, "heading":-0.00167, "vx":-4.89532, "vy":0.0407, "omega":0.02149, "ax":-0.01121, "ay":-4.26107, "alpha":-0.01197, "fx":[-0.14247,-0.14243,-0.23896,-0.2389], "fy":[-72.49567,-72.46362,-72.4634,-72.49544]},
-    {"t":1.27108, "x":4.71788, "y":7.47247, "heading":-0.00133, "vx":-4.8955, "vy":-0.02601, "omega":0.0213, "ax":0.0391, "ay":-3.77571, "alpha":-0.00944, "fx":[0.7002,0.70073,0.63008,0.6296], "fy":[-64.23898,-64.20825,-64.20862,-64.23935]},
-    {"t":1.28674, "x":4.64124, "y":7.4716, "heading":-0.001, "vx":-4.89488, "vy":-0.08512, "omega":0.02115, "ax":0.06738, "ay":-3.08969, "alpha":-0.00404, "fx":[1.15969,1.15997,1.1326,1.13233], "fy":[-52.56255,-52.5466,-52.54683,-52.56279]},
-    {"t":1.3024, "x":4.56461, "y":7.46988, "heading":-0.00066, "vx":-4.89383, "vy":-0.13349, "omega":0.02109, "ax":0.08365, "ay":-2.10799, "alpha":0.01849, "fx":[1.36768,1.36668,1.47806,1.47914], "fy":[-35.81319,-35.90029,-35.89938,-35.81228]},
-    {"t":1.31805, "x":4.48801, "y":7.46754, "heading":-0.00033, "vx":-4.89252, "vy":-0.1665, "omega":0.02138, "ax":0.5783, "ay":-0.73854, "alpha":-1.25802, "fx":[13.1271,13.33968,6.4944,6.38584], "fy":[-15.82217,-9.14648,-9.26375,-16.01708]},
-    {"t":1.33371, "x":4.41148, "y":7.46484, "heading":0.0, "vx":-4.88346, "vy":-0.17806, "omega":0.00168, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/pathplanner/autos/TestTopFuel.auto b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
index 531a96d..071c238 100644
--- a/src/main/deploy/pathplanner/autos/TestTopFuel.auto
+++ b/src/main/deploy/pathplanner/autos/TestTopFuel.auto
@@ -13,7 +13,7 @@
       ]
     }
   },
-  "resetOdom": false,
+  "resetOdom": true,
   "folder": "Choreo Autos",
   "choreoAuto": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/test_line.auto b/src/main/deploy/pathplanner/autos/test_line.auto
new file mode 100644
index 0000000..ff82c66
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/test_line.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Straight_Line"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index afb9f56..3f7d393 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -324,7 +324,7 @@ subsystems:
             slot0:
                 kP: 0.7
                 kI: 0.5
-                kD: 0
+                kD: 0.01
                 kV: 0.129
                 kS: 0.05
         azimuthPID:

From 37dd81114c015f10787342883804705f59052446 Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:12:21 -0600
Subject: [PATCH 13/28] fixed ZMULE yaml

---
 src/main/deploy/choreo/Straight_Line.traj | 95 ++++++++++-------------
 src/main/deploy/choreo/Test_Path.chor     | 26 +++----
 src/main/resources/yaml/zmule.yml         |  2 +-
 3 files changed, 57 insertions(+), 66 deletions(-)

diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
index 23de64d..e1295ae 100644
--- a/src/main/deploy/choreo/Straight_Line.traj
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.50892972946167, "y":7.640249729156494, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.50892972946167, "y":7.640249729156494, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,8 +13,9 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.50892972946167 m", "val":4.50892972946167}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"4.50892972946167 m", "val":4.50892972946167}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"14.016626358032227 m", "val":14.016626358032228}, "y":{"exp":"8.659798622131348 m", "val":8.659798622131348}, "heading":{"exp":"0 deg", "val":0.0}, "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},
@@ -27,20 +28,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
+    "x":0.302,
     "y":0.2794
    },
    "backLeft":{
     "x":-0.2794,
     "y":0.2794
    },
-   "mass":27.2155422,
+   "mass":33.60575150856,
    "inertia":6.0,
-   "gearing":6.5,
+   "gearing":6.03,
    "radius":0.0508,
-   "vmax":418.87902047863906,
-   "tmax":0.2,
-   "cof":1.5,
+   "vmax":314.1592653589793,
+   "tmax":2.0,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -49,50 +50,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.02764],
+  "waypoints":[0.0,1.59016],
   "samples":[
-    {"t":0.0, "x":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.75804, "ay":0.0, "alpha":0.0, "fx":[25.56926,25.56926,25.56926,25.56926], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.04945, "x":4.51353, "y":7.64025, "heading":0.0, "vx":0.18585, "vy":0.0, "omega":0.0, "ax":3.75784, "ay":0.0, "alpha":0.0, "fx":[25.56793,25.56793,25.56793,25.56793], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.09891, "x":4.52731, "y":7.64025, "heading":0.0, "vx":0.3717, "vy":0.0, "omega":0.0, "ax":3.75762, "ay":0.0, "alpha":0.0, "fx":[25.56642,25.56642,25.56642,25.56642], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.14836, "x":4.55029, "y":7.64025, "heading":0.0, "vx":0.55753, "vy":0.0, "omega":0.0, "ax":3.75737, "ay":0.0, "alpha":0.0, "fx":[25.5647,25.5647,25.5647,25.5647], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.19782, "x":4.58246, "y":7.64025, "heading":0.0, "vx":0.74335, "vy":0.0, "omega":0.0, "ax":3.75708, "ay":0.0, "alpha":0.0, "fx":[25.56271,25.56271,25.56271,25.56271], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.24727, "x":4.62381, "y":7.64025, "heading":0.0, "vx":0.92915, "vy":0.0, "omega":0.0, "ax":3.75673, "ay":0.0, "alpha":0.0, "fx":[25.56039,25.56039,25.56039,25.56039], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.29673, "x":4.67436, "y":7.64025, "heading":0.0, "vx":1.11494, "vy":0.0, "omega":0.0, "ax":3.75633, "ay":0.0, "alpha":0.0, "fx":[25.55764,25.55764,25.55764,25.55764], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.34618, "x":4.73409, "y":7.64025, "heading":0.0, "vx":1.30071, "vy":0.0, "omega":0.0, "ax":3.75585, "ay":0.0, "alpha":0.0, "fx":[25.55435,25.55435,25.55435,25.55435], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.39564, "x":4.80301, "y":7.64025, "heading":0.0, "vx":1.48645, "vy":0.0, "omega":0.0, "ax":3.75526, "ay":0.0, "alpha":0.0, "fx":[25.55033,25.55033,25.55033,25.55033], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.44509, "x":4.88111, "y":7.64025, "heading":0.0, "vx":1.67217, "vy":0.0, "omega":0.0, "ax":3.75452, "ay":0.0, "alpha":0.0, "fx":[25.5453,25.5453,25.5453,25.5453], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.49455, "x":4.9684, "y":7.64025, "heading":0.0, "vx":1.85784, "vy":0.0, "omega":0.0, "ax":3.75357, "ay":0.0, "alpha":0.0, "fx":[25.53884,25.53884,25.53884,25.53884], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.544, "x":5.06487, "y":7.64025, "heading":0.0, "vx":2.04347, "vy":0.0, "omega":0.0, "ax":3.7523, "ay":0.0, "alpha":0.0, "fx":[25.53023,25.53023,25.53023,25.53023], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.59346, "x":5.17052, "y":7.64025, "heading":0.0, "vx":2.22904, "vy":0.0, "omega":0.0, "ax":3.75053, "ay":0.0, "alpha":0.0, "fx":[25.51818,25.51818,25.51818,25.51818], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.64291, "x":5.28534, "y":7.64025, "heading":0.0, "vx":2.41452, "vy":0.0, "omega":0.0, "ax":3.74788, "ay":0.0, "alpha":0.0, "fx":[25.50013,25.50013,25.50013,25.50013], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.69236, "x":5.40933, "y":7.64025, "heading":0.0, "vx":2.59987, "vy":0.0, "omega":0.0, "ax":3.74347, "ay":0.0, "alpha":0.0, "fx":[25.47012,25.47012,25.47012,25.47012], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.74182, "x":5.54249, "y":7.64025, "heading":0.0, "vx":2.78501, "vy":0.0, "omega":0.0, "ax":3.73469, "ay":0.0, "alpha":0.0, "fx":[25.41043,25.41043,25.41043,25.41043], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.79127, "x":5.68479, "y":7.64025, "heading":0.0, "vx":2.9697, "vy":0.0, "omega":0.0, "ax":3.70885, "ay":0.0, "alpha":0.0, "fx":[25.23456,25.23456,25.23456,25.23456], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.84073, "x":5.83619, "y":7.64025, "heading":0.0, "vx":3.15312, "vy":0.0, "omega":0.0, "ax":2.38336, "ay":0.0, "alpha":0.0, "fx":[16.21614,16.21614,16.21614,16.21614], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.89018, "x":5.99504, "y":7.64025, "heading":0.0, "vx":3.27099, "vy":0.0, "omega":0.0, "ax":0.00165, "ay":0.0, "alpha":0.0, "fx":[0.01125,0.01125,0.01125,0.01125], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.93964, "x":6.15681, "y":7.64025, "heading":0.0, "vx":3.27107, "vy":0.0, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.98909, "x":6.31857, "y":7.64025, "heading":0.0, "vx":3.27107, "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":1.03855, "x":6.48034, "y":7.64025, "heading":0.0, "vx":3.27107, "vy":0.0, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00005,0.00005,0.00005,0.00005], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.088, "x":6.64211, "y":7.64025, "heading":0.0, "vx":3.27107, "vy":0.0, "omega":0.0, "ax":-0.00165, "ay":0.0, "alpha":0.0, "fx":[-0.01125,-0.01125,-0.01125,-0.01125], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.13746, "x":6.80388, "y":7.64025, "heading":0.0, "vx":3.27099, "vy":0.0, "omega":0.0, "ax":-2.38336, "ay":0.0, "alpha":0.0, "fx":[-16.21614,-16.21614,-16.21614,-16.21614], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.18691, "x":6.96273, "y":7.64025, "heading":0.0, "vx":3.15312, "vy":0.0, "omega":0.0, "ax":-3.70885, "ay":0.0, "alpha":0.0, "fx":[-25.23456,-25.23456,-25.23456,-25.23456], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.23637, "x":7.11413, "y":7.64025, "heading":0.0, "vx":2.9697, "vy":0.0, "omega":0.0, "ax":-3.73469, "ay":0.0, "alpha":0.0, "fx":[-25.41043,-25.41043,-25.41043,-25.41043], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.28582, "x":7.25643, "y":7.64025, "heading":0.0, "vx":2.78501, "vy":0.0, "omega":0.0, "ax":-3.74347, "ay":0.0, "alpha":0.0, "fx":[-25.47012,-25.47012,-25.47012,-25.47012], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.33527, "x":7.38959, "y":7.64025, "heading":0.0, "vx":2.59987, "vy":0.0, "omega":0.0, "ax":-3.74788, "ay":0.0, "alpha":0.0, "fx":[-25.50013,-25.50013,-25.50013,-25.50013], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.38473, "x":7.51358, "y":7.64025, "heading":0.0, "vx":2.41452, "vy":0.0, "omega":0.0, "ax":-3.75053, "ay":0.0, "alpha":0.0, "fx":[-25.51818,-25.51818,-25.51818,-25.51818], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.43418, "x":7.6284, "y":7.64025, "heading":0.0, "vx":2.22904, "vy":0.0, "omega":0.0, "ax":-3.7523, "ay":0.0, "alpha":0.0, "fx":[-25.53023,-25.53023,-25.53023,-25.53023], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.48364, "x":7.73405, "y":7.64025, "heading":0.0, "vx":2.04347, "vy":0.0, "omega":0.0, "ax":-3.75357, "ay":0.0, "alpha":0.0, "fx":[-25.53884,-25.53884,-25.53884,-25.53884], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.53309, "x":7.83052, "y":7.64025, "heading":0.0, "vx":1.85784, "vy":0.0, "omega":0.0, "ax":-3.75452, "ay":0.0, "alpha":0.0, "fx":[-25.5453,-25.5453,-25.5453,-25.5453], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.58255, "x":7.91781, "y":7.64025, "heading":0.0, "vx":1.67217, "vy":0.0, "omega":0.0, "ax":-3.75526, "ay":0.0, "alpha":0.0, "fx":[-25.55033,-25.55033,-25.55033,-25.55033], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.632, "x":7.99591, "y":7.64025, "heading":0.0, "vx":1.48645, "vy":0.0, "omega":0.0, "ax":-3.75585, "ay":0.0, "alpha":0.0, "fx":[-25.55435,-25.55435,-25.55435,-25.55435], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.68146, "x":8.06483, "y":7.64025, "heading":0.0, "vx":1.30071, "vy":0.0, "omega":0.0, "ax":-3.75633, "ay":0.0, "alpha":0.0, "fx":[-25.55764,-25.55764,-25.55764,-25.55764], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.73091, "x":8.12456, "y":7.64025, "heading":0.0, "vx":1.11494, "vy":0.0, "omega":0.0, "ax":-3.75673, "ay":0.0, "alpha":0.0, "fx":[-25.56039,-25.56039,-25.56039,-25.56039], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.78037, "x":8.17511, "y":7.64025, "heading":0.0, "vx":0.92915, "vy":0.0, "omega":0.0, "ax":-3.75708, "ay":0.0, "alpha":0.0, "fx":[-25.56271,-25.56271,-25.56271,-25.56271], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.82982, "x":8.21646, "y":7.64025, "heading":0.0, "vx":0.74335, "vy":0.0, "omega":0.0, "ax":-3.75737, "ay":0.0, "alpha":0.0, "fx":[-25.5647,-25.5647,-25.5647,-25.5647], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.87928, "x":8.24863, "y":7.64025, "heading":0.0, "vx":0.55753, "vy":0.0, "omega":0.0, "ax":-3.75762, "ay":0.0, "alpha":0.0, "fx":[-25.56642,-25.56642,-25.56642,-25.56642], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.92873, "x":8.27161, "y":7.64025, "heading":0.0, "vx":0.3717, "vy":0.0, "omega":0.0, "ax":-3.75784, "ay":0.0, "alpha":0.0, "fx":[-25.56793,-25.56793,-25.56793,-25.56793], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.97818, "x":8.28539, "y":7.64025, "heading":0.0, "vx":0.18585, "vy":0.0, "omega":0.0, "ax":-3.75804, "ay":0.0, "alpha":0.0, "fx":[-25.56926,-25.56926,-25.56926,-25.56926], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":2.02764, "x":8.28999, "y":7.64025, "heading":0.0, "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":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.64618, "ay":0.0, "alpha":0.0, "fx":[139.85186,139.85186,139.85186,139.85186], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.0513, "x":4.53083, "y":7.64025, "heading":0.0, "vx":0.85388, "vy":0.0, "omega":0.0, "ax":16.63919, "ay":0.0, "alpha":0.0, "fx":[139.79315,139.79315,139.79315,139.79315], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.10259, "x":4.59652, "y":7.64025, "heading":0.0, "vx":1.70739, "vy":0.0, "omega":0.0, "ax":16.61795, "ay":0.0, "alpha":0.0, "fx":[139.6147,139.6147,139.6147,139.6147], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.15389, "x":4.70597, "y":7.64025, "heading":0.0, "vx":2.55982, "vy":0.0, "omega":0.0, "ax":1.65154, "ay":0.0, "alpha":0.0, "fx":[13.87531,13.87531,13.87531,13.87531], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20518, "x":4.83945, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00017,0.00017,0.00017,0.00017], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.25648, "x":4.9751, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.30777, "x":5.11075, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.35907, "x":5.24641, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.41037, "x":5.38206, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.46166, "x":5.51771, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.51296, "x":5.65337, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.56425, "x":5.78902, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.61555, "x":5.92467, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.66684, "x":6.06033, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.71814, "x":6.19598, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.76943, "x":6.33163, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.82073, "x":6.46729, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.87203, "x":6.60294, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.92332, "x":6.73859, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.97462, "x":6.87425, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.02591, "x":7.0099, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.07721, "x":7.14555, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.1285, "x":7.28121, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.1798, "x":7.41686, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.2311, "x":7.55251, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.28239, "x":7.68817, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.33369, "x":7.82382, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.38498, "x":7.95947, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":-1.65154, "ay":0.0, "alpha":0.0, "fx":[-13.87531,-13.87531,-13.87531,-13.87531], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.43628, "x":8.09295, "y":7.64025, "heading":0.0, "vx":2.55982, "vy":0.0, "omega":0.0, "ax":-16.61795, "ay":0.0, "alpha":0.0, "fx":[-139.6147,-139.6147,-139.6147,-139.6147], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.48757, "x":8.2024, "y":7.64025, "heading":0.0, "vx":1.70739, "vy":0.0, "omega":0.0, "ax":-16.63919, "ay":0.0, "alpha":0.0, "fx":[-139.79315,-139.79315,-139.79315,-139.79315], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.53887, "x":8.26809, "y":7.64025, "heading":0.0, "vx":0.85388, "vy":0.0, "omega":0.0, "ax":-16.64618, "ay":0.0, "alpha":0.0, "fx":[-139.85186,-139.85186,-139.85186,-139.85186], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.59016, "x":8.28999, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
index 424165f..3711eed 100644
--- a/src/main/deploy/choreo/Test_Path.chor
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -38,8 +38,8 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"0.302 m",
+    "val":0.302
    },
    "y":{
     "exp":"11 in",
@@ -57,32 +57,32 @@
    }
   },
   "mass":{
-   "exp":"60 lbs",
-   "val":27.2155422
+   "exp":"74.088 lbs",
+   "val":33.60575150856
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
    "val":6.0
   },
   "gearing":{
-   "exp":"6.5",
-   "val":6.5
+   "exp":"6.03",
+   "val":6.03
   },
   "radius":{
-   "exp":"2 in",
+   "exp":"0.0508 m",
    "val":0.0508
   },
   "vmax":{
-   "exp":"4000 RPM",
-   "val":418.87902047863906
+   "exp":"3000 RPM",
+   "val":314.1592653589793
   },
   "tmax":{
-   "exp":"0.2 N * m",
-   "val":0.2
+   "exp":"2 N * m",
+   "val":2.0
   },
   "cof":{
-   "exp":"1.5",
-   "val":1.5
+   "exp":"1.7",
+   "val":1.7
   },
   "bumper":{
    "front":{
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 3f7d393..71ec399 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -323,7 +323,7 @@ subsystems:
         drivePID:
             slot0:
                 kP: 0.7
-                kI: 0.5
+                kI: 0
                 kD: 0.01
                 kV: 0.129
                 kS: 0.05

From d0221cc6fc6fa655d4e2661920e8bdc91315f8c1 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Wed, 25 Feb 2026 19:22:43 -0600
Subject: [PATCH 14/28] Updated and synchronized values

---
 src/main/deploy/choreo/ZTLDR.chor         | 40 +++++++++++------------
 src/main/deploy/pathplanner/settings.json | 30 ++++++++---------
 src/main/resources/yaml/zmule.yml         |  2 +-
 3 files changed, 36 insertions(+), 36 deletions(-)

diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 786a31c..bbaba28 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -38,51 +38,51 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.30163
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.30163
    }
   },
   "backLeft":{
    "x":{
-    "exp":"-11 in",
-    "val":-0.2794
+    "exp":"-11.89 in",
+    "val":-0.30163
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.30163
    }
   },
   "mass":{
-   "exp":"150 lbs",
-   "val":68.0388555
+   "exp":"74 lbs",
+   "val":33.57
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
    "val":6.0
   },
   "gearing":{
-   "exp":"6.5",
-   "val":6.5
+   "exp":"6.03",
+   "val":6.03
   },
   "radius":{
-   "exp":"2 in",
-   "val":0.0508
+   "exp":"1.944 in",
+   "val":0.04935
   },
   "vmax":{
-   "exp":"6000 RPM",
-   "val":628.3185307179587
+   "exp":"3000 RPM",
+   "val":314.1592653589793
   },
   "tmax":{
-   "exp":"1.2 N * m",
-   "val":1.2
+   "exp":"3.5 N * m",
+   "val":3.5
   },
   "cof":{
-   "exp":"1.5",
-   "val":1.5
+   "exp":"1.7",
+   "val":1.7
   },
   "bumper":{
    "front":{
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 89e2b13..c91d39d 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -11,24 +11,24 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
+  "robotMass": 33.57,
   "robotMOI": 6.883,
-  "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
-  "driveGearing": 5.143,
-  "maxDriveSpeed": 5.45,
+  "robotTrackwidth": 0.60325,
+  "driveWheelRadius": 0.04935,
+  "driveGearing": 6.03,
+  "maxDriveSpeed": 2.57,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2,
-  "flModuleX": 0.273,
-  "flModuleY": 0.273,
-  "frModuleX": 0.273,
-  "frModuleY": -0.273,
-  "blModuleX": -0.273,
-  "blModuleY": 0.273,
-  "brModuleX": -0.273,
-  "brModuleY": -0.273,
+  "wheelCOF": 1.7,
+  "flModuleX": 0.30163,
+  "flModuleY": 0.30163,
+  "frModuleX": 0.30163,
+  "frModuleY": -0.30163,
+  "blModuleX": -0.30163,
+  "blModuleY": 0.30163,
+  "brModuleX": -0.30163,
+  "brModuleY": -0.30163,
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": []
-}
\ No newline at end of file
+}
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 71ec399..027906e 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -338,7 +338,7 @@ subsystems:
             steerGearing: 26.0909
             wheelbaseLength: .60325 # meters
             wheelbaseWidth: .60325 # meters
-            robotMass: 74.088 # kg
+            robotMass: 33.57 # kg (74 lbs)
             wheelRadius: .04935 # meters
             maxDriveRPS: 50 # measured motor max speed rps
             maxAngularRate: 8.285 # rad/sec

From 40caa427435862d8610a31eddf70713b9eb1827e Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:23:17 -0600
Subject: [PATCH 15/28] purged paths

---
 src/main/deploy/choreo/Straight_Line.traj     | 82 +++++++++----------
 src/main/deploy/choreo/Test_Path.chor         | 12 +--
 .../pathplanner/autos/TestFuelBackTop.auto    | 19 -----
 .../pathplanner/autos/TestTopFuelToBack.auto  | 79 ------------------
 4 files changed, 47 insertions(+), 145 deletions(-)
 delete mode 100644 src/main/deploy/pathplanner/autos/TestFuelBackTop.auto
 delete mode 100644 src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto

diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
index e1295ae..a236529 100644
--- a/src/main/deploy/choreo/Straight_Line.traj
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.50892972946167, "y":7.640249729156494, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.50892972946167, "y":7.640249729156494, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":48, "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},
@@ -13,9 +13,8 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.50892972946167 m", "val":4.50892972946167}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"14.016626358032227 m", "val":14.016626358032228}, "y":{"exp":"8.659798622131348 m", "val":8.659798622131348}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"4.50892972946167 m", "val":4.50892972946167}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":48, "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},
@@ -28,17 +27,17 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.302,
+    "x":0.30163,
     "y":0.2794
    },
    "backLeft":{
     "x":-0.2794,
     "y":0.2794
    },
-   "mass":33.60575150856,
+   "mass":33.6,
    "inertia":6.0,
    "gearing":6.03,
-   "radius":0.0508,
+   "radius":0.04935,
    "vmax":314.1592653589793,
    "tmax":2.0,
    "cof":1.7,
@@ -50,40 +49,41 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.59016],
+  "waypoints":[0.0,1.62678],
   "samples":[
-    {"t":0.0, "x":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.64618, "ay":0.0, "alpha":0.0, "fx":[139.85186,139.85186,139.85186,139.85186], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.0513, "x":4.53083, "y":7.64025, "heading":0.0, "vx":0.85388, "vy":0.0, "omega":0.0, "ax":16.63919, "ay":0.0, "alpha":0.0, "fx":[139.79315,139.79315,139.79315,139.79315], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.10259, "x":4.59652, "y":7.64025, "heading":0.0, "vx":1.70739, "vy":0.0, "omega":0.0, "ax":16.61795, "ay":0.0, "alpha":0.0, "fx":[139.6147,139.6147,139.6147,139.6147], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.15389, "x":4.70597, "y":7.64025, "heading":0.0, "vx":2.55982, "vy":0.0, "omega":0.0, "ax":1.65154, "ay":0.0, "alpha":0.0, "fx":[13.87531,13.87531,13.87531,13.87531], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.20518, "x":4.83945, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00017,0.00017,0.00017,0.00017], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.25648, "x":4.9751, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.30777, "x":5.11075, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.35907, "x":5.24641, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.41037, "x":5.38206, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.46166, "x":5.51771, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.51296, "x":5.65337, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.56425, "x":5.78902, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.61555, "x":5.92467, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.66684, "x":6.06033, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.71814, "x":6.19598, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.76943, "x":6.33163, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.82073, "x":6.46729, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.87203, "x":6.60294, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.92332, "x":6.73859, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.97462, "x":6.87425, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.02591, "x":7.0099, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.07721, "x":7.14555, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.1285, "x":7.28121, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.1798, "x":7.41686, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.2311, "x":7.55251, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.28239, "x":7.68817, "y":7.64025, "heading":0.0, "vx":2.64454, "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":1.33369, "x":7.82382, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.00017,-0.00017,-0.00017,-0.00017], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.38498, "x":7.95947, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":-1.65154, "ay":0.0, "alpha":0.0, "fx":[-13.87531,-13.87531,-13.87531,-13.87531], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.43628, "x":8.09295, "y":7.64025, "heading":0.0, "vx":2.55982, "vy":0.0, "omega":0.0, "ax":-16.61795, "ay":0.0, "alpha":0.0, "fx":[-139.6147,-139.6147,-139.6147,-139.6147], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.48757, "x":8.2024, "y":7.64025, "heading":0.0, "vx":1.70739, "vy":0.0, "omega":0.0, "ax":-16.63919, "ay":0.0, "alpha":0.0, "fx":[-139.79315,-139.79315,-139.79315,-139.79315], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.53887, "x":8.26809, "y":7.64025, "heading":0.0, "vx":0.85388, "vy":0.0, "omega":0.0, "ax":-16.64618, "ay":0.0, "alpha":0.0, "fx":[-139.85186,-139.85186,-139.85186,-139.85186], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.59016, "x":8.28999, "y":7.64025, "heading":0.0, "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":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.64614, "ay":0.0, "alpha":0.0, "fx":[139.82755,139.82755,139.82755,139.82755], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.05084, "x":4.53044, "y":7.64025, "heading":0.0, "vx":0.84624, "vy":0.0, "omega":0.0, "ax":16.63899, "ay":0.0, "alpha":0.0, "fx":[139.76755,139.76755,139.76755,139.76755], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.10167, "x":4.59496, "y":7.64025, "heading":0.0, "vx":1.69211, "vy":0.0, "omega":0.0, "ax":16.61672, "ay":0.0, "alpha":0.0, "fx":[139.58045,139.58045,139.58045,139.58045], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.15251, "x":4.70245, "y":7.64025, "heading":0.0, "vx":2.53686, "vy":0.0, "omega":0.0, "ax":0.63296, "ay":0.0, "alpha":0.0, "fx":[5.31686,5.31686,5.31686,5.31686], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20335, "x":4.83224, "y":7.64025, "heading":0.0, "vx":2.56903, "vy":0.0, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00006,0.00006,0.00006,0.00006], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.25418, "x":4.96284, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.30502, "x":5.09344, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.35586, "x":5.22404, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.4067, "x":5.35465, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.45753, "x":5.48525, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.50837, "x":5.61585, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.55921, "x":5.74645, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.61004, "x":5.87705, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.66088, "x":6.00765, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.71172, "x":6.13826, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.76255, "x":6.26886, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.81339, "x":6.39946, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.86423, "x":6.53006, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.91506, "x":6.66066, "y":7.64025, "heading":0.0, "vx":2.56903, "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":0.9659, "x":6.79126, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.01674, "x":6.92187, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.06758, "x":7.05247, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.11841, "x":7.18307, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.16925, "x":7.31367, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.22009, "x":7.44427, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.27092, "x":7.57488, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.32176, "x":7.70548, "y":7.64025, "heading":0.0, "vx":2.56903, "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":1.3726, "x":7.83608, "y":7.64025, "heading":0.0, "vx":2.56903, "vy":0.0, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.42343, "x":7.96668, "y":7.64025, "heading":0.0, "vx":2.56903, "vy":0.0, "omega":0.0, "ax":-0.63296, "ay":0.0, "alpha":0.0, "fx":[-5.31686,-5.31686,-5.31686,-5.31686], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.47427, "x":8.09646, "y":7.64025, "heading":0.0, "vx":2.53686, "vy":0.0, "omega":0.0, "ax":-16.61672, "ay":0.0, "alpha":0.0, "fx":[-139.58045,-139.58045,-139.58045,-139.58045], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.52511, "x":8.20396, "y":7.64025, "heading":0.0, "vx":1.69211, "vy":0.0, "omega":0.0, "ax":-16.63899, "ay":0.0, "alpha":0.0, "fx":[-139.76755,-139.76755,-139.76755,-139.76755], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.57594, "x":8.26848, "y":7.64025, "heading":0.0, "vx":0.84624, "vy":0.0, "omega":0.0, "ax":-16.64614, "ay":0.0, "alpha":0.0, "fx":[-139.82755,-139.82755,-139.82755,-139.82755], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.62678, "x":8.28999, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
index 3711eed..111b46f 100644
--- a/src/main/deploy/choreo/Test_Path.chor
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -38,8 +38,8 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"0.302 m",
-    "val":0.302
+    "exp":"0.30163 m",
+    "val":0.30163
    },
    "y":{
     "exp":"11 in",
@@ -57,8 +57,8 @@
    }
   },
   "mass":{
-   "exp":"74.088 lbs",
-   "val":33.60575150856
+   "exp":"33.6 kg",
+   "val":33.6
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
@@ -69,8 +69,8 @@
    "val":6.03
   },
   "radius":{
-   "exp":"0.0508 m",
-   "val":0.0508
+   "exp":"0.04935 m",
+   "val":0.04935
   },
   "vmax":{
    "exp":"3000 RPM",
diff --git a/src/main/deploy/pathplanner/autos/TestFuelBackTop.auto b/src/main/deploy/pathplanner/autos/TestFuelBackTop.auto
deleted file mode 100644
index bbf72d8..0000000
--- a/src/main/deploy/pathplanner/autos/TestFuelBackTop.auto
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel_copy1"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "Choreo Autos",
-  "choreoAuto": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto b/src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto
deleted file mode 100644
index f6d8a78..0000000
--- a/src/main/deploy/pathplanner/autos/TestTopFuelToBack.auto
+++ /dev/null
@@ -1,79 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.5
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel_copy1"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.5
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.5
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel_copy1"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.5
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.5
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TopGateToFuel_copy1"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "Choreo Autos",
-  "choreoAuto": true
-}
\ No newline at end of file

From a8c4f1f9cdc07af0f774f9a490ad2994e5137780 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Wed, 25 Feb 2026 19:32:57 -0600
Subject: [PATCH 16/28] fixed values again

---
 src/main/deploy/choreo/Test_Path.chor | 28 +++++++++++++--------------
 src/main/deploy/choreo/ZTLDR.chor     | 12 ++++++------
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
index 3711eed..c130ddf 100644
--- a/src/main/deploy/choreo/Test_Path.chor
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -38,27 +38,27 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"0.302 m",
-    "val":0.302
+    "exp":"11.89 in",
+    "val":0.302006
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.302006
    }
   },
   "backLeft":{
    "x":{
-    "exp":"-11 in",
-    "val":-0.2794
+    "exp":"-11.89 in",
+    "val":-0.302006
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.302006
    }
   },
   "mass":{
-   "exp":"74.088 lbs",
-   "val":33.60575150856
+   "exp":"74 lbs",
+   "val":33.56583538
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
@@ -69,16 +69,16 @@
    "val":6.03
   },
   "radius":{
-   "exp":"0.0508 m",
-   "val":0.0508
+   "exp":"1.944 in",
+   "val":0.049377599999999994
   },
   "vmax":{
    "exp":"3000 RPM",
    "val":314.1592653589793
   },
   "tmax":{
-   "exp":"2 N * m",
-   "val":2.0
+   "exp":"3.5 N * m",
+   "val":3.5
   },
   "cof":{
    "exp":"1.7",
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index bbaba28..26516f5 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -39,26 +39,26 @@
   "frontLeft":{
    "x":{
     "exp":"11.89 in",
-    "val":0.30163
+    "val":0.302006
    },
    "y":{
     "exp":"11.89 in",
-    "val":0.30163
+    "val":0.302006
    }
   },
   "backLeft":{
    "x":{
     "exp":"-11.89 in",
-    "val":-0.30163
+    "val":-0.302006
    },
    "y":{
     "exp":"11.89 in",
-    "val":0.30163
+    "val":0.302006
    }
   },
   "mass":{
    "exp":"74 lbs",
-   "val":33.57
+   "val":33.56583538
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
@@ -70,7 +70,7 @@
   },
   "radius":{
    "exp":"1.944 in",
-   "val":0.04935
+   "val":0.049377599999999994
   },
   "vmax":{
    "exp":"3000 RPM",

From 70f3dfb73e33f7168e5b0aa3d0e1811c9b39bdfb Mon Sep 17 00:00:00 2001
From: AlexanderBecker13 <144349466+AlexanderBecker13@users.noreply.github.com>
Date: Wed, 25 Feb 2026 19:59:08 -0600
Subject: [PATCH 17/28] fixed tuning

---
 src/main/deploy/choreo/Straight_Line.traj |  85 +++++++------
 src/main/deploy/choreo/TopGateToFuel.traj | 140 +++++++++++-----------
 src/main/resources/yaml/zmule.yml         |   4 +-
 3 files changed, 112 insertions(+), 117 deletions(-)

diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
index e1295ae..05244d9 100644
--- a/src/main/deploy/choreo/Straight_Line.traj
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -4,7 +4,7 @@
  "snapshot":{
   "waypoints":[
     {"x":4.50892972946167, "y":7.640249729156494, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":47, "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},
@@ -14,8 +14,7 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"4.50892972946167 m", "val":4.50892972946167}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"14.016626358032227 m", "val":14.016626358032228}, "y":{"exp":"8.659798622131348 m", "val":8.659798622131348}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":47, "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},
@@ -28,19 +27,19 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.302,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":33.60575150856,
+   "mass":33.56583538,
    "inertia":6.0,
    "gearing":6.03,
-   "radius":0.0508,
+   "radius":0.049377599999999994,
    "vmax":314.1592653589793,
-   "tmax":2.0,
+   "tmax":3.5,
    "cof":1.7,
    "bumper":{
     "front":0.4064,
@@ -50,40 +49,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.59016],
+  "waypoints":[0.0,1.62631],
   "samples":[
-    {"t":0.0, "x":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.64618, "ay":0.0, "alpha":0.0, "fx":[139.85186,139.85186,139.85186,139.85186], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.0513, "x":4.53083, "y":7.64025, "heading":0.0, "vx":0.85388, "vy":0.0, "omega":0.0, "ax":16.63919, "ay":0.0, "alpha":0.0, "fx":[139.79315,139.79315,139.79315,139.79315], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.10259, "x":4.59652, "y":7.64025, "heading":0.0, "vx":1.70739, "vy":0.0, "omega":0.0, "ax":16.61795, "ay":0.0, "alpha":0.0, "fx":[139.6147,139.6147,139.6147,139.6147], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.15389, "x":4.70597, "y":7.64025, "heading":0.0, "vx":2.55982, "vy":0.0, "omega":0.0, "ax":1.65154, "ay":0.0, "alpha":0.0, "fx":[13.87531,13.87531,13.87531,13.87531], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.20518, "x":4.83945, "y":7.64025, "heading":0.0, "vx":2.64454, "vy":0.0, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.00017,0.00017,0.00017,0.00017], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.25648, "x":4.9751, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.30777, "x":5.11075, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.35907, "x":5.24641, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.41037, "x":5.38206, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.46166, "x":5.51771, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.51296, "x":5.65337, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.56425, "x":5.78902, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.61555, "x":5.92467, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.66684, "x":6.06033, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.71814, "x":6.19598, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.76943, "x":6.33163, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.82073, "x":6.46729, "y":7.64025, "heading":0.0, "vx":2.64454, "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":0.87203, "x":6.60294, "y":7.64025, "heading":0.0, "vx":2.64454, "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]},
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 27e02df..e0fd947 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -17,10 +17,10 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -35,20 +35,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":27.2155422,
+   "mass":33.56583538,
    "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":418.87902047863906,
-   "tmax":1.2,
-   "cof":1.5,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -57,61 +57,57 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.81974,1.12615,1.2925,1.65486],
+  "waypoints":[0.0,0.97781,1.37622,1.58418,1.99103],
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+    {"t":0.27937, "x":4.88086, "y":7.39214, "heading":-0.2113, "vx":2.44091, "vy":-0.4533, "omega":-0.28345, "ax":0.00845, "ay":-0.04026, "alpha":0.11352, "fx":[-0.14558,-0.26383,0.28746,0.40571], "fy":[-0.00311,-0.5544,-0.67264,-0.12136]},
+    {"t":0.32594, "x":4.99453, "y":7.37098, "heading":-0.2245, "vx":2.44131, "vy":-0.45517, "omega":-0.27816, "ax":0.0804, "ay":0.03793, "alpha":0.29099, "fx":[0.13109,-0.19068,1.2184,1.54005], "fy":[1.1837,-0.22541,-0.54715,0.86186]},
+    {"t":0.3725, "x":5.10829, "y":7.34983, "heading":-0.23745, "vx":2.44505, "vy":-0.45341, "omega":-0.26461, "ax":0.10604, "ay":0.07064, "alpha":0.34299, "fx":[0.26234,-0.13841,1.51747,1.91795], "fy":[1.62111,-0.03474,-0.43548,1.22022]},
+    {"t":0.41906, "x":5.22225, "y":7.3288, "heading":-0.24977, "vx":2.44999, "vy":-0.45012, "omega":-0.24864, "ax":0.09959, "ay":0.074, "alpha":0.31173, "fx":[0.27697,-0.10576,1.39458,1.77709], "fy":[1.56253,0.06224,-0.32049,1.17969]},
+    {"t":0.46562, "x":5.33644, "y":7.30792, "heading":-0.26135, "vx":2.45462, "vy":-0.44667, "omega":-0.23413, "ax":0.08454, "ay":0.0676, "alpha":0.26144, "fx":[0.24997,-0.08556,1.16894,1.50433], "fy":[1.36227,0.10782,-0.22772,1.02667]},
+    {"t":0.51219, "x":5.45082, "y":7.28719, "heading":-0.27225, "vx":2.45856, "vy":-0.44352, "omega":-0.22195, "ax":0.07051, "ay":0.05992, "alpha":0.21697, "fx":[0.21758,-0.07221,0.96578,1.25547], "fy":[1.16668,0.12873,-0.16106,0.87686]},
+    {"t":0.55875, "x":5.56537, "y":7.26661, "heading":-0.28258, "vx":2.46184, "vy":-0.44073, "omega":-0.21185, "ax":0.05932, "ay":0.05317, "alpha":0.18212, "fx":[0.18954,-0.06269,0.80601,1.05819], "fy":[1.00667,0.138,-0.11424,0.75442]},
+    {"t":0.60531, "x":5.68007, "y":7.24614, "heading":-0.29245, "vx":2.46461, "vy":-0.43826, "omega":-0.20337, "ax":0.05064, "ay":0.04762, "alpha":0.15528, "fx":[0.16685,-0.0555,0.68302,0.90534], "fy":[0.88002,0.14151,-0.08085,0.65765]},
+    {"t":0.65187, "x":5.79488, "y":7.22579, "heading":-0.30192, "vx":2.46696, "vy":-0.43604, "omega":-0.19614, "ax":0.04385, "ay":0.04307, "alpha":0.13437, "fx":[0.14861,-0.04985,0.58739,0.78583], "fy":[0.77925,0.14203,-0.05643,0.58079]},
+    {"t":0.69844, "x":5.9098, "y":7.20553, "heading":-0.31105, "vx":2.46901, "vy":-0.43404, "omega":-0.18988, "ax":0.03846, "ay":0.03931, "alpha":0.11777, "fx":[0.13378,-0.04525,0.51165,0.69067], "fy":[0.69782,0.14093,-0.03811,0.51878]},
+    {"t":0.745, "x":6.0248, "y":7.18536, "heading":-0.31989, "vx":2.4708, "vy":-0.4322, "omega":-0.1844, "ax":0.03398, "ay":0.03609, "alpha":0.10409, "fx":[0.12109,-0.04148,0.44927,0.61183], "fy":[0.6295,0.13875,-0.02383,0.46692]},
+    {"t":0.79156, "x":6.13989, "y":7.16528, "heading":-0.32848, "vx":2.47238, "vy":-0.43052, "omega":-0.17955, "ax":0.0285, "ay":0.03211, "alpha":0.08831, "fx":[0.10231,-0.03919,0.37599,0.51748], "fy":[0.54779,0.13263,-0.00888,0.40629]},
+    {"t":0.83812, "x":6.25504, "y":7.14527, "heading":-0.33684, "vx":2.47371, "vy":-0.42903, "omega":-0.17544, "ax":-0.00691, "ay":0.00673, "alpha":-0.00131, "fx":[-0.05596,-0.05382,-0.05995,-0.0621], "fy":[0.05234,0.05848,0.06063,0.05449]},
+    {"t":0.88469, "x":6.37021, "y":7.1253, "heading":-0.34501, "vx":2.47338, "vy":-0.42872, "omega":-0.1755, "ax":-0.56168, "ay":-0.44497, "alpha":-1.34612, "fx":[-2.69782,-0.43548,-6.74222,-8.97775], "fy":[-8.01731,-1.72401,0.54662,-5.74104]},
+    {"t":0.93125, "x":6.48477, "y":7.10485, "heading":-0.35318, "vx":2.44723, "vy":-0.44943, "omega":-0.23818, "ax":-4.0204, "ay":-8.1984, "alpha":-6.06525, "fx":[-20.65446,-10.82178,-50.88689,-52.58488], "fy":[-85.75817,-67.08121,-50.04221,-72.30447]},
+    {"t":0.97781, "x":6.59436, "y":7.07504, "heading":-0.36427, "vx":2.26003, "vy":-0.83117, "omega":-0.52059, "ax":-6.87545, "ay":-0.41006, "alpha":-18.5468, "fx":[-40.85782,-1.05386,-85.76058,-103.1078], "fy":[-79.5336,40.12892,53.38856,-27.74802]},
+    {"t":1.01403, "x":6.67171, "y":7.04467, "heading":-0.38312, "vx":2.01101, "vy":-0.84602, "omega":-1.19233, "ax":-0.7001, "ay":-1.87543, "alpha":0.0964, "fx":[-6.01189,-6.18843,-5.73798,-5.56105], "fy":[-15.42816,-15.8658,-16.04695,-15.60945]},
+    {"t":1.05025, "x":6.74408, "y":7.0128, "heading":-0.42631, "vx":1.98566, "vy":-0.91395, "omega":-1.18884, "ax":-0.24304, "ay":-2.5987, "alpha":2.60855, "fx":[-5.44741,-10.73691,1.22773,6.79882], "fy":[-13.36005,-24.96934,-30.13228,-18.76603]},
+    {"t":1.08647, "x":6.81584, "y":6.97799, "heading":-0.46937, "vx":1.97685, "vy":-1.00807, "omega":-1.09436, "ax":-0.87687, "ay":-2.16715, "alpha":0.70776, "fx":[-8.17948,-9.73824,-6.54779,-4.9674], "fy":[-15.84262,-18.91809,-20.52206,-17.4596]},
+    {"t":1.12269, "x":6.88686, "y":6.94006, "heading":-0.509, "vx":1.9451, "vy":-1.08656, "omega":-1.06873, "ax":-1.64352, "ay":-1.68219, "alpha":-1.6723, "fx":[-12.1089,-8.13668,-15.54112,-19.37933], "fy":[-19.78577,-12.63632,-8.42721,-15.61498]},
+    {"t":1.1589, "x":6.95623, "y":6.8996, "heading":-0.54771, "vx":1.88557, "vy":-1.14749, "omega":-1.1293, "ax":-2.51813, "ay":-1.21972, "alpha":-4.23723, "fx":[-17.61913,-6.73627,-25.14152,-35.0261], "fy":[-25.0116,-6.99443,4.55085,-13.48575]},
+    {"t":1.19512, "x":7.02287, "y":6.85724, "heading":-0.58861, "vx":1.79437, "vy":-1.19166, "omega":-1.28276, "ax":-3.5319, "ay":-0.73723, "alpha":-6.97989, "fx":[-25.41555,-5.83001,-35.45497,-51.8507], "fy":[-31.40597,-1.4723,18.73597,-10.60336]},
+    {"t":1.23134, "x":7.08555, "y":6.8136, "heading":-0.63507, "vx":1.66645, "vy":-1.21837, "omega":-1.53556, "ax":-4.43485, "ay":-0.32092, "alpha":-9.03807, "fx":[-34.04279,-6.28755,-43.42822,-65.1008], "fy":[-36.48133,2.57501,30.23509,-7.10089]},
+    {"t":1.26756, "x":7.14299, "y":6.76926, "heading":-0.69069, "vx":1.50582, "vy":-1.22999, "omega":-1.86291, "ax":-2.96975, "ay":-0.69796, "alpha":-4.1379, "fx":[-23.62379,-10.64186,-26.72124,-38.6954], "fy":[-20.74529,-4.67755,9.07084,-7.07574]},
+    {"t":1.30378, "x":7.19558, "y":6.72425, "heading":-0.75816, "vx":1.39826, "vy":-1.25527, "omega":-2.01277, "ax":7.55656, "ay":-0.91601, "alpha":20.66633, "fx":[75.71565,-13.09777,73.65272,117.37167], "fy":[76.74997,-21.48861,-82.77196,-3.23605]},
+    {"t":1.34, "x":7.25118, "y":6.67819, "heading":-0.83106, "vx":1.67195, "vy":-1.28844, "omega":-1.26427, "ax":5.71855, "ay":-7.24643, "alpha":24.4434, "fx":[104.47963,-62.56747,35.72443,114.31133], "fy":[41.20465,-100.42151,-124.38281,-59.6327]},
+    {"t":1.37622, "x":7.31549, "y":6.62677, "heading":-0.87685, "vx":1.87907, "vy":-1.5509, "omega":-0.37897, "ax":-6.39239, "ay":-7.03423, "alpha":-0.42513, "fx":[-53.30855,-52.05607,-53.99098,-55.21038], "fy":[-60.41584,-59.64942,-57.62277,-58.42173]},
+    {"t":1.41088, "x":7.37678, "y":6.56879, "heading":-0.88998, "vx":1.65751, "vy":-1.79471, "omega":-0.39371, "ax":0.41995, "ay":-0.29254, "alpha":1.6236, "fx":[4.13063,-2.15127,2.93042,9.18602], "fy":[3.22132,-1.86719,-8.12544,-3.04808]},
+    {"t":1.44554, "x":7.43448, "y":6.50641, "heading":-0.90363, "vx":1.67206, "vy":-1.80484, "omega":-0.33743, "ax":0.82888, "ay":-0.05156, "alpha":1.92698, "fx":[7.76986,0.23587,6.17314,13.64328], "fy":[6.30158,0.36833,-7.17264,-1.22807]},
+    {"t":1.4802, "x":7.49293, "y":6.44382, "heading":-0.91532, "vx":1.70079, "vy":-1.80663, "omega":-0.27064, "ax":0.6155, "ay":-0.02857, "alpha":1.39122, "fx":[5.80389,0.3206,4.53832,9.99702], "fy":[4.61046,0.39491,-5.09258,-0.87168]},
+    {"t":1.51486, "x":7.55225, "y":6.38119, "heading":-0.9247, "vx":1.72213, "vy":-1.80762, "omega":-0.22242, "ax":-0.50333, "ay":0.02013, "alpha":-1.04192, "fx":[-4.73443,-0.6004,-3.7186,-7.8414], "fy":[-3.45756,-0.34008,3.79678,0.67656]},
+    {"t":1.54952, "x":7.61164, "y":6.31855, "heading":-0.93241, "vx":1.70468, "vy":-1.80692, "omega":-0.25854, "ax":-7.34527, "ay":0.89885, "alpha":-16.83656, "fx":[-77.55138,-4.23143,-58.96157,-105.80587], "fy":[-57.11718,-2.32525,75.17587,14.43711]},
+    {"t":1.58418, "x":7.66631, "y":6.25646, "heading":-0.94137, "vx":1.45009, "vy":-1.77577, "omega":-0.84209, "ax":4.28556, "ay":-2.18809, "alpha":13.56572, "fx":[50.16191,-13.30947,29.88494,77.11095], "fy":[31.85894,-15.27297,-66.08382,-23.94734]},
+    {"t":1.62486, "x":7.72886, "y":6.1824, "heading":-0.97564, "vx":1.62445, "vy":-1.86479, "omega":-0.29016, "ax":-0.79956, "ay":0.13836, "alpha":-1.79646, "fx":[-7.9182,-0.51522,-5.52762,-12.87671], "fy":[-5.04626,-0.03262,7.37405,2.34895]},
+    {"t":1.66555, "x":7.79429, "y":6.10664, "heading":-0.98744, "vx":1.59192, "vy":-1.85916, "omega":-0.36325, "ax":-6.17755, "ay":1.60901, "alpha":-15.23785, "fx":[-69.85368,0.96429,-44.70202,-93.76333], "fy":[-43.60517,4.45511,71.50077,21.65701]},
+    {"t":1.70623, "x":7.85394, "y":6.03234, "heading":-1.00222, "vx":1.34059, "vy":-1.7937, "omega":-0.98321, "ax":-6.91892, "ay":2.68047, "alpha":-17.86482, "fx":[-84.63206,5.76505,-48.45721,-104.91527], "fy":[-46.75213,17.4802,88.70848,30.53575]},
+    {"t":1.74692, "x":7.90276, "y":5.96158, "heading":-1.04222, "vx":1.05909, "vy":-1.68464, "omega":-1.71005, "ax":-6.37864, "ay":3.83422, "alpha":-17.34054, "fx":[-85.00981,10.28454,-39.81638,-99.56261], "fy":[-34.93555,30.53753,92.59602,40.50087]},
+    {"t":1.7876, "x":7.94057, "y":5.89621, "heading":-1.1118, "vx":0.79957, "vy":-1.52865, "omega":-2.41556, "ax":-5.35057, "ay":4.70182, "alpha":-15.27528, "fx":[-77.31357,11.55085,-27.39378,-86.44], "fy":[-16.81174,35.00004,89.84507,49.78714]},
+    {"t":1.82829, "x":7.96867, "y":5.83791, "heading":-1.21008, "vx":0.58188, "vy":-1.33735, "omega":-3.03705, "ax":0.54741, "ay":2.73154, "alpha":3.32373, "fx":[9.31769,-6.2655,-0.32743,15.64954], "fy":[33.11878,27.83623,12.48931,18.24196]},
+    {"t":1.86897, "x":7.9928, "y":5.78576, "heading":-1.33364, "vx":0.60415, "vy":-1.22622, "omega":-2.90182, "ax":-5.60109, "ay":9.91165, "alpha":23.67791, "fx":[-15.50728,-107.71292,-138.92494,74.13993], "fy":[138.58635,88.67678,-10.72436,116.15395]},
+    {"t":1.90966, "x":8.01274, "y":5.74407, "heading":-1.4517, "vx":0.37626, "vy":-0.82296, "omega":-1.93847, "ax":-5.01532, "ay":10.20497, "alpha":23.34321, "fx":[-6.73554,-102.53934,-139.53267,80.46401], "fy":[139.45736,94.8231,-3.95112,112.20903]},
+    {"t":1.95034, "x":8.0239, "y":5.71903, "heading":-1.53057, "vx":0.17221, "vy":-0.40776, "omega":-0.98874, "ax":-4.2328, "ay":10.0223, "alpha":24.30196, "fx":[-0.09025,-98.82663,-139.66728,96.50674], "fy":[139.67756,98.75375,-0.00958,97.98498]},
+    {"t":1.99103, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 027906e..9c3ac58 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -322,9 +322,9 @@ subsystems:
                 azimuth: brAz
         drivePID:
             slot0:
-                kP: 0.7
+                kP: 2.0
                 kI: 0
-                kD: 0.01
+                kD: 0.025
                 kV: 0.129
                 kS: 0.05
         azimuthPID:

From e0e18ceb5d9a5572054f9b5ad0d31ad18ee49cf9 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Wed, 25 Feb 2026 23:08:05 -0600
Subject: [PATCH 18/28] Fixed timing errors for initialization

---
 src/main/java/com/team1816/lib/BaseRobotContainer.java | 8 ++++++++
 src/main/java/com/team1816/season/Robot.java           | 2 ++
 src/main/resources/yaml/zmule.yml                      | 2 +-
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/team1816/lib/BaseRobotContainer.java b/src/main/java/com/team1816/lib/BaseRobotContainer.java
index 9f391c6..803b998 100644
--- a/src/main/java/com/team1816/lib/BaseRobotContainer.java
+++ b/src/main/java/com/team1816/lib/BaseRobotContainer.java
@@ -51,6 +51,14 @@ public void initializeAutonomous() {
 
     public void updateInitialPose(){
         if(poseInitialized || DriverStation.getAlliance().isEmpty()) return;
+        forceUpdatePose();
+    }
+
+    /**
+     * Forces pose update regardless of poseInitialized state.
+     * Called from autonomousInit to ensure pose is always set before auto starts.
+     */
+    public void forceUpdatePose(){
         updatePoseOnSelection(autoChooser.getSelected());
     }
 
diff --git a/src/main/java/com/team1816/season/Robot.java b/src/main/java/com/team1816/season/Robot.java
index 204ad09..aa12d9a 100644
--- a/src/main/java/com/team1816/season/Robot.java
+++ b/src/main/java/com/team1816/season/Robot.java
@@ -62,6 +62,8 @@ public void disabledPeriodic() {
     @Override
     public void autonomousInit() {
         try {
+            // Ensure pose is always initialized before scheduling auto
+            robotContainer.forceUpdatePose();
             autonomousCommand = robotContainer.autoChooser.getSelected();
             // schedule the autonomous command
             if (autonomousCommand != null) {
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 9c3ac58..1f3ac24 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -324,7 +324,7 @@ subsystems:
             slot0:
                 kP: 2.0
                 kI: 0
-                kD: 0.025
+                kD: 0.02
                 kV: 0.129
                 kS: 0.05
         azimuthPID:

From 010718516d1462fd34ec9d07ad0b026ca3090990 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Wed, 25 Feb 2026 23:14:29 -0600
Subject: [PATCH 19/28] change weight to 60lbs

---
 src/main/deploy/choreo/Straight_Line.traj | 22 +++++++++++-----------
 src/main/deploy/choreo/Test_Path.chor     |  4 ++--
 src/main/deploy/choreo/ZTLDR.chor         |  4 ++--
 src/main/deploy/pathplanner/settings.json |  2 +-
 src/main/resources/yaml/zmule.yml         |  2 +-
 5 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
index 05244d9..c286998 100644
--- a/src/main/deploy/choreo/Straight_Line.traj
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -34,7 +34,7 @@
     "x":-0.302006,
     "y":0.302006
    },
-   "mass":33.56583538,
+   "mass":27.2155422,
    "inertia":6.0,
    "gearing":6.03,
    "radius":0.049377599999999994,
@@ -51,11 +51,11 @@
   "sampleType":"Swerve",
   "waypoints":[0.0,1.62631],
   "samples":[
-    {"t":0.0, "x":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.64215, "ay":0.0, "alpha":0.0, "fx":[139.65196,139.65196,139.65196,139.65196], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.05246, "x":4.53183, "y":7.64025, "heading":0.0, "vx":0.87307, "vy":0.0, "omega":0.0, "ax":16.62495, "ay":0.0, "alpha":0.0, "fx":[139.5076,139.5076,139.5076,139.5076], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.10492, "x":4.60051, "y":7.64025, "heading":0.0, "vx":1.74524, "vy":0.0, "omega":0.0, "ax":15.73191, "ay":0.0, "alpha":0.0, "fx":[132.01368,132.01368,132.01368,132.01368], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.15738, "x":4.71372, "y":7.64025, "heading":0.0, "vx":2.57056, "vy":0.0, "omega":0.0, "ax":0.00142, "ay":0.0, "alpha":0.0, "fx":[0.01188,0.01188,0.01188,0.01188], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.20985, "x":4.84858, "y":7.64025, "heading":0.0, "vx":2.57064, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00004,0.00004,0.00004,0.00004], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.0, "x":4.50893, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":16.64216, "ay":0.0, "alpha":0.0, "fx":[113.23133,113.23133,113.23133,113.23133], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.05246, "x":4.53183, "y":7.64025, "heading":0.0, "vx":0.87307, "vy":0.0, "omega":0.0, "ax":16.62497, "ay":0.0, "alpha":0.0, "fx":[113.11436,113.11436,113.11436,113.11436], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.10492, "x":4.60051, "y":7.64025, "heading":0.0, "vx":1.74524, "vy":0.0, "omega":0.0, "ax":15.73188, "ay":0.0, "alpha":0.0, "fx":[107.0379,107.0379,107.0379,107.0379], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.15738, "x":4.71372, "y":7.64025, "heading":0.0, "vx":2.57056, "vy":0.0, "omega":0.0, "ax":0.00144, "ay":0.0, "alpha":0.0, "fx":[0.00977,0.00977,0.00977,0.00977], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20985, "x":4.84858, "y":7.64025, "heading":0.0, "vx":2.57064, "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":0.26231, "x":4.98344, "y":7.64025, "heading":0.0, "vx":2.57064, "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":0.31477, "x":5.11829, "y":7.64025, "heading":0.0, "vx":2.57064, "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":0.36723, "x":5.25315, "y":7.64025, "heading":0.0, "vx":2.57064, "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]},
@@ -77,11 +77,11 @@
     {"t":1.20661, "x":7.41091, "y":7.64025, "heading":0.0, "vx":2.57064, "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":1.25908, "x":7.54577, "y":7.64025, "heading":0.0, "vx":2.57064, "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":1.31154, "x":7.68062, "y":7.64025, "heading":0.0, "vx":2.57064, "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":1.364, "x":7.81548, "y":7.64025, "heading":0.0, "vx":2.57064, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.41646, "x":7.95034, "y":7.64025, "heading":0.0, "vx":2.57064, "vy":0.0, "omega":0.0, "ax":-0.00142, "ay":0.0, "alpha":0.0, "fx":[-0.01188,-0.01188,-0.01188,-0.01188], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.46892, "x":8.0852, "y":7.64025, "heading":0.0, "vx":2.57056, "vy":0.0, "omega":0.0, "ax":-15.73191, "ay":0.0, "alpha":0.0, "fx":[-132.01368,-132.01368,-132.01368,-132.01368], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.52138, "x":8.19841, "y":7.64025, "heading":0.0, "vx":1.74524, "vy":0.0, "omega":0.0, "ax":-16.62495, "ay":0.0, "alpha":0.0, "fx":[-139.5076,-139.5076,-139.5076,-139.5076], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.57385, "x":8.26709, "y":7.64025, "heading":0.0, "vx":0.87307, "vy":0.0, "omega":0.0, "ax":-16.64215, "ay":0.0, "alpha":0.0, "fx":[-139.65196,-139.65196,-139.65196,-139.65196], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.364, "x":7.81548, "y":7.64025, "heading":0.0, "vx":2.57064, "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":1.41646, "x":7.95034, "y":7.64025, "heading":0.0, "vx":2.57064, "vy":0.0, "omega":0.0, "ax":-0.00144, "ay":0.0, "alpha":0.0, "fx":[-0.00977,-0.00977,-0.00977,-0.00977], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.46892, "x":8.0852, "y":7.64025, "heading":0.0, "vx":2.57056, "vy":0.0, "omega":0.0, "ax":-15.73188, "ay":0.0, "alpha":0.0, "fx":[-107.0379,-107.0379,-107.0379,-107.0379], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.52138, "x":8.19841, "y":7.64025, "heading":0.0, "vx":1.74524, "vy":0.0, "omega":0.0, "ax":-16.62497, "ay":0.0, "alpha":0.0, "fx":[-113.11436,-113.11436,-113.11436,-113.11436], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.57385, "x":8.26709, "y":7.64025, "heading":0.0, "vx":0.87307, "vy":0.0, "omega":0.0, "ax":-16.64216, "ay":0.0, "alpha":0.0, "fx":[-113.23133,-113.23133,-113.23133,-113.23133], "fy":[0.0,0.0,0.0,0.0]},
     {"t":1.62631, "x":8.28999, "y":7.64025, "heading":0.0, "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]
  },
diff --git a/src/main/deploy/choreo/Test_Path.chor b/src/main/deploy/choreo/Test_Path.chor
index c130ddf..bfe42cc 100644
--- a/src/main/deploy/choreo/Test_Path.chor
+++ b/src/main/deploy/choreo/Test_Path.chor
@@ -57,8 +57,8 @@
    }
   },
   "mass":{
-   "exp":"74 lbs",
-   "val":33.56583538
+   "exp":"60 lbs",
+   "val":27.2155422
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 26516f5..5a70414 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -57,8 +57,8 @@
    }
   },
   "mass":{
-   "exp":"74 lbs",
-   "val":33.56583538
+   "exp":"60 lbs",
+   "val":27.216
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index c91d39d..14f38d3 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -11,7 +11,7 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 33.57,
+  "robotMass": 27.216,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.60325,
   "driveWheelRadius": 0.04935,
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 1f3ac24..6ce2cdc 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -338,7 +338,7 @@ subsystems:
             steerGearing: 26.0909
             wheelbaseLength: .60325 # meters
             wheelbaseWidth: .60325 # meters
-            robotMass: 33.57 # kg (74 lbs)
+            robotMass: 27.216 # kg (60 lbs)
             wheelRadius: .04935 # meters
             maxDriveRPS: 50 # measured motor max speed rps
             maxAngularRate: 8.285 # rad/sec

From 33bbf0d6ccc59caa08eddb7e52cb67f356244fe9 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Thu, 26 Feb 2026 00:32:02 -0600
Subject: [PATCH 20/28] Clean up traj

---
 src/main/deploy/choreo/Straight_Line.traj | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
index c286998..7d4aa0e 100644
--- a/src/main/deploy/choreo/Straight_Line.traj
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -7,8 +7,7 @@
     {"x":8.289989471435547, "y":7.640249729156494, "heading":0.0, "intervals":47, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
@@ -17,8 +16,7 @@
     {"x":{"exp":"8.289989471435547 m", "val":8.289989471435547}, "y":{"exp":"7.640249729156494 m", "val":7.640249729156494}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":47, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05

From ab00b2c8da2987fa2cee0254724ae2e7415ec9fb Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Thu, 26 Feb 2026 19:17:08 -0600
Subject: [PATCH 21/28] Added PID to GreenLogger and adjusted PID values

---
 src/main/deploy/choreo/Straight90Turn.traj    | 112 ++++++++++++++++++
 .../deploy/choreo/Top Start To Depot End.chor |  36 +++---
 .../deploy/pathplanner/autos/New Auto.auto    |  19 +++
 .../pathplanner/autos/PathPlannerAuto.auto    |  19 +++
 .../pathplanner/autos/Straight90Turn.auto     |  19 +++
 .../pathplanner/paths/PathPlannerTopFuel.path |  75 ++++++++++++
 .../lib/subsystems/drivetrain/Drivetrain.java |  14 ++-
 .../com/team1816/lib/util/GreenLogger.java    |  10 ++
 src/main/resources/yaml/zmule.yml             |  11 +-
 9 files changed, 288 insertions(+), 27 deletions(-)
 create mode 100644 src/main/deploy/choreo/Straight90Turn.traj
 create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto
 create mode 100644 src/main/deploy/pathplanner/autos/PathPlannerAuto.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Straight90Turn.auto
 create mode 100644 src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path

diff --git a/src/main/deploy/choreo/Straight90Turn.traj b/src/main/deploy/choreo/Straight90Turn.traj
new file mode 100644
index 0000000..1869160
--- /dev/null
+++ b/src/main/deploy/choreo/Straight90Turn.traj
@@ -0,0 +1,112 @@
+{
+ "name":"Straight90Turn",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.0, "y":7.5, "heading":0.0, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.0, "y":7.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.3}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"1.3 rad / s", "val":1.3}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.302006,
+    "y":0.302006
+   },
+   "backLeft":{
+    "x":-0.302006,
+    "y":0.302006
+   },
+   "mass":27.2155422,
+   "inertia":6.0,
+   "gearing":6.03,
+   "radius":0.049657,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.538],
+  "samples":[
+    {"t":0.0, "x":4.0, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.55813, "ay":0.76479, "alpha":-12.03464, "fx":[109.59004,107.02617,85.12731,94.46397], "fy":[-28.46996,36.96724,74.4745,-62.15751]},
+    {"t":0.03076, "x":4.00689, "y":7.50036, "heading":0.0, "vx":0.44781, "vy":0.02353, "omega":-0.37019, "ax":14.70298, "ay":0.7815, "alpha":-11.53699, "fx":[109.73808,107.2124,87.06631,96.13282], "fy":[-27.71698,36.29128,72.07115,-59.37645]},
+    {"t":0.06152, "x":4.02762, "y":7.50146, "heading":-0.01139, "vx":0.90007, "vy":0.04756, "omega":-0.72506, "ax":14.97318, "ay":0.79083, "alpha":-10.55597, "fx":[109.92063,107.7195,90.61501,99.24795], "fy":[-26.60306,34.47198,67.29487,-53.64104]},
+    {"t":0.09228, "x":4.06239, "y":7.50329, "heading":-0.03369, "vx":1.36065, "vy":0.07189, "omega":-1.04976, "ax":15.59575, "ay":0.80889, "alpha":-7.90216, "fx":[110.54129,108.95965,99.14956,105.79626], "fy":[-22.464,29.2495,53.01778,-37.78893]},
+    {"t":0.12304, "x":4.11162, "y":7.50589, "heading":-0.06598, "vx":1.84037, "vy":0.09677, "omega":-1.29283, "ax":10.73788, "ay":-6.13024, "alpha":2.41172, "fx":[72.39913,65.51178,74.33197,79.99442], "fy":[-35.8074,-52.18361,-46.92428,-31.92257]},
+    {"t":0.1538, "x":4.17331, "y":7.50596, "heading":-0.10575, "vx":2.17067, "vy":-0.09179, "omega":-1.21865, "ax":0.60581, "ay":0.22159, "alpha":2.66691, "fx":[-1.74934,-3.16518,10.02473,11.37711], "fy":[8.83193,-4.4045,-5.76595,7.36911]},
+    {"t":0.18456, "x":4.24036, "y":7.50324, "heading":-0.14323, "vx":2.1893, "vy":-0.08498, "omega":-1.13662, "ax":0.02611, "ay":0.65452, "alpha":0.9865, "fx":[-1.89691,-2.60489,2.26032,2.95212], "fy":[7.2227,2.38273,1.68177,6.52579]},
+    {"t":0.21532, "x":4.30772, "y":7.50094, "heading":-0.1782, "vx":2.1901, "vy":-0.06485, "omega":-1.10627, "ax":-0.10427, "ay":0.5077, "alpha":0.51001, "fx":[-1.73107,-2.18292,0.31364,0.76251], "fy":[4.92321,2.43316,1.98457,4.47648]},
+    {"t":0.24608, "x":4.37504, "y":7.49919, "heading":-0.21222, "vx":2.1869, "vy":-0.04923, "omega":-1.09058, "ax":-0.19605, "ay":0.37524, "alpha":0.17673, "fx":[-1.6703,-1.85582,-0.99743,-0.81213], "fy":[3.07413,2.21641,2.03192,2.8899]},
+    {"t":0.27684, "x":4.44221, "y":7.49785, "heading":-0.24577, "vx":2.18087, "vy":-0.03769, "omega":-1.08515, "ax":-0.27517, "ay":0.27156, "alpha":-0.09409, "fx":[-1.70258,-1.58865,-2.04185,-2.15581], "fy":[1.56427,2.01765,2.13107,1.67777]},
+    {"t":0.3076, "x":4.50917, "y":7.49682, "heading":-0.27915, "vx":2.1724, "vy":-0.02933, "omega":-1.08804, "ax":-0.33352, "ay":0.19624, "alpha":-0.29005, "fx":[-1.77582,-1.37831,-2.76262,-3.1601], "fy":[0.44408,1.8299,2.22587,0.8409]},
+    {"t":0.33836, "x":4.57583, "y":7.49601, "heading":-0.31262, "vx":2.16214, "vy":-0.0233, "omega":-1.09696, "ax":-0.365, "ay":0.14601, "alpha":-0.40411, "fx":[-1.83799,-1.22,-3.12906,-3.74665], "fy":[-0.27083,1.64086,2.25686,0.3468]},
+    {"t":0.36912, "x":4.64217, "y":7.49536, "heading":-0.34636, "vx":2.15092, "vy":-0.01881, "omega":-1.10939, "ax":-0.37059, "ay":0.11435, "alpha":-0.44665, "fx":[-1.85557,-1.10178,-3.18769,-3.94071], "fy":[-0.64275,1.44603,2.19791,0.11099]},
+    {"t":0.39988, "x":4.70815, "y":7.49484, "heading":-0.38049, "vx":2.13952, "vy":-0.01529, "omega":-1.12313, "ax":-0.35603, "ay":0.09409, "alpha":-0.438, "fx":[-1.81718,-1.00869,-3.02797,-3.83558], "fy":[-0.77461,1.24714,2.0541,0.03397]},
+    {"t":0.43064, "x":4.7738, "y":7.49441, "heading":-0.41503, "vx":2.12857, "vy":-0.01239, "omega":-1.13661, "ax":-0.32826, "ay":0.07964, "alpha":-0.39891, "fx":[-1.727,-0.92765,-2.74034,-3.53891], "fy":[-0.7648,1.04971,1.84798,0.03464]},
+    {"t":0.4614, "x":4.83912, "y":7.49407, "heading":-0.45, "vx":2.11847, "vy":-0.00994, "omega":-1.14888, "ax":-0.29314, "ay":0.06782, "alpha":-0.3452, "fx":[-1.59585,-0.8498,-2.39338,-3.13885], "fy":[-0.68383,0.86094,1.60633,0.06229]},
+    {"t":0.49216, "x":4.90414, "y":7.49379, "heading":-0.48533, "vx":2.10945, "vy":-0.00786, "omega":-1.15949, "ax":-0.25463, "ay":0.05733, "alpha":-0.28678, "fx":[-1.435,-0.77034,-2.03008,-2.69435], "fy":[-0.57243,0.68802,1.35231,0.09227]},
+    {"t":0.52292, "x":4.96891, "y":7.49358, "heading":-0.521, "vx":2.10162, "vy":-0.0061, "omega":-1.16832, "ax":-0.21508, "ay":0.04797, "alpha":-0.22894, "fx":[-1.25341,-0.68733,-1.67346,-2.23932], "fy":[-0.44984,0.53667,1.10257,0.11626]},
+    {"t":0.55368, "x":5.03345, "y":7.49341, "heading":-0.55694, "vx":2.095, "vy":-0.00462, "omega":-1.17536, "ax":-0.17568, "ay":0.03999, "alpha":-0.1739, "fx":[-1.05706,-0.60045,-1.33362,-1.79012], "fy":[-0.32286,0.4105,0.86703,0.13376]},
+    {"t":0.58444, "x":5.09781, "y":7.49329, "heading":-0.59309, "vx":2.0896, "vy":-0.00339, "omega":-1.18071, "ax":-0.13685, "ay":0.03365, "alpha":-0.12209, "fx":[-0.84917,-0.51022,-1.01303,-1.35193], "fy":[-0.19198,0.31092,0.64984,0.14698]},
+    {"t":0.6152, "x":5.16202, "y":7.4932, "heading":-0.62941, "vx":2.08539, "vy":-0.00235, "omega":-1.18446, "ax":-0.09851, "ay":0.02912, "alpha":-0.07283, "fx":[-0.63053,-0.41758,-0.70999,-0.92293], "fy":[-0.05459,0.23785,0.45079,0.15836]},
+    {"t":0.64596, "x":5.22612, "y":7.49314, "heading":-0.66584, "vx":2.08236, "vy":-0.00146, "omega":-1.1867, "ax":-0.0603, "ay":0.02647, "alpha":-0.02482, "fx":[-0.39989,-0.32374,-0.42068,-0.49683], "fy":[0.09359,0.19053,0.26668,0.16973]},
+    {"t":0.67672, "x":5.29015, "y":7.49311, "heading":-0.70235, "vx":2.0805, "vy":-0.00064, "omega":-1.18747, "ax":-0.02163, "ay":0.02576, "alpha":0.02369, "fx":[-0.15409,-0.23009,-0.14029,-0.06429], "fy":[0.25814,0.16834,0.09234,0.18214]},
+    {"t":0.70748, "x":5.35413, "y":7.4931, "heading":-0.73887, "vx":2.07984, "vy":0.00015, "omega":-1.18674, "ax":0.01824, "ay":0.02697, "alpha":0.07478, "fx":[0.11187,-0.13824,0.1363,0.38642], "fy":[0.44583,0.17129,-0.07883,0.19571]},
+    {"t":0.73824, "x":5.41812, "y":7.49312, "heading":-0.77538, "vx":2.0804, "vy":0.00098, "omega":-1.18444, "ax":0.0602, "ay":0.0301, "alpha":0.13088, "fx":[0.40499,-0.05003,0.41421,0.86921], "fy":[0.66441,0.20019,-0.25485,0.20939]},
+    {"t":0.769, "x":5.48214, "y":7.49317, "heading":-0.81181, "vx":2.08225, "vy":0.0019, "omega":-1.18041, "ax":0.10526, "ay":0.035, "alpha":0.19476, "fx":[0.73424,0.0324,0.69814,1.39988], "fy":[0.92194,0.25625,-0.44564,0.22009]},
+    {"t":0.79976, "x":5.54624, "y":7.49324, "heading":-0.84812, "vx":2.08549, "vy":0.00298, "omega":-1.17442, "ax":0.15446, "ay":0.04129, "alpha":0.26943, "fx":[1.11029,0.10658,0.99176,1.99519], "fy":[1.22533,0.3403,-0.66356,0.22158]},
+    {"t":0.83052, "x":5.61046, "y":7.49335, "heading":-0.88425, "vx":2.09024, "vy":0.00425, "omega":-1.16613, "ax":0.20873, "ay":0.0481, "alpha":0.35778, "fx":[1.54426,0.1698,1.29647,2.67028], "fy":[1.57777,0.45144,-0.92341,0.20322]},
+    {"t":0.86128, "x":5.67486, "y":7.49351, "heading":-0.92012, "vx":2.09666, "vy":0.00573, "omega":-1.15513, "ax":0.26845, "ay":0.05401, "alpha":0.46178, "fx":[2.04443,0.21941,1.60923,3.43289], "fy":[1.97483,0.58573,-1.24016,0.14963]},
+    {"t":0.89204, "x":5.73948, "y":7.49371, "heading":-0.95565, "vx":2.10492, "vy":0.00739, "omega":-1.14092, "ax":0.33278, "ay":0.05716, "alpha":0.58087, "fx":[2.61005,0.25369,1.91959,4.27335], "fy":[2.39983,0.73532,-1.62275,0.04322]},
+    {"t":0.9228, "x":5.80438, "y":7.49396, "heading":-0.99074, "vx":2.11515, "vy":0.00915, "omega":-1.12306, "ax":0.39887, "ay":0.05572, "alpha":0.70992, "fx":[3.22271,0.27313,2.20728,5.15234], "fy":[2.8206,0.88887,-2.06377,-0.12927]},
+    {"t":0.95356, "x":5.86963, "y":7.49427, "heading":-1.02529, "vx":2.12742, "vy":0.01086, "omega":-1.10122, "ax":0.46149, "ay":0.04878, "alpha":0.83795, "fx":[3.8399,0.28155,2.44345,5.99472], "fy":[3.19139,1.03327,-2.52999,-0.36716]},
+    {"t":0.98432, "x":5.93529, "y":7.49463, "heading":-1.05916, "vx":2.14162, "vy":0.01236, "omega":-1.07544, "ax":0.51378, "ay":0.03703, "alpha":0.94941, "fx":[4.39831,0.2859,2.59796,6.70051], "fy":[3.46331,1.15648,-2.96294,-0.64906]},
+    {"t":1.01508, "x":6.00141, "y":7.49502, "heading":-1.09224, "vx":2.15742, "vy":0.0135, "omega":-1.04624, "ax":0.54932, "ay":0.02282, "alpha":1.02862, "fx":[4.83017,0.2943,2.65082,7.17468], "fy":[3.60041,1.25027,-3.29449,-0.93508]},
+    {"t":1.04584, "x":6.06803, "y":7.49545, "heading":-1.12442, "vx":2.17432, "vy":0.0142, "omega":-1.0146, "ax":0.56432, "ay":0.0094, "alpha":1.06487, "fx":[5.08495,0.31336,2.60057,7.35936], "fy":[3.59227,1.31198,-3.46968,-1.17868]},
+    {"t":1.0766, "x":6.13518, "y":7.49589, "heading":-1.15563, "vx":2.19168, "vy":0.01449, "omega":-0.98184, "ax":0.55854, "ay":-0.0001, "alpha":1.05514, "fx":[5.1426,0.34654,2.46392,7.24802], "fy":[3.45505,1.34441,-3.46193,-1.34032]},
+    {"t":1.10736, "x":6.20286, "y":7.49634, "heading":-1.18583, "vx":2.20886, "vy":0.01449, "omega":-0.94939, "ax":0.5346, "ay":-0.00333, "alpha":1.00296, "fx":[5.01156,0.39449,2.26809,6.87535], "fy":[3.22196,1.35434,-3.27231,-1.39465]},
+    {"t":1.13812, "x":6.27106, "y":7.49678, "heading":-1.21504, "vx":2.2253, "vy":0.01439, "omega":-0.91854, "ax":0.4962, "ay":0.00136, "alpha":0.91459, "fx":[4.71461,0.45676,2.04108,6.2919], "fy":[2.9299,1.35046,-2.91556,-1.32788]},
+    {"t":1.16888, "x":6.33974, "y":7.49722, "heading":-1.24329, "vx":2.24057, "vy":0.01443, "omega":-0.8904, "ax":0.44612, "ay":0.01563, "alpha":0.79414, "fx":[4.26835,0.53428,1.80451,5.53431], "fy":[2.60834,1.34181,-2.39859,-1.12607]},
+    {"t":1.19964, "x":6.40887, "y":7.49768, "heading":-1.27068, "vx":2.25429, "vy":0.01491, "omega":-0.86598, "ax":0.38386, "ay":0.04284, "alpha":0.63708, "fx":[3.65514,0.63309,1.56936,4.58949], "fy":[2.27061,1.33684,-1.68946,-0.75207]},
+    {"t":1.2304, "x":6.4784, "y":7.49816, "heading":-1.29732, "vx":2.2661, "vy":0.01623, "omega":-0.84638, "ax":0.30141, "ay":0.09165, "alpha":0.41778, "fx":[2.76909,0.77171,1.33255,3.32957], "fy":[1.90261,1.34312,-0.65619,-0.0953]},
+    {"t":1.26116, "x":6.54824, "y":7.4987, "heading":-1.32335, "vx":2.27537, "vy":0.01905, "omega":-0.83353, "ax":0.17246, "ay":0.18561, "alpha":0.05718, "fx":[1.27623,1.00091,1.07053,1.34586], "fy":[1.43528,1.3658,1.09044,1.15994]},
+    {"t":1.29192, "x":6.61832, "y":7.49937, "heading":-1.34899, "vx":2.28067, "vy":0.02476, "omega":-0.83177, "ax":-0.07798, "ay":0.38834, "alpha":-0.6697, "fx":[-1.78932,1.45955,0.72588,-2.51848], "fy":[0.65445,1.38708,4.62943,3.89792]},
+    {"t":1.32268, "x":6.68843, "y":7.50032, "heading":-1.37458, "vx":2.27827, "vy":0.0367, "omega":-0.85237, "ax":-0.66472, "ay":0.83302, "alpha":-2.40691, "fx":[-9.29063,2.53197,0.16817,-11.50015], "fy":[-1.36132,0.99181,12.71845,10.32206]},
+    {"t":1.35344, "x":6.7582, "y":7.50184, "heading":-1.4008, "vx":2.25783, "vy":0.06233, "omega":-0.92641, "ax":-2.27732, "ay":1.01613, "alpha":-7.07035, "fx":[-30.42375,4.80504,-1.59899,-34.76072], "fy":[-13.27533,-7.92452,28.25804,20.59648]},
+    {"t":1.3842, "x":6.82657, "y":7.50424, "heading":-1.42929, "vx":2.18778, "vy":0.09358, "omega":-1.14389, "ax":-11.29485, "ay":-5.4392, "alpha":-4.85361, "fx":[-78.55218,-62.11882,-77.79549,-88.92908], "fy":[-49.24374,-58.57909,-20.67413,-19.53386]},
+    {"t":1.41496, "x":6.88852, "y":7.50454, "heading":-1.46448, "vx":1.84035, "vy":-0.07373, "omega":-1.29319, "ax":-15.64525, "ay":0.61602, "alpha":7.7013, "fx":[-99.69799,-109.79091,-109.95838,-106.34656], "fy":[52.05115,25.97412,-25.13052,-36.12937]},
+    {"t":1.44572, "x":6.93773, "y":7.50257, "heading":-1.50426, "vx":1.3591, "vy":-0.05478, "omega":-1.0563, "ax":-14.9828, "ay":0.57518, "alpha":10.53671, "fx":[-90.85765,-108.53644,-109.20173,-99.16916], "fy":[66.99324,31.81533,-29.40815,-53.74648]},
+    {"t":1.47648, "x":6.97245, "y":7.50115, "heading":-1.53675, "vx":0.89823, "vy":-0.03709, "omega":-0.73219, "ax":-14.68301, "ay":0.58925, "alpha":11.6217, "fx":[-87.19218,-107.81179,-109.16534,-95.43677], "fy":[71.92858,34.47408,-29.89216,-60.47384]},
+    {"t":1.50724, "x":6.99313, "y":7.50029, "heading":-1.55927, "vx":0.44658, "vy":-0.01896, "omega":-0.3747, "ax":-14.51829, "ay":0.61641, "alpha":12.18158, "fx":[-85.22072,-107.33548,-109.23265,-93.33425], "fy":[74.36818,36.06094,-29.81344,-63.83973]},
+    {"t":1.538, "x":7.0, "y":7.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Top Start To Depot End.chor b/src/main/deploy/choreo/Top Start To Depot End.chor
index c1df88a..437b441 100644
--- a/src/main/deploy/choreo/Top Start To Depot End.chor	
+++ b/src/main/deploy/choreo/Top Start To Depot End.chor	
@@ -164,51 +164,51 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.302006
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.302006
    }
   },
   "backLeft":{
    "x":{
-    "exp":"-11 in",
-    "val":-0.2794
+    "exp":"-11.89 in",
+    "val":-0.302006
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"11.89 in",
+    "val":0.302006
    }
   },
   "mass":{
-   "exp":"150 lbs",
-   "val":68.0388555
+   "exp":"60 lbs",
+   "val":27.2155422
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
    "val":6.0
   },
   "gearing":{
-   "exp":"6.5",
-   "val":6.5
+   "exp":"6.03",
+   "val":6.03
   },
   "radius":{
-   "exp":"2 in",
-   "val":0.0508
+   "exp":"1.955 in",
+   "val":0.049657
   },
   "vmax":{
    "exp":"3000 RPM",
    "val":314.1592653589793
   },
   "tmax":{
-   "exp":"0.8 N * m",
-   "val":0.8
+   "exp":"3.5 N * m",
+   "val":3.5
   },
   "cof":{
-   "exp":"1.5",
-   "val":1.5
+   "exp":"1.7",
+   "val":1.7
   },
   "bumper":{
    "front":{
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
new file mode 100644
index 0000000..c28b188
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PathPlannerTopFuel"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/PathPlannerAuto.auto b/src/main/deploy/pathplanner/autos/PathPlannerAuto.auto
new file mode 100644
index 0000000..d1b7e31
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/PathPlannerAuto.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PathPlannerTopFuel"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Straight90Turn.auto b/src/main/deploy/pathplanner/autos/Straight90Turn.auto
new file mode 100644
index 0000000..5b6112d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Straight90Turn.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Straight90Turn"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path b/src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path
new file mode 100644
index 0000000..ce15d6b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.496091298145506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.983572318693194,
+        "y": 7.362701377578214
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.80793152639087,
+        "y": 6.939728958630528
+      },
+      "prevControl": {
+        "x": 6.259870331437215,
+        "y": 7.1283997724457375
+      },
+      "nextControl": {
+        "x": 7.179026141229775,
+        "y": 6.811979131368961
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.985349500713266,
+        "y": 5.568231098430813
+      },
+      "prevControl": {
+        "x": 8.107931625750421,
+        "y": 5.350346673513896
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.1513859275053282,
+      "rotationDegrees": -45.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java
index 5500269..f3d2fb0 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java
@@ -91,17 +91,23 @@ private void configureAutoBuilder() {
         PathFollowingController pathFollowingController;
 
         robotConfig = new RobotConfig(massKG, MOI, moduleConfig, modules);
-        var tranKp = factory.getConstant(NAME, "translationKp", 5);
-        var rotKp = factory.getConstant(NAME, "rotationKp", 5);
+        var tranKp = factory.getConstant(NAME, "translationKp", 5.0);
+        //var tranKd = factory.getConstant(NAME, "translationKd", 0.2);
+        var rotKp = factory.getConstant(NAME, "rotationKp", 5.0);
+        var rotKd = factory.getConstant(NAME, "rotationKd", 0.2);
         GreenLogger.log(
             "translationKp:" + GetDisplay(tranKp) +
                 " rotationKp:" + GetDisplay(rotKp)
         );
+        var transPID = new PIDConstants(tranKp, 0, 0);
+        var rotPID = new PIDConstants(rotKp, 0, rotKd);
+        GreenLogger.log("transPID", transPID);
+        GreenLogger.log("rotPID", rotPID);
         pathFollowingController = new PPHolonomicDriveController(
             // PID constants for translation
-            new PIDConstants(tranKp, 0, 0),
+            transPID,
             // PID constants for rotation
-            new PIDConstants(rotKp, 0, 0),
+            rotPID,
             // Period
             .02
         );
diff --git a/src/main/java/com/team1816/lib/util/GreenLogger.java b/src/main/java/com/team1816/lib/util/GreenLogger.java
index 11706a6..18587cf 100644
--- a/src/main/java/com/team1816/lib/util/GreenLogger.java
+++ b/src/main/java/com/team1816/lib/util/GreenLogger.java
@@ -1,5 +1,6 @@
 package com.team1816.lib.util;
 
+import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.team1816.season.Robot;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -19,6 +20,8 @@
 import java.util.Objects;
 import java.util.function.Supplier;
 
+import static com.team1816.lib.util.FormatUtils.GetDisplay;
+
 public class GreenLogger {
 
     private static final Map<LogTopic, Supplier<?>> periodicLogs = new HashMap<>();
@@ -139,4 +142,11 @@ public static void updatePeriodic() {
             }
         }
     }
+
+    public static void log(String key, PIDConstants pid) {
+        GreenLogger.log("  " + key +
+            " - kP:" + GetDisplay(pid.kP) +
+            " kI:" + GetDisplay(pid.kI) +
+            " kD:" + GetDisplay(pid.kD));
+    }
 }
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 6ce2cdc..bb4b04f 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -322,9 +322,9 @@ subsystems:
                 azimuth: brAz
         drivePID:
             slot0:
-                kP: 2.0
-                kI: 0
-                kD: 0.02
+                kP: 0.3
+                kI: 0.6
+                kD: 0
                 kV: 0.129
                 kS: 0.05
         azimuthPID:
@@ -344,8 +344,9 @@ subsystems:
             maxAngularRate: 8.285 # rad/sec
             wheelCOF: 1.7
         constants:
-            translationKp: 3
-            rotationKp: 3
+            translationKp: 5
+            rotationKp: 4
+            rotationKd: 1
 
 autopathing:
     paths:

From 585f0f60dc8e13f8053321774fc7b69e9e77542c Mon Sep 17 00:00:00 2001
From: XinfiniteX <94420212+XinfiniteX@users.noreply.github.com>
Date: Thu, 26 Feb 2026 19:45:59 -0600
Subject: [PATCH 22/28] changed some constants

---
 src/main/deploy/choreo/NewPath_copy1.traj     | 184 ++++++++----------
 .../deploy/choreo/NewPath_copy4_copy1.traj    |  10 +-
 src/main/deploy/choreo/ZTLDR.chor             |   2 +-
 src/main/resources/yaml/zmule.yml             |   4 +-
 4 files changed, 93 insertions(+), 107 deletions(-)

diff --git a/src/main/deploy/choreo/NewPath_copy1.traj b/src/main/deploy/choreo/NewPath_copy1.traj
index 1b99803..c4cefa0 100644
--- a/src/main/deploy/choreo/NewPath_copy1.traj
+++ b/src/main/deploy/choreo/NewPath_copy1.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.6719498991966248, "y":5.00940017700195, "heading":-2.440332634410412, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.014209985733032, "y":4.385419845581055, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":2.11166000366211, "y":0.8187496662139893, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":2.11166000366211, "y":0.7992596626281738, "heading":0.0, "intervals":20, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":0.6719498991966248, "y":5.00940017700195, "heading":-2.440332634410412, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.014209985733032, "y":4.385419845581055, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":2.11166000366211, "y":0.8187496662139893, "heading":0.0, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":2.11166000366211, "y":0.7992596626281738, "heading":0.0, "intervals":15, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
     {"x":0.4744999408721924, "y":0.5653796195983887, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -18,10 +18,10 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DepotEnd.x", "val":0.6719498991966248}, "y":{"exp":"DepotEnd.y", "val":5.00940017700195}, "heading":{"exp":"DepotEnd.heading", "val":-2.440332634410412}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.0142099857330322 m", "val":2.014209985733032}, "y":{"exp":"4.385419845581055 m", "val":4.385419845581055}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"2.1116600036621094 m", "val":2.11166000366211}, "y":{"exp":"0.8187496662139893 m", "val":0.8187496662139893}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"2.1116600036621094 m", "val":2.11166000366211}, "y":{"exp":"0.7992596626281738 m", "val":0.7992596626281738}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"DepotEnd.x", "val":0.6719498991966248}, "y":{"exp":"DepotEnd.y", "val":5.00940017700195}, "heading":{"exp":"DepotEnd.heading", "val":-2.440332634410412}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.0142099857330322 m", "val":2.014209985733032}, "y":{"exp":"4.385419845581055 m", "val":4.385419845581055}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"2.1116600036621094 m", "val":2.11166000366211}, "y":{"exp":"0.8187496662139893 m", "val":0.8187496662139893}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"2.1116600036621094 m", "val":2.11166000366211}, "y":{"exp":"0.7992596626281738 m", "val":0.7992596626281738}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"FeederEnd.x", "val":0.4744999408721924}, "y":{"exp":"FeederEnd.y", "val":0.5653796195983887}, "heading":{"exp":"FeederEnd.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -37,20 +37,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":68.0388555,
+   "mass":27.2155422,
    "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -59,88 +59,74 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.58555,1.50916,1.50923,2.17536],
+  "waypoints":[0.0,0.70014,2.25279,2.25287,2.99067],
   "samples":[
-    {"t":0.0, "x":0.67195, "y":5.0094, "heading":-2.44033, "vx":0.0, "vy":0.0, "omega":0.0, "ax":8.60646, "ay":-2.29341, "alpha":4.3647, "fx":[149.36421,153.1845,145.98822,137.03687], "fy":[-34.72299,-5.98144,-46.58068,-68.75616]},
-    {"t":0.02662, "x":0.675, "y":5.00859, "heading":-2.44033, "vx":0.22907, "vy":-0.06104, "omega":0.11617, "ax":8.58604, "ay":-2.38986, "alpha":4.23317, "fx":[148.9987,153.03785,145.40613,136.74182], "fy":[-36.21069,-8.75187,-48.32616,-69.31489]},
-    {"t":0.05323, "x":0.68414, "y":5.00612, "heading":-2.43724, "vx":0.4576, "vy":-0.12465, "omega":0.22884, "ax":8.5621, "ay":-2.4961, "alpha":4.08614, "fx":[148.59188,152.81563,144.71512,136.43286], "fy":[-37.79312,-11.83112,-50.31524,-69.8925]},
-    {"t":0.07985, "x":0.69935, "y":5.00191, "heading":-2.43115, "vx":0.68549, "vy":-0.19109, "omega":0.3376, "ax":8.53381, "ay":-2.6137, "alpha":3.92039, "fx":[148.12829,152.49273,143.9063,136.10307], "fy":[-39.51446,-15.27772,-52.53996,-70.50117]},
-    {"t":0.10646, "x":0.72062, "y":4.9959, "heading":-2.42216, "vx":0.91262, "vy":-0.26065, "omega":0.44194, "ax":8.50007, "ay":-2.74458, "alpha":3.73191, "fx":[147.58675,152.03452,142.96988,135.74369], "fy":[-41.42982,-19.16113,-54.99151,-71.15595]},
-    {"t":0.13308, "x":0.74792, "y":4.98799, "heading":-2.4104, "vx":1.13886, "vy":-0.3337, "omega":0.54127, "ax":8.45942, "ay":-2.89112, "alpha":3.5157, "fx":[146.93767,151.39315,141.89515,135.34319], "fy":[-43.60882,-23.56311,-57.66067,-71.87602]},
-    {"t":0.1597, "x":0.78123, "y":4.97809, "heading":-2.39599, "vx":1.36402, "vy":-0.41065, "omega":0.63485, "ax":8.40987, "ay":-3.05626, "alpha":3.26551, "fx":[146.13915,150.50245,140.67018,134.88601], "fy":[-46.14055,-28.57858,-60.5384,-72.6866]},
-    {"t":0.18631, "x":0.82051, "y":4.96607, "heading":-2.3791, "vx":1.58786, "vy":-0.492, "omega":0.72176, "ax":8.34866, "ay":-3.24366, "alpha":2.97357, "fx":[145.13044,149.27091,139.2813,134.3507], "fy":[-49.14047,-34.31584,-63.61702,-73.62149]},
-    {"t":0.21293, "x":0.86573, "y":4.95183, "heading":-2.35989, "vx":1.81006, "vy":-0.57833, "omega":0.80091, "ax":8.27193, "ay":-3.45793, "alpha":2.63024, "fx":[143.82126,147.57221,137.71202,133.70693], "fy":[-52.76021,-40.89505,-66.89171,-74.72685]},
-    {"t":0.23954, "x":0.91684, "y":4.93521, "heading":-2.33857, "vx":2.03023, "vy":-0.67037, "omega":0.87091, "ax":8.17413, "ay":-3.70485, "alpha":2.22359, "fx":[142.0736,145.23287,135.94133,132.91096], "fy":[-57.20122,-48.44351,-70.36262,-76.06655]},
-    {"t":0.26616, "x":0.97377, "y":4.91606, "heading":-2.31539, "vx":2.24779, "vy":-0.76898, "omega":0.9301, "ax":8.04726, "ay":-3.99163, "alpha":1.73862, "fx":[139.66995,142.01697,133.94112,131.8982], "fy":[-62.73338,-57.08483,-74.03738,-77.73018]},
-    {"t":0.29278, "x":1.03645, "y":4.89418, "heading":-2.29063, "vx":2.46198, "vy":-0.87522, "omega":0.97637, "ax":7.87945, "ay":-4.32715, "alpha":1.15594, "fx":[136.25649,137.61003,131.67231,130.57008], "fy":[-69.71729,-66.91676,-77.93408,-79.84593]},
-    {"t":0.31939, "x":1.10477, "y":4.86935, "heading":-2.26465, "vx":2.6717, "vy":-0.99039, "omega":1.00714, "ax":7.65294, "ay":-4.722, "alpha":0.44922, "fx":[131.24053,131.60806,129.0791,128.7697], "fy":[-78.62172,-77.97077,-82.08479,-82.60199]},
-    {"t":0.34601, "x":1.17859, "y":4.84132, "heading":-2.23784, "vx":2.87539, "vy":-1.11607, "omega":1.01909, "ax":7.34063, "ay":-5.18781, "alpha":-0.42045, "fx":[123.60791,123.52448,126.08104,126.23448], "fy":[-90.00303,-90.14888,-86.53883,-86.28223]},
-    {"t":0.37262, "x":1.25772, "y":4.80977, "heading":-2.21072, "vx":3.07077, "vy":-1.25415, "omega":1.0079, "ax":6.90085, "ay":-5.73454, "alpha":-1.51247, "fx":[111.63425,112.84105,122.55896,122.49179], "fy":[-104.33293,-103.13569,-91.36921,-91.33404]},
-    {"t":0.39924, "x":1.34189, "y":4.77436, "heading":-2.18389, "vx":3.25444, "vy":-1.40678, "omega":0.96765, "ax":6.27112, "ay":-6.36213, "alpha":-2.90758, "fx":[92.60414,99.12843,118.33235,116.61512], "fy":[-121.38805,-116.31705,-96.68,-98.48725]},
-    {"t":0.42586, "x":1.43074, "y":4.73467, "heading":-2.15814, "vx":3.42136, "vy":-1.57612, "omega":0.89026, "ax":5.36826, "ay":-7.0419, "alpha":-4.6516, "fx":[63.29368,82.23934,113.1244,106.59274], "fy":[-138.80897,-128.76865,-102.61105,-108.93425]},
-    {"t":0.45247, "x":1.5237, "y":4.69022, "heading":-2.13444, "vx":3.56424, "vy":-1.76354, "omega":0.76645, "ax":4.10925, "ay":-7.69823, "alpha":-6.56814, "fx":[23.02762,62.51109,106.50785,87.54187], "fy":[-150.7331,-139.39038,-109.33365,-124.32159]},
-    {"t":0.47909, "x":1.62002, "y":4.64056, "heading":-2.11404, "vx":3.67361, "vy":-1.96844, "omega":0.59163, "ax":2.4112, "ay":-8.21791, "alpha":-8.28587, "fx":[-21.75551,40.83952,97.81163,47.15942], "fy":[-150.93154,-147.19801,-117.03067,-143.97697]},
-    {"t":0.50571, "x":1.71865, "y":4.58525, "heading":-2.09829, "vx":3.73779, "vy":-2.18717, "omega":0.3711, "ax":0.18412, "ay":-8.30704, "alpha":-10.65984, "fx":[-60.66803,18.4945,85.95879,-31.25788], "fy":[-139.99865,-151.64512,-125.82905,-147.72861]},
-    {"t":0.53232, "x":1.8182, "y":4.5241, "heading":-2.08842, "vx":3.74269, "vy":-2.40827, "omega":0.08737, "ax":-1.93283, "ay":-7.60405, "alpha":-14.73438, "fx":[-88.88907,-3.24063,69.48194,-108.85976], "fy":[-124.15735,-152.76034,-135.44863,-105.00432]},
-    {"t":0.55894, "x":1.91713, "y":4.4573, "heading":-2.08609, "vx":3.69124, "vy":-2.61066, "omega":-0.3048, "ax":-3.30421, "ay":-6.77245, "alpha":-17.23568, "fx":[-107.86292,-23.31792,47.12474,-140.75863], "fy":[-108.24456,-151.04403,-144.58153,-56.91986]},
-    {"t":0.58555, "x":2.01421, "y":4.38542, "heading":-2.0942, "vx":3.6033, "vy":-2.79092, "omega":-0.76354, "ax":-5.01027, "ay":-6.96902, "alpha":-8.47402, "fx":[-110.59636,-58.17795,-44.14468,-127.97385], "fy":[-105.26411,-141.13348,-145.46871,-82.29756]},
-    {"t":0.61272, "x":2.11024, "y":4.30703, "heading":-2.11494, "vx":3.46719, "vy":-2.98023, "omega":-0.99374, "ax":-6.42579, "ay":-6.18368, "alpha":-2.40417, "fx":[-115.29378,-99.09568,-102.41212,-120.40165], "fy":[-99.59522,-115.66524,-112.43608,-93.03393]},
-    {"t":0.63988, "x":2.20206, "y":4.2238, "heading":-2.14194, "vx":3.29264, "vy":-3.14821, "omega":-1.05905, "ax":-6.7157, "ay":-5.88813, "alpha":-1.06701, "fx":[-116.77497,-109.7233,-111.53757,-118.89291], "fy":[-97.44999,-105.28632,-103.19854,-94.68656]},
-    {"t":0.66705, "x":2.28902, "y":4.1361, "heading":-2.17071, "vx":3.11021, "vy":-3.30816, "omega":-1.08803, "ax":-6.87856, "ay":-5.6824, "alpha":-0.43447, "fx":[-118.02113,-115.21131,-115.96008,-118.81685], "fy":[-95.4891,-98.8394,-97.87955,-94.41597]},
-    {"t":0.69421, "x":2.37098, "y":4.04414, "heading":-2.20026, "vx":2.92335, "vy":-3.46252, "omega":-1.09983, "ax":-7.04882, "ay":-5.44244, "alpha":0.06888, "fx":[-119.74171,-120.17252,-120.05462,-119.62488], "fy":[-92.76767,-92.21349,-92.38245,-92.93376]},
-    {"t":0.72138, "x":2.44779, "y":3.94807, "heading":-2.23014, "vx":2.73187, "vy":-3.61036, "omega":-1.09796, "ax":-7.23167, "ay":-5.15829, "alpha":0.43349, "fx":[-122.07078,-124.65364,-123.92805,-121.38174], "fy":[-88.99261,-85.37603,-86.54662,-90.04924]},
-    {"t":0.74854, "x":2.51933, "y":3.8481, "heading":-2.25997, "vx":2.53543, "vy":-3.75048, "omega":-1.08619, "ax":-7.42451, "ay":-4.82705, "alpha":0.65659, "fx":[-124.96993,-128.63228,-127.57396,-123.9788], "fy":[-84.02268,-78.38134,-80.32135,-85.70193]},
-    {"t":0.77571, "x":2.58546, "y":3.74443, "heading":-2.28947, "vx":2.33374, "vy":-3.88161, "omega":-1.06835, "ax":-7.6169, "ay":-4.45645, "alpha":0.77145, "fx":[-128.15282,-132.1138,-130.93664,-127.04212], "fy":[-78.04201,-71.26124,-73.74185,-80.16634]},
-    {"t":0.80287, "x":2.64605, "y":3.63735, "heading":-2.31849, "vx":2.12683, "vy":-4.00267, "omega":-1.0474, "ax":-7.79504, "ay":-4.06447, "alpha":0.83863, "fx":[-131.21816,-135.12872,-133.94138,-130.07722], "fy":[-71.53074,-64.0309,-66.94691,-74.03351]},
-    {"t":0.83004, "x":2.70095, "y":3.52712, "heading":-2.34695, "vx":1.91508, "vy":-4.11308, "omega":-1.02461, "ax":-7.95451, "ay":-3.66238, "alpha":0.88826, "fx":[-134.01266,-137.72783,-136.58694,-132.88829], "fy":[-64.77356,-56.72645,-60.0441,-67.63983]},
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diff --git a/src/main/deploy/choreo/NewPath_copy4_copy1.traj b/src/main/deploy/choreo/NewPath_copy4_copy1.traj
index aa23e5c..d8dabcf 100644
--- a/src/main/deploy/choreo/NewPath_copy4_copy1.traj
+++ b/src/main/deploy/choreo/NewPath_copy4_copy1.traj
@@ -17,11 +17,11 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterUpEnd.x", "val":7.568860054016113}, "y":{"exp":"CenterUpEnd.y", "val":6.479610323905945}, "heading":{"exp":"CenterUpEnd.heading", "val":2.4526679122611568}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.639350414276123 m", "val":5.639350414276123}, "y":{"exp":"(8 - 0.7602798342704773) m", "val":7.239720165729523}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"4.58689022064209 m", "val":4.58689022064209}, "y":{"exp":"(8 - 0.6238498091697693) m", "val":7.376150190830231}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.715850353240967 m", "val":2.715850353240967}, "y":{"exp":"(8 - 1.1500798463821411) m", "val":6.849920153617859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.9737194776535034 m", "val":1.9737194776535032}, "y":{"exp":"2.523129940032959 m", "val":2.523129940032959}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"CenterUpEnd.x", "val":7.568860054016113}, "y":{"exp":"CenterUpEnd.y", "val":6.479610323905945}, "heading":{"exp":"CenterUpEnd.heading", "val":2.4526679122611568}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.639350414276123 m", "val":5.639350414276123}, "y":{"exp":"(8 - 0.7602798342704773) m", "val":7.239720165729523}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.58689022064209 m", "val":4.58689022064209}, "y":{"exp":"(8 - 0.6238498091697693) m", "val":7.376150190830231}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.715850353240967 m", "val":2.715850353240967}, "y":{"exp":"(8 - 1.1500798463821411) m", "val":6.849920153617859}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.9737194776535034 m", "val":1.9737194776535032}, "y":{"exp":"2.523129940032959 m", "val":2.523129940032959}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"EndHang.x", "val":1.526960372924805}, "y":{"exp":"EndHang.y", "val":2.8651998043060303}, "heading":{"exp":"EndHang.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 5a70414..1e67a7a 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -58,7 +58,7 @@
   },
   "mass":{
    "exp":"60 lbs",
-   "val":27.216
+   "val":27.2155422
   },
   "inertia":{
    "exp":"6 kg m ^ 2",
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index bb4b04f..740dcbb 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -345,8 +345,8 @@ subsystems:
             wheelCOF: 1.7
         constants:
             translationKp: 5
-            rotationKp: 4
-            rotationKd: 1
+            rotationKp: 1
+            rotationKd: 0.1
 
 autopathing:
     paths:

From 3b19a9743d209684020b1ddf7abba73b65d89851 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Thu, 26 Feb 2026 20:56:31 -0600
Subject: [PATCH 23/28] Fixed drivetrain state conflicts and much much much
 much much tuning

---
 src/main/deploy/choreo/Straight90Turn.traj    | 93 +++++++------------
 .../lib/subsystems/drivetrain/Drivetrain.java |  5 +-
 .../season/subsystems/Superstructure.java     | 11 ++-
 src/main/resources/yaml/zmule.yml             | 15 +--
 4 files changed, 55 insertions(+), 69 deletions(-)

diff --git a/src/main/deploy/choreo/Straight90Turn.traj b/src/main/deploy/choreo/Straight90Turn.traj
index 1869160..f706e53 100644
--- a/src/main/deploy/choreo/Straight90Turn.traj
+++ b/src/main/deploy/choreo/Straight90Turn.traj
@@ -3,25 +3,23 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.0, "y":7.5, "heading":0.0, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.0, "y":7.5, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.0, "y":7.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.3}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"1.3 rad / s", "val":1.3}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
@@ -41,7 +39,7 @@
    "mass":27.2155422,
    "inertia":6.0,
    "gearing":6.03,
-   "radius":0.049657,
+   "radius":0.049377599999999994,
    "vmax":314.1592653589793,
    "tmax":3.5,
    "cof":1.7,
@@ -53,59 +51,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.538],
+  "waypoints":[0.0,1.54524],
   "samples":[
-    {"t":0.0, "x":4.0, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.55813, "ay":0.76479, "alpha":-12.03464, "fx":[109.59004,107.02617,85.12731,94.46397], "fy":[-28.46996,36.96724,74.4745,-62.15751]},
-    {"t":0.03076, "x":4.00689, "y":7.50036, "heading":0.0, "vx":0.44781, "vy":0.02353, "omega":-0.37019, "ax":14.70298, "ay":0.7815, "alpha":-11.53699, "fx":[109.73808,107.2124,87.06631,96.13282], "fy":[-27.71698,36.29128,72.07115,-59.37645]},
-    {"t":0.06152, "x":4.02762, "y":7.50146, "heading":-0.01139, "vx":0.90007, "vy":0.04756, "omega":-0.72506, "ax":14.97318, "ay":0.79083, "alpha":-10.55597, "fx":[109.92063,107.7195,90.61501,99.24795], "fy":[-26.60306,34.47198,67.29487,-53.64104]},
-    {"t":0.09228, "x":4.06239, "y":7.50329, "heading":-0.03369, "vx":1.36065, "vy":0.07189, "omega":-1.04976, "ax":15.59575, "ay":0.80889, "alpha":-7.90216, "fx":[110.54129,108.95965,99.14956,105.79626], "fy":[-22.464,29.2495,53.01778,-37.78893]},
-    {"t":0.12304, "x":4.11162, "y":7.50589, "heading":-0.06598, "vx":1.84037, "vy":0.09677, "omega":-1.29283, "ax":10.73788, "ay":-6.13024, "alpha":2.41172, "fx":[72.39913,65.51178,74.33197,79.99442], "fy":[-35.8074,-52.18361,-46.92428,-31.92257]},
-    {"t":0.1538, "x":4.17331, "y":7.50596, "heading":-0.10575, "vx":2.17067, "vy":-0.09179, "omega":-1.21865, "ax":0.60581, "ay":0.22159, "alpha":2.66691, "fx":[-1.74934,-3.16518,10.02473,11.37711], "fy":[8.83193,-4.4045,-5.76595,7.36911]},
-    {"t":0.18456, "x":4.24036, "y":7.50324, "heading":-0.14323, "vx":2.1893, "vy":-0.08498, "omega":-1.13662, "ax":0.02611, "ay":0.65452, "alpha":0.9865, "fx":[-1.89691,-2.60489,2.26032,2.95212], "fy":[7.2227,2.38273,1.68177,6.52579]},
-    {"t":0.21532, "x":4.30772, "y":7.50094, "heading":-0.1782, "vx":2.1901, "vy":-0.06485, "omega":-1.10627, "ax":-0.10427, "ay":0.5077, "alpha":0.51001, "fx":[-1.73107,-2.18292,0.31364,0.76251], "fy":[4.92321,2.43316,1.98457,4.47648]},
-    {"t":0.24608, "x":4.37504, "y":7.49919, "heading":-0.21222, "vx":2.1869, "vy":-0.04923, "omega":-1.09058, "ax":-0.19605, "ay":0.37524, "alpha":0.17673, "fx":[-1.6703,-1.85582,-0.99743,-0.81213], "fy":[3.07413,2.21641,2.03192,2.8899]},
-    {"t":0.27684, "x":4.44221, "y":7.49785, "heading":-0.24577, "vx":2.18087, "vy":-0.03769, "omega":-1.08515, "ax":-0.27517, "ay":0.27156, "alpha":-0.09409, "fx":[-1.70258,-1.58865,-2.04185,-2.15581], "fy":[1.56427,2.01765,2.13107,1.67777]},
-    {"t":0.3076, "x":4.50917, "y":7.49682, "heading":-0.27915, "vx":2.1724, "vy":-0.02933, "omega":-1.08804, "ax":-0.33352, "ay":0.19624, "alpha":-0.29005, "fx":[-1.77582,-1.37831,-2.76262,-3.1601], "fy":[0.44408,1.8299,2.22587,0.8409]},
-    {"t":0.33836, "x":4.57583, "y":7.49601, "heading":-0.31262, "vx":2.16214, "vy":-0.0233, "omega":-1.09696, "ax":-0.365, "ay":0.14601, "alpha":-0.40411, "fx":[-1.83799,-1.22,-3.12906,-3.74665], "fy":[-0.27083,1.64086,2.25686,0.3468]},
-    {"t":0.36912, "x":4.64217, "y":7.49536, "heading":-0.34636, "vx":2.15092, "vy":-0.01881, "omega":-1.10939, "ax":-0.37059, "ay":0.11435, "alpha":-0.44665, "fx":[-1.85557,-1.10178,-3.18769,-3.94071], "fy":[-0.64275,1.44603,2.19791,0.11099]},
-    {"t":0.39988, "x":4.70815, "y":7.49484, "heading":-0.38049, "vx":2.13952, "vy":-0.01529, "omega":-1.12313, "ax":-0.35603, "ay":0.09409, "alpha":-0.438, "fx":[-1.81718,-1.00869,-3.02797,-3.83558], "fy":[-0.77461,1.24714,2.0541,0.03397]},
-    {"t":0.43064, "x":4.7738, "y":7.49441, "heading":-0.41503, "vx":2.12857, "vy":-0.01239, "omega":-1.13661, "ax":-0.32826, "ay":0.07964, "alpha":-0.39891, "fx":[-1.727,-0.92765,-2.74034,-3.53891], "fy":[-0.7648,1.04971,1.84798,0.03464]},
-    {"t":0.4614, "x":4.83912, "y":7.49407, "heading":-0.45, "vx":2.11847, "vy":-0.00994, "omega":-1.14888, "ax":-0.29314, "ay":0.06782, "alpha":-0.3452, "fx":[-1.59585,-0.8498,-2.39338,-3.13885], "fy":[-0.68383,0.86094,1.60633,0.06229]},
-    {"t":0.49216, "x":4.90414, "y":7.49379, "heading":-0.48533, "vx":2.10945, "vy":-0.00786, "omega":-1.15949, "ax":-0.25463, "ay":0.05733, "alpha":-0.28678, "fx":[-1.435,-0.77034,-2.03008,-2.69435], "fy":[-0.57243,0.68802,1.35231,0.09227]},
-    {"t":0.52292, "x":4.96891, "y":7.49358, "heading":-0.521, "vx":2.10162, "vy":-0.0061, "omega":-1.16832, "ax":-0.21508, "ay":0.04797, "alpha":-0.22894, "fx":[-1.25341,-0.68733,-1.67346,-2.23932], "fy":[-0.44984,0.53667,1.10257,0.11626]},
-    {"t":0.55368, "x":5.03345, "y":7.49341, "heading":-0.55694, "vx":2.095, "vy":-0.00462, "omega":-1.17536, "ax":-0.17568, "ay":0.03999, "alpha":-0.1739, "fx":[-1.05706,-0.60045,-1.33362,-1.79012], "fy":[-0.32286,0.4105,0.86703,0.13376]},
-    {"t":0.58444, "x":5.09781, "y":7.49329, "heading":-0.59309, "vx":2.0896, "vy":-0.00339, "omega":-1.18071, "ax":-0.13685, "ay":0.03365, "alpha":-0.12209, "fx":[-0.84917,-0.51022,-1.01303,-1.35193], "fy":[-0.19198,0.31092,0.64984,0.14698]},
-    {"t":0.6152, "x":5.16202, "y":7.4932, "heading":-0.62941, "vx":2.08539, "vy":-0.00235, "omega":-1.18446, "ax":-0.09851, "ay":0.02912, "alpha":-0.07283, "fx":[-0.63053,-0.41758,-0.70999,-0.92293], "fy":[-0.05459,0.23785,0.45079,0.15836]},
-    {"t":0.64596, "x":5.22612, "y":7.49314, "heading":-0.66584, "vx":2.08236, "vy":-0.00146, "omega":-1.1867, "ax":-0.0603, "ay":0.02647, "alpha":-0.02482, "fx":[-0.39989,-0.32374,-0.42068,-0.49683], "fy":[0.09359,0.19053,0.26668,0.16973]},
-    {"t":0.67672, "x":5.29015, "y":7.49311, "heading":-0.70235, "vx":2.0805, "vy":-0.00064, "omega":-1.18747, "ax":-0.02163, "ay":0.02576, "alpha":0.02369, "fx":[-0.15409,-0.23009,-0.14029,-0.06429], "fy":[0.25814,0.16834,0.09234,0.18214]},
-    {"t":0.70748, "x":5.35413, "y":7.4931, "heading":-0.73887, "vx":2.07984, "vy":0.00015, "omega":-1.18674, "ax":0.01824, "ay":0.02697, "alpha":0.07478, "fx":[0.11187,-0.13824,0.1363,0.38642], "fy":[0.44583,0.17129,-0.07883,0.19571]},
-    {"t":0.73824, "x":5.41812, "y":7.49312, "heading":-0.77538, "vx":2.0804, "vy":0.00098, "omega":-1.18444, "ax":0.0602, "ay":0.0301, "alpha":0.13088, "fx":[0.40499,-0.05003,0.41421,0.86921], "fy":[0.66441,0.20019,-0.25485,0.20939]},
-    {"t":0.769, "x":5.48214, "y":7.49317, "heading":-0.81181, "vx":2.08225, "vy":0.0019, "omega":-1.18041, "ax":0.10526, "ay":0.035, "alpha":0.19476, "fx":[0.73424,0.0324,0.69814,1.39988], "fy":[0.92194,0.25625,-0.44564,0.22009]},
-    {"t":0.79976, "x":5.54624, "y":7.49324, "heading":-0.84812, "vx":2.08549, "vy":0.00298, "omega":-1.17442, "ax":0.15446, "ay":0.04129, "alpha":0.26943, "fx":[1.11029,0.10658,0.99176,1.99519], "fy":[1.22533,0.3403,-0.66356,0.22158]},
-    {"t":0.83052, "x":5.61046, "y":7.49335, "heading":-0.88425, "vx":2.09024, "vy":0.00425, "omega":-1.16613, "ax":0.20873, "ay":0.0481, "alpha":0.35778, "fx":[1.54426,0.1698,1.29647,2.67028], "fy":[1.57777,0.45144,-0.92341,0.20322]},
-    {"t":0.86128, "x":5.67486, "y":7.49351, "heading":-0.92012, "vx":2.09666, "vy":0.00573, "omega":-1.15513, "ax":0.26845, "ay":0.05401, "alpha":0.46178, "fx":[2.04443,0.21941,1.60923,3.43289], "fy":[1.97483,0.58573,-1.24016,0.14963]},
-    {"t":0.89204, "x":5.73948, "y":7.49371, "heading":-0.95565, "vx":2.10492, "vy":0.00739, "omega":-1.14092, "ax":0.33278, "ay":0.05716, "alpha":0.58087, "fx":[2.61005,0.25369,1.91959,4.27335], "fy":[2.39983,0.73532,-1.62275,0.04322]},
-    {"t":0.9228, "x":5.80438, "y":7.49396, "heading":-0.99074, "vx":2.11515, "vy":0.00915, "omega":-1.12306, "ax":0.39887, "ay":0.05572, "alpha":0.70992, "fx":[3.22271,0.27313,2.20728,5.15234], "fy":[2.8206,0.88887,-2.06377,-0.12927]},
-    {"t":0.95356, "x":5.86963, "y":7.49427, "heading":-1.02529, "vx":2.12742, "vy":0.01086, "omega":-1.10122, "ax":0.46149, "ay":0.04878, "alpha":0.83795, "fx":[3.8399,0.28155,2.44345,5.99472], "fy":[3.19139,1.03327,-2.52999,-0.36716]},
-    {"t":0.98432, "x":5.93529, "y":7.49463, "heading":-1.05916, "vx":2.14162, "vy":0.01236, "omega":-1.07544, "ax":0.51378, "ay":0.03703, "alpha":0.94941, "fx":[4.39831,0.2859,2.59796,6.70051], "fy":[3.46331,1.15648,-2.96294,-0.64906]},
-    {"t":1.01508, "x":6.00141, "y":7.49502, "heading":-1.09224, "vx":2.15742, "vy":0.0135, "omega":-1.04624, "ax":0.54932, "ay":0.02282, "alpha":1.02862, "fx":[4.83017,0.2943,2.65082,7.17468], "fy":[3.60041,1.25027,-3.29449,-0.93508]},
-    {"t":1.04584, "x":6.06803, "y":7.49545, "heading":-1.12442, "vx":2.17432, "vy":0.0142, "omega":-1.0146, "ax":0.56432, "ay":0.0094, "alpha":1.06487, "fx":[5.08495,0.31336,2.60057,7.35936], "fy":[3.59227,1.31198,-3.46968,-1.17868]},
-    {"t":1.0766, "x":6.13518, "y":7.49589, "heading":-1.15563, "vx":2.19168, "vy":0.01449, "omega":-0.98184, "ax":0.55854, "ay":-0.0001, "alpha":1.05514, "fx":[5.1426,0.34654,2.46392,7.24802], "fy":[3.45505,1.34441,-3.46193,-1.34032]},
-    {"t":1.10736, "x":6.20286, "y":7.49634, "heading":-1.18583, "vx":2.20886, "vy":0.01449, "omega":-0.94939, "ax":0.5346, "ay":-0.00333, "alpha":1.00296, "fx":[5.01156,0.39449,2.26809,6.87535], "fy":[3.22196,1.35434,-3.27231,-1.39465]},
-    {"t":1.13812, "x":6.27106, "y":7.49678, "heading":-1.21504, "vx":2.2253, "vy":0.01439, "omega":-0.91854, "ax":0.4962, "ay":0.00136, "alpha":0.91459, "fx":[4.71461,0.45676,2.04108,6.2919], "fy":[2.9299,1.35046,-2.91556,-1.32788]},
-    {"t":1.16888, "x":6.33974, "y":7.49722, "heading":-1.24329, "vx":2.24057, "vy":0.01443, "omega":-0.8904, "ax":0.44612, "ay":0.01563, "alpha":0.79414, "fx":[4.26835,0.53428,1.80451,5.53431], "fy":[2.60834,1.34181,-2.39859,-1.12607]},
-    {"t":1.19964, "x":6.40887, "y":7.49768, "heading":-1.27068, "vx":2.25429, "vy":0.01491, "omega":-0.86598, "ax":0.38386, "ay":0.04284, "alpha":0.63708, "fx":[3.65514,0.63309,1.56936,4.58949], "fy":[2.27061,1.33684,-1.68946,-0.75207]},
-    {"t":1.2304, "x":6.4784, "y":7.49816, "heading":-1.29732, "vx":2.2661, "vy":0.01623, "omega":-0.84638, "ax":0.30141, "ay":0.09165, "alpha":0.41778, "fx":[2.76909,0.77171,1.33255,3.32957], "fy":[1.90261,1.34312,-0.65619,-0.0953]},
-    {"t":1.26116, "x":6.54824, "y":7.4987, "heading":-1.32335, "vx":2.27537, "vy":0.01905, "omega":-0.83353, "ax":0.17246, "ay":0.18561, "alpha":0.05718, "fx":[1.27623,1.00091,1.07053,1.34586], "fy":[1.43528,1.3658,1.09044,1.15994]},
-    {"t":1.29192, "x":6.61832, "y":7.49937, "heading":-1.34899, "vx":2.28067, "vy":0.02476, "omega":-0.83177, "ax":-0.07798, "ay":0.38834, "alpha":-0.6697, "fx":[-1.78932,1.45955,0.72588,-2.51848], "fy":[0.65445,1.38708,4.62943,3.89792]},
-    {"t":1.32268, "x":6.68843, "y":7.50032, "heading":-1.37458, "vx":2.27827, "vy":0.0367, "omega":-0.85237, "ax":-0.66472, "ay":0.83302, "alpha":-2.40691, "fx":[-9.29063,2.53197,0.16817,-11.50015], "fy":[-1.36132,0.99181,12.71845,10.32206]},
-    {"t":1.35344, "x":6.7582, "y":7.50184, "heading":-1.4008, "vx":2.25783, "vy":0.06233, "omega":-0.92641, "ax":-2.27732, "ay":1.01613, "alpha":-7.07035, "fx":[-30.42375,4.80504,-1.59899,-34.76072], "fy":[-13.27533,-7.92452,28.25804,20.59648]},
-    {"t":1.3842, "x":6.82657, "y":7.50424, "heading":-1.42929, "vx":2.18778, "vy":0.09358, "omega":-1.14389, "ax":-11.29485, "ay":-5.4392, "alpha":-4.85361, "fx":[-78.55218,-62.11882,-77.79549,-88.92908], "fy":[-49.24374,-58.57909,-20.67413,-19.53386]},
-    {"t":1.41496, "x":6.88852, "y":7.50454, "heading":-1.46448, "vx":1.84035, "vy":-0.07373, "omega":-1.29319, "ax":-15.64525, "ay":0.61602, "alpha":7.7013, "fx":[-99.69799,-109.79091,-109.95838,-106.34656], "fy":[52.05115,25.97412,-25.13052,-36.12937]},
-    {"t":1.44572, "x":6.93773, "y":7.50257, "heading":-1.50426, "vx":1.3591, "vy":-0.05478, "omega":-1.0563, "ax":-14.9828, "ay":0.57518, "alpha":10.53671, "fx":[-90.85765,-108.53644,-109.20173,-99.16916], "fy":[66.99324,31.81533,-29.40815,-53.74648]},
-    {"t":1.47648, "x":6.97245, "y":7.50115, "heading":-1.53675, "vx":0.89823, "vy":-0.03709, "omega":-0.73219, "ax":-14.68301, "ay":0.58925, "alpha":11.6217, "fx":[-87.19218,-107.81179,-109.16534,-95.43677], "fy":[71.92858,34.47408,-29.89216,-60.47384]},
-    {"t":1.50724, "x":6.99313, "y":7.50029, "heading":-1.55927, "vx":0.44658, "vy":-0.01896, "omega":-0.3747, "ax":-14.51829, "ay":0.61641, "alpha":12.18158, "fx":[-85.22072,-107.33548,-109.23265,-93.33425], "fy":[74.36818,36.06094,-29.81344,-63.83973]},
-    {"t":1.538, "x":7.0, "y":7.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+    {"t":0.0, "x":4.0, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":14.20252, "ay":0.78908, "alpha":-13.13475, "fx":[109.30605,106.429,80.05729,90.7369], "fy":[-29.6733,38.7521,79.99013,-67.59365]},
+    {"t":0.04985, "x":4.01764, "y":7.50098, "heading":0.0, "vx":0.70794, "vy":0.03933, "omega":-0.65472, "ax":14.19719, "ay":0.76437, "alpha":-13.09648, "fx":[109.19114,106.41363,80.24538,90.53403], "fy":[-29.75445,38.5384,79.54513,-67.52639]},
+    {"t":0.09969, "x":4.07057, "y":7.50389, "heading":-0.03264, "vx":1.41562, "vy":0.07743, "omega":-1.30753, "ax":12.2546, "ay":-5.10232, "alpha":-6.12492, "fx":[86.19519,96.68322,85.13892,65.4984], "fy":[-48.4818,-10.44963,-14.37627,-65.55461]},
+    {"t":0.14954, "x":4.15636, "y":7.50141, "heading":-0.09781, "vx":2.02647, "vy":-0.1769, "omega":-1.61284, "ax":3.23516, "ay":2.11265, "alpha":10.78006, "fx":[-0.8302,-7.55775,48.32322,48.11142], "fy":[46.94929,-11.06886,-14.35077,35.96728]},
+    {"t":0.19939, "x":4.26139, "y":7.49522, "heading":-0.17821, "vx":2.18773, "vy":-0.07159, "omega":-1.07549, "ax":4.76184, "ay":3.21228, "alpha":13.79399, "fx":[7.33468,-8.86002,66.28019,64.84126], "fy":[67.77622,-7.23751,-17.5961,44.48124]},
+    {"t":0.24923, "x":4.37636, "y":7.49564, "heading":-0.23181, "vx":2.42509, "vy":0.08853, "omega":-0.38791, "ax":1.25565, "ay":0.80125, "alpha":3.50369, "fx":[2.12182,-1.94494,15.16507,18.8312], "fy":[16.05797,-1.02512,-5.03514,11.80876]},
+    {"t":0.29908, "x":4.4988, "y":7.50105, "heading":-0.25115, "vx":2.48768, "vy":0.12847, "omega":-0.21326, "ax":-1.46888, "ay":-0.6939, "alpha":-3.92122, "fx":[-3.06812,1.86787,-17.17608,-21.6001], "fy":[-16.78628,2.34373,7.15565,-11.59791]},
+    {"t":0.34892, "x":4.62098, "y":7.50659, "heading":-0.26178, "vx":2.41447, "vy":0.09388, "omega":-0.40872, "ax":-5.72679, "ay":-2.52197, "alpha":-15.10592, "fx":[-17.00664,7.70077,-71.45262,-75.09917], "fy":[-71.99893,14.19294,28.12266,-38.95348]},
+    {"t":0.39877, "x":4.73421, "y":7.50814, "heading":-0.28215, "vx":2.12901, "vy":-0.03183, "omega":-1.1617, "ax":-6.64921, "ay":-2.07564, "alpha":-16.47034, "fx":[-23.92255,4.47566,-78.35674,-83.15821], "fy":[-77.8781,24.58125,34.41073,-37.60344]},
+    {"t":0.44862, "x":4.83208, "y":7.50397, "heading":-0.34006, "vx":1.79757, "vy":-0.13529, "omega":-1.98269, "ax":-6.35236, "ay":-0.53273, "alpha":-14.20651, "fx":[-28.35333,0.01645,-65.81942,-78.72665], "fy":[-60.03549,28.68782,39.8239,-22.97481]},
+    {"t":0.49846, "x":4.91379, "y":7.49657, "heading":-0.43889, "vx":1.48092, "vy":-0.16185, "omega":-2.69083, "ax":-1.41459, "ay":2.23669, "alpha":-1.46666, "fx":[-7.96364,-4.69136,-11.27949,-14.56423], "fy":[10.42994,17.09386,19.93644,13.4124]},
+    {"t":0.54831, "x":4.98585, "y":7.49128, "heading":-0.57302, "vx":1.41041, "vy":-0.05036, "omega":-2.76394, "ax":2.70154, "ay":1.2998, "alpha":7.15236, "fx":[13.51834,-6.58133,25.11904,41.46778], "fy":[33.8621,4.13351,-16.31332,13.69258]},
+    {"t":0.59816, "x":5.05951, "y":7.49038, "heading":-0.71079, "vx":1.54507, "vy":0.01443, "omega":-2.40742, "ax":4.54206, "ay":0.12945, "alpha":10.65668, "fx":[30.98985,-7.13759,36.35032,63.4121], "fy":[40.6579,-2.46554,-38.07755,3.40822]},
+    {"t":0.648, "x":5.14217, "y":7.49126, "heading":-0.83079, "vx":1.77148, "vy":0.02089, "omega":-1.87622, "ax":4.30714, "ay":0.19997, "alpha":9.8775, "fx":[32.81357,-5.86901,30.37524,59.90142], "fy":[37.35693,3.76323,-35.48648,-0.19133]},
+    {"t":0.69785, "x":5.23582, "y":7.49255, "heading":-0.92432, "vx":1.98617, "vy":0.03085, "omega":-1.38386, "ax":2.86986, "ay":-0.11202, "alpha":6.54846, "fx":[23.37289,-3.36086,17.11522,40.97741], "fy":[22.42997,2.67352,-24.33882,-3.81347]},
+    {"t":0.7477, "x":5.33839, "y":7.49395, "heading":-0.9933, "vx":2.12923, "vy":0.02527, "omega":-1.05744, "ax":1.57827, "ay":-0.14017, "alpha":3.57049, "fx":[13.4436,-1.54328,8.27629,22.77698], "fy":[11.38322,1.68157,-13.37537,-3.50419]},
+    {"t":0.79754, "x":5.44648, "y":7.49504, "heading":-1.04601, "vx":2.2079, "vy":0.01828, "omega":-0.87947, "ax":0.91143, "ay":-0.09622, "alpha":2.02301, "fx":[8.05303,-0.66468,4.39394,13.02286], "fy":[6.22169,1.1871,-7.55085,-2.47665]},
+    {"t":0.84739, "x":5.55767, "y":7.49583, "heading":-1.08984, "vx":2.25333, "vy":0.01349, "omega":-0.77863, "ax":0.60926, "ay":-0.0666, "alpha":1.32058, "fx":[5.54119,-0.27919,2.76172,8.55769], "fy":[3.9744,0.94105,-4.88738,-1.84064]},
+    {"t":0.89724, "x":5.67075, "y":7.49642, "heading":-1.12866, "vx":2.2837, "vy":0.01017, "omega":-0.7128, "ax":0.45686, "ay":-0.05165, "alpha":0.96763, "fx":[4.25424,-0.09144,1.96738,6.30364], "fy":[2.84975,0.79418,-3.55558,-1.4939]},
+    {"t":0.94708, "x":5.78515, "y":7.49686, "heading":-1.16419, "vx":2.30647, "vy":0.00759, "omega":-0.66457, "ax":0.36691, "ay":-0.04425, "alpha":0.76062, "fx":[3.48519,0.01461,1.50986,4.97596], "fy":[2.1814,0.68781,-2.78516,-1.28825]},
+    {"t":0.99693, "x":5.90058, "y":7.49718, "heading":-1.19731, "vx":2.32476, "vy":0.00539, "omega":-0.62665, "ax":0.3079, "ay":-0.04145, "alpha":0.6261, "fx":[2.9758,0.08012,1.21531,4.10854], "fy":[1.73319,0.59895,-2.29825,-1.16198]},
+    {"t":1.04677, "x":6.01684, "y":7.4974, "heading":-1.22855, "vx":2.34011, "vy":0.00332, "omega":-0.59545, "ax":0.26764, "ay":-0.04281, "alpha":0.53599, "fx":[2.62844,0.12049,1.01425,3.52067], "fy":[1.40944,0.51626,-1.99272,-1.09818]},
+    {"t":1.09662, "x":6.13382, "y":7.49751, "heading":-1.25823, "vx":2.35345, "vy":0.00119, "omega":-0.56873, "ax":0.24072, "ay":-0.0491, "alpha":0.47852, "fx":[2.40343,0.14174,0.87278,3.13339], "fy":[1.16225,0.43157,-1.83085,-1.09918]},
+    {"t":1.14647, "x":6.25143, "y":7.49751, "heading":-1.28658, "vx":2.36545, "vy":-0.00126, "omega":-0.54488, "ax":0.2241, "ay":-0.06158, "alpha":0.44751, "fx":[2.28014,0.14648,0.76987,2.90263], "fy":[0.95953,0.33636,-1.79784,-1.17387]},
+    {"t":1.19631, "x":6.36962, "y":7.49737, "heading":-1.31374, "vx":2.37662, "vy":-0.00433, "omega":-0.52257, "ax":0.21037, "ay":-0.07834, "alpha":0.42441, "fx":[2.18295,0.1441,0.6801,2.71815], "fy":[0.75439,0.2185,-1.82073,-1.28416]},
+    {"t":1.24616, "x":6.48834, "y":7.49706, "heading":-1.33979, "vx":2.38711, "vy":-0.00823, "omega":-0.50141, "ax":0.14213, "ay":-0.05975, "alpha":0.24875, "fx":[1.42699,0.22429,0.50717,1.70969], "fy":[0.33627,0.05339,-1.14941,-0.86636]},
+    {"t":1.29601, "x":6.60751, "y":7.49657, "heading":-1.36478, "vx":2.39419, "vy":-0.01121, "omega":-0.48901, "ax":-0.46443, "ay":0.36576, "alpha":-1.47215, "fx":[-6.00246,1.16924,-0.33205,-7.47433], "fy":[-1.83867,-0.34165,6.82373,5.311]},
+    {"t":1.34585, "x":6.72627, "y":7.49647, "heading":-1.38916, "vx":2.37104, "vy":0.00702, "omega":-0.5624, "ax":-3.99398, "ay":2.39195, "alpha":-11.7038, "fx":[-54.03951,7.23368,-5.58909,-56.30337], "fy":[-17.34568,-8.47893,54.38049,36.54222]},
+    {"t":1.3957, "x":6.8395, "y":7.49979, "heading":-1.41719, "vx":2.17195, "vy":0.12625, "omega":-1.14579, "ax":-14.99399, "ay":-3.2618, "alpha":-2.75872, "fx":[-100.97301,-97.80845,-103.77535,-105.51274], "fy":[-32.69824,-36.3043,-9.05414,-10.715]},
+    {"t":1.44555, "x":6.92914, "y":7.50203, "heading":-1.4743, "vx":1.42456, "vy":-0.03634, "omega":-1.2833, "ax":-14.3482, "ay":0.27573, "alpha":12.65474, "fx":[-83.35797,-108.35017,-107.6883,-91.0977], "fy":[76.31794,32.71457,-34.80035,-66.72804]},
+    {"t":1.49539, "x":6.98232, "y":7.50056, "heading":-1.53827, "vx":0.70935, "vy":-0.0226, "omega":-0.65251, "ax":-14.23074, "ay":0.45331, "alpha":13.09036, "fx":[-81.90527,-107.40938,-108.51512,-89.46765], "fy":[78.10151,35.94826,-32.44844,-69.26433]},
+    {"t":1.54524, "x":7.0, "y":7.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java
index f3d2fb0..dc774a3 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java
@@ -94,13 +94,14 @@ private void configureAutoBuilder() {
         var tranKp = factory.getConstant(NAME, "translationKp", 5.0);
         //var tranKd = factory.getConstant(NAME, "translationKd", 0.2);
         var rotKp = factory.getConstant(NAME, "rotationKp", 5.0);
-        var rotKd = factory.getConstant(NAME, "rotationKd", 0.2);
+        var rotKi = factory.getConstant(NAME, "rotationKi", 0);
+        var rotKd = factory.getConstant(NAME, "rotationKd", 0);
         GreenLogger.log(
             "translationKp:" + GetDisplay(tranKp) +
                 " rotationKp:" + GetDisplay(rotKp)
         );
         var transPID = new PIDConstants(tranKp, 0, 0);
-        var rotPID = new PIDConstants(rotKp, 0, rotKd);
+        var rotPID = new PIDConstants(rotKp, rotKi, rotKd);
         GreenLogger.log("transPID", transPID);
         GreenLogger.log("rotPID", rotPID);
         pathFollowingController = new PPHolonomicDriveController(
diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java
index 3b00965..912c633 100644
--- a/src/main/java/com/team1816/season/subsystems/Superstructure.java
+++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java
@@ -116,6 +116,7 @@ public enum FeederControlState {
 
     private WantedSwerveState wantedSwerveState = WantedSwerveState.MANUAL_DRIVING; //Do we need this??
     private FeederControlState feederControlState = FeederControlState.DEFAULTING; //What to do with this?
+    private boolean isAutonomous = false;
 
     private ClimbSide climbSide = ClimbSide.LEFT;
 
@@ -228,8 +229,10 @@ private void setWantedSubsystemStates(Intake.INTAKE_STATE intakeState, Feeder.FE
     }
 
     private void defaulting() {
-        // don't change any states, just leave us in manual drive for now
-        swerve.setWantedState(Swerve.ActualState.MANUAL_DRIVING);
+        // During auto, let PathPlanner have sole control of the drivetrain
+        if (!isAutonomous) {
+            swerve.setWantedState(Swerve.ActualState.MANUAL_DRIVING);
+        }
     }
 
     private void shootCalibrating() {
@@ -338,10 +341,12 @@ public void setClimbSide(ClimbSide climbSide) {
     }
 
     public void autonomousInit() {
-            //What is supposed to be here???
+        isAutonomous = true;
+        swerve.setWantedState(Swerve.ActualState.IDLING);
     }
 
     public void teleopInit() {
+        isAutonomous = false;
         swerve.setWantedState(Swerve.ActualState.MANUAL_DRIVING);
         intake.setWantedState(Intake.INTAKE_STATE.INTAKE_IN);
         feeder.setWantedState(Feeder.FEEDER_STATE.SLOW_FEEDING);
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index bb4b04f..5aa9d9e 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -322,11 +322,11 @@ subsystems:
                 azimuth: brAz
         drivePID:
             slot0:
-                kP: 0.3
-                kI: 0.6
+                kP: 0.4
+                kI: 0
                 kD: 0
-                kV: 0.129
-                kS: 0.05
+                kV: 0.13
+                kS: 0.06
         azimuthPID:
             slot0:
                 kP: 100
@@ -340,13 +340,14 @@ subsystems:
             wheelbaseWidth: .60325 # meters
             robotMass: 27.216 # kg (60 lbs)
             wheelRadius: .04935 # meters
-            maxDriveRPS: 50 # measured motor max speed rps
+            maxDriveRPS: 98 # measured motor max speed rps
             maxAngularRate: 8.285 # rad/sec
             wheelCOF: 1.7
         constants:
-            translationKp: 5
+            translationKp: 3
             rotationKp: 4
-            rotationKd: 1
+            rotationKi: 0.2
+            rotationKd: 0.4
 
 autopathing:
     paths:

From ab639cf08a264fdc3375d98568bef25e59d92f80 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Thu, 26 Feb 2026 23:37:41 -0600
Subject: [PATCH 24/28] simulator tweaks

---
 src/main/deploy/pathplanner/settings.json                   | 2 +-
 .../com/team1816/lib/subsystems/drivetrain/IDrivetrain.java | 5 +++--
 src/main/resources/yaml/zmule.yml                           | 6 +++---
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 14f38d3..3a41f7f 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -12,7 +12,7 @@
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 27.216,
-  "robotMOI": 6.883,
+  "robotMOI": 2.48,
   "robotTrackwidth": 0.60325,
   "driveWheelRadius": 0.04935,
   "driveGearing": 6.03,
diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java
index 0bdc971..aa880fe 100644
--- a/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java
+++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java
@@ -29,8 +29,9 @@ public interface IDrivetrain extends ITestableSubsystem {
     double gearing = config.kinematics.driveGearing;
     double wheelCircumference = 2 * Math.PI * whlRad;
 
-    // this is an approximation assumes mass is evenly spread over robot
-    double MOI = (massKG * config.kinematics.wheelbaseWidth * config.kinematics.wheelbaseWidth + config.kinematics.wheelbaseLength * config.kinematics.wheelbaseLength) / 12;
+    // MOI = mass * (width^2 + length^2) / 12, with 1.5x multiplier to account for
+    // concentrated perimeter mass (swerve modules, bumpers, battery)
+    double MOI = 1.5 * massKG * (config.kinematics.wheelbaseWidth * config.kinematics.wheelbaseWidth + config.kinematics.wheelbaseLength * config.kinematics.wheelbaseLength) / 12;
 
     boolean isAllowedToPathPlannerPath = false;
 
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index 5aa9d9e..b3ccaeb 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -345,9 +345,9 @@ subsystems:
             wheelCOF: 1.7
         constants:
             translationKp: 3
-            rotationKp: 4
-            rotationKi: 0.2
-            rotationKd: 0.4
+            rotationKp: 5
+            rotationKi: 0.02
+            rotationKd: 0.8
 
 autopathing:
     paths:

From ba150ac7680c82a2a4fcc56387f199f0462e8f53 Mon Sep 17 00:00:00 2001
From: Jack Beatty <jackbeattydev@gmail.com>
Date: Fri, 27 Feb 2026 18:47:37 -0600
Subject: [PATCH 25/28] Created a there and back auto path

---
 src/main/deploy/choreo/FuelToTopGate.traj     | 113 +++++++++++++++
 src/main/deploy/choreo/Straight90Turn.traj    | 113 +++++++++------
 .../deploy/choreo/Top Start To Depot End.chor |   4 +-
 src/main/deploy/choreo/TopGateToFuel.traj     | 130 +++++++++---------
 .../pathplanner/autos/There n Back.auto       |  31 +++++
 5 files changed, 285 insertions(+), 106 deletions(-)
 create mode 100644 src/main/deploy/choreo/FuelToTopGate.traj
 create mode 100644 src/main/deploy/pathplanner/autos/There n Back.auto

diff --git a/src/main/deploy/choreo/FuelToTopGate.traj b/src/main/deploy/choreo/FuelToTopGate.traj
new file mode 100644
index 0000000..6fea8d6
--- /dev/null
+++ b/src/main/deploy/choreo/FuelToTopGate.traj
@@ -0,0 +1,113 @@
+{
+ "name":"FuelToTopGate",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.179059982299805, "y":6.802180290222168, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":6.535889625549316, "y":7.133510112762451, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":2, "to":1, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.179059982299805 m", "val":7.179059982299805}, "y":{"exp":"6.802180290222168 m", "val":6.802180290222168}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"7.133510112762451 m", "val":7.133510112762451}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
+    {"from":2, "to":1, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.302006,
+    "y":0.302006
+   },
+   "backLeft":{
+    "x":-0.302006,
+    "y":0.302006
+   },
+   "mass":27.2155422,
+   "inertia":1.65,
+   "gearing":6.03,
+   "radius":0.049657,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.38164,0.69431,0.99541,1.9347],
+  "samples":[
+    {"t":0.0, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.82551, "ay":3.38793, "alpha":110.80174, "fx":[40.95232,-75.01204,-108.20158,92.579], "fy":[105.56221,84.8483,-33.29219,-64.91409]},
+    {"t":0.0424, "x":8.02576, "y":5.71379, "heading":-1.5708, "vx":-0.07741, "vy":0.14366, "omega":4.69854, "ax":-4.97611, "ay":15.60726, "alpha":-8.6844, "fx":[-48.50389,-25.65791,-20.85679,-40.40903], "fy":[100.9484,108.90722,110.208,104.69634]},
+    {"t":0.08481, "x":8.018, "y":5.73391, "heading":-1.37156, "vx":-0.28842, "vy":0.80549, "omega":4.33028, "ax":-6.8985, "ay":13.53088, "alpha":-30.74614, "fx":[-92.34795,-11.17996,-17.00349,-67.21493], "fy":[60.52172,108.63887,110.05731,89.03242]},
+    {"t":0.12721, "x":7.99957, "y":5.78023, "heading":-1.18793, "vx":-0.58095, "vy":1.37927, "omega":3.02649, "ax":-10.46605, "ay":9.52664, "alpha":-33.84166, "fx":[-104.71826,-46.48976,-44.20742,-89.42369], "fy":[13.66937,86.54652,97.86163,61.19515]},
+    {"t":0.16962, "x":7.96553, "y":5.84729, "heading":-1.05959, "vx":-1.02476, "vy":1.78324, "omega":1.59144, "ax":-8.06544, "ay":3.59077, "alpha":-21.72053, "fx":[-64.42253,-38.46265,-47.06136,-69.5589], "fy":[-0.91802,22.4258,48.89278,27.32429]},
+    {"t":0.21202, "x":7.91482, "y":5.92613, "heading":-0.99211, "vx":-1.36678, "vy":1.93551, "omega":0.67038, "ax":-1.41781, "ay":0.2465, "alpha":-2.98103, "fx":[-10.24661,-6.84406,-9.05859,-12.43716], "fy":[-1.16037,1.08753,4.5177,2.26383]},
+    {"t":0.25443, "x":7.85559, "y":6.00843, "heading":-0.96368, "vx":-1.4269, "vy":1.94596, "omega":0.54397, "ax":-0.68526, "ay":-0.09922, "alpha":-0.88147, "fx":[-4.81307,-3.8257,-4.51228,-5.49873], "fy":[-1.5141,-0.82693,0.16418,-0.5235]},
+    {"t":0.29683, "x":7.79446, "y":6.09086, "heading":-0.94061, "vx":-1.45596, "vy":1.94175, "omega":0.50659, "ax":-0.88845, "ay":-0.23163, "alpha":-1.04008, "fx":[-6.19893,-5.05449,-5.89172,-7.03452], "fy":[-2.57056,-1.73365,-0.58093,-1.4189]},
+    {"t":0.33924, "x":7.73192, "y":6.17299, "heading":-0.91913, "vx":-1.49363, "vy":1.93193, "omega":0.46249, "ax":-2.53067, "ay":1.72047, "alpha":-9.34676, "fx":[-18.80898,-8.29661,-15.8688,-25.89919], "fy":[2.56383,10.81923,20.74789,12.6925]},
+    {"t":0.38164, "x":7.66631, "y":6.25646, "heading":-0.89952, "vx":-1.60095, "vy":2.00489, "omega":0.06614, "ax":2.02631, "ay":-2.22158, "alpha":9.65628, "fx":[15.27022,4.41089,12.5355,22.93043], "fy":[-5.76129,-14.44187,-24.30384,-15.95458]},
+    {"t":0.41639, "x":7.61191, "y":6.32477, "heading":-0.89722, "vx":-1.53055, "vy":1.92771, "omega":0.40161, "ax":-0.3443, "ay":-0.81301, "alpha":1.29964, "fx":[-2.2049,-3.59252,-2.48049,-1.09234], "fy":[-4.28622,-5.39004,-6.77553,-5.6746]},
+    {"t":0.45113, "x":7.55853, "y":6.39125, "heading":-0.88327, "vx":-1.54251, "vy":1.89946, "omega":0.44676, "ax":-0.35561, "ay":-0.90693, "alpha":1.4505, "fx":[-2.28576,-3.81735,-2.55362,-1.0213], "fy":[-4.77928,-6.03193,-7.56008,-6.31138]},
+    {"t":0.48587, "x":7.50473, "y":6.45669, "heading":-0.86775, "vx":-1.55487, "vy":1.86795, "omega":0.49715, "ax":-0.25345, "ay":-1.14992, "alpha":2.16538, "fx":[-1.55621,-3.81836,-1.89301,0.36976], "fy":[-5.74676,-7.651,-9.89569,-8.0022]},
+    {"t":0.52061, "x":7.45056, "y":6.52089, "heading":-0.85048, "vx":-1.56367, "vy":1.82801, "omega":0.57238, "ax":-0.11904, "ay":-1.54878, "alpha":3.27195, "fx":[-0.60649,-3.99109,-1.01259,2.37033], "fy":[-7.40363,-10.33782,-13.65584,-10.75361]},
+    {"t":0.55535, "x":7.39616, "y":6.58347, "heading":-0.83059, "vx":-1.56781, "vy":1.7742, "omega":0.68605, "ax":0.07322, "ay":-2.21849, "alpha":5.03779, "fx":[0.73114,-4.45136,0.27229,5.4406], "fy":[-10.29292,-14.91032,-19.84336,-15.33067]},
+    {"t":0.59009, "x":7.34174, "y":6.64377, "heading":-0.80676, "vx":-1.56526, "vy":1.69713, "omega":0.86107, "ax":0.36347, "ay":-3.14407, "alpha":7.39316, "fx":[2.70525,-4.9279,2.27118,9.84338], "fy":[-14.42404,-21.37966,-28.20792,-21.55592]},
+    {"t":0.62483, "x":7.28758, "y":6.70083, "heading":-0.77684, "vx":-1.55264, "vy":1.5879, "omega":1.11791, "ax":0.62349, "ay":-3.88598, "alpha":8.98247, "fx":[4.34508,-4.9153,4.19628,13.34258], "fy":[-18.08649,-26.79382,-34.5289,-26.34978]},
+    {"t":0.65957, "x":7.23402, "y":6.75365, "heading":-0.73801, "vx":-1.53098, "vy":1.45289, "omega":1.42998, "ax":-2.93197, "ay":-3.22008, "alpha":0.35933, "fx":[-19.98915,-20.29635,-19.90892,-19.60084], "fy":[-21.56332,-21.90201,-22.25442,-21.91653]},
+    {"t":0.69431, "x":7.17906, "y":6.80218, "heading":-0.68833, "vx":-1.63284, "vy":1.34103, "omega":1.44246, "ax":-11.01264, "ay":-5.69455, "alpha":-19.13611, "fx":[-66.5151,-62.23919,-84.80844,-86.15232], "fy":[-61.35594,-47.56202,-11.50657,-34.5558]},
+    {"t":0.72777, "x":7.11827, "y":6.84386, "heading":-0.64007, "vx":-2.00127, "vy":1.15051, "omega":0.80226, "ax":-5.17335, "ay":-1.33873, "alpha":-11.33081, "fx":[-33.46917,-25.14982,-37.42711,-44.74947], "fy":[-20.94743,-7.94002,2.76646,-10.31337]},
+    {"t":0.76122, "x":7.04842, "y":6.8816, "heading":-0.61323, "vx":-2.17434, "vy":1.10573, "omega":0.42318, "ax":-0.77646, "ay":-0.19066, "alpha":-1.67264, "fx":[-5.00616,-3.6938,-5.56188,-6.86986], "fy":[-2.89249,-1.02155,0.29776,-1.57273]},
+    {"t":0.79468, "x":6.97524, "y":6.91848, "heading":-0.59907, "vx":-2.20032, "vy":1.09935, "omega":0.36722, "ax":-0.05765, "ay":0.02098, "alpha":-0.08029, "fx":[-0.37787,-0.31601,-0.40656,-0.46842], "fy":[0.06657,0.15712,0.21897,0.12842]},
+    {"t":0.82814, "x":6.9016, "y":6.95528, "heading":-0.58679, "vx":-2.20225, "vy":1.10005, "omega":0.36454, "ax":0.03668, "ay":0.05129, "alpha":0.13282, "fx":[0.22423,0.12381,0.27491,0.37532], "fy":[0.47474,0.32365,0.22323,0.37432]},
+    {"t":0.86159, "x":6.82794, "y":6.99211, "heading":-0.57459, "vx":-2.20102, "vy":1.10176, "omega":0.36898, "ax":0.05015, "ay":0.05342, "alpha":0.17155, "fx":[0.30654,0.17921,0.37591,0.50324], "fy":[0.5255,0.32881,0.20147,0.39816]},
+    {"t":0.89505, "x":6.75434, "y":7.029, "heading":-0.56225, "vx":-2.19934, "vy":1.10355, "omega":0.37472, "ax":0.06023, "ay":0.03757, "alpha":0.22473, "fx":[0.36175,0.19815,0.45787,0.62147], "fy":[0.46731,0.20759,0.04398,0.3037]},
+    {"t":0.9285, "x":6.68079, "y":7.06594, "heading":-0.54971, "vx":-2.19733, "vy":1.10481, "omega":0.38224, "ax":0.24778, "ay":-0.45195, "alpha":1.33981, "fx":[1.38455,0.42671,1.98717,2.94495], "fy":[-1.81722,-3.3785,-4.33189,-2.77243]},
+    {"t":0.96196, "x":6.60742, "y":7.10265, "heading":-0.53692, "vx":-2.18904, "vy":1.08969, "omega":0.42706, "ax":3.05075, "ay":-9.99116, "alpha":17.55002, "fx":[19.03542,-1.99226,22.83568,43.14889], "fy":[-57.51799,-74.49067,-78.1341,-61.77207]},
+    {"t":0.99541, "x":6.53589, "y":7.13351, "heading":-0.52263, "vx":-2.08697, "vy":0.75543, "omega":1.0142, "ax":-9.86384, "ay":-8.22522, "alpha":-21.06096, "fx":[-53.24774,-50.47812,-84.36836,-80.35563], "fy":[-77.71485,-65.23569,-28.30745,-52.59574]},
+    {"t":1.04238, "x":6.427, "y":7.15992, "heading":-0.475, "vx":-2.55023, "vy":0.36914, "omega":0.02508, "ax":-0.08573, "ay":-0.48894, "alpha":-0.04637, "fx":[-0.56959,-0.54062,-0.59701,-0.62598], "fy":[-3.36928,-3.313,-3.28404,-3.34032]},
+    {"t":1.08934, "x":6.30713, "y":7.17671, "heading":-0.47382, "vx":-2.55425, "vy":0.34618, "omega":0.0229, "ax":0.00004, "ay":0.00012, "alpha":0.00031, "fx":[0.00019,-0.00001,0.00035,0.00056], "fy":[0.00107,0.00071,0.0005,0.00087]},
+    {"t":1.13631, "x":6.18717, "y":7.19297, "heading":-0.47275, "vx":-2.55425, "vy":0.34618, "omega":0.02292, "ax":0.00136, "ay":0.00927, "alpha":0.00056, "fx":[0.00911,0.00876,0.00943,0.00978], "fy":[0.06361,0.06294,0.06258,0.06326]},
+    {"t":1.18327, "x":6.06722, "y":7.20924, "heading":-0.47167, "vx":-2.55419, "vy":0.34662, "omega":0.02294, "ax":0.00143, "ay":0.00977, "alpha":0.00057, "fx":[0.00958,0.00924,0.00993,0.01027], "fy":[0.06702,0.06632,0.06598,0.06667]},
+    {"t":1.23023, "x":5.94726, "y":7.22553, "heading":-0.4706, "vx":-2.55412, "vy":0.34708, "omega":0.02297, "ax":0.00149, "ay":0.01015, "alpha":0.00057, "fx":[0.00995,0.0096,0.01029,0.01064], "fy":[0.06957,0.06887,0.06852,0.06922]},
+    {"t":1.2772, "x":5.82731, "y":7.24184, "heading":-0.46952, "vx":-2.55405, "vy":0.34755, "omega":0.023, "ax":0.00155, "ay":0.01055, "alpha":0.00057, "fx":[0.01031,0.00999,0.01071,0.01103], "fy":[0.07233,0.07161,0.07129,0.07201]},
+    {"t":1.32416, "x":5.70736, "y":7.25818, "heading":-0.46844, "vx":-2.55398, "vy":0.34805, "omega":0.02302, "ax":0.00161, "ay":0.011, "alpha":0.00058, "fx":[0.01073,0.01043,0.01116,0.01146], "fy":[0.07538,0.07465,0.07435,0.07508]},
+    {"t":1.37113, "x":5.58742, "y":7.27453, "heading":-0.46735, "vx":-2.5539, "vy":0.34856, "omega":0.02305, "ax":0.00168, "ay":0.0115, "alpha":0.00058, "fx":[0.01119,0.01091,0.01166,0.01194], "fy":[0.07877,0.07802,0.07774,0.0785]},
+    {"t":1.41809, "x":5.46747, "y":7.29092, "heading":-0.46627, "vx":-2.55382, "vy":0.3491, "omega":0.02308, "ax":0.00176, "ay":0.01206, "alpha":0.00059, "fx":[0.01171,0.01145,0.01221,0.01248], "fy":[0.08257,0.08181,0.08154,0.08231]},
+    {"t":1.46506, "x":5.34754, "y":7.30733, "heading":-0.46519, "vx":-2.55374, "vy":0.34967, "omega":0.02311, "ax":0.00185, "ay":0.01269, "alpha":0.00059, "fx":[0.0123,0.01205,0.01283,0.01308], "fy":[0.08687,0.08609,0.08584,0.08662]},
+    {"t":1.51202, "x":5.2276, "y":7.32376, "heading":-0.4641, "vx":-2.55365, "vy":0.35027, "omega":0.02313, "ax":0.00195, "ay":0.01341, "alpha":0.00059, "fx":[0.01299,0.01274,0.01353,0.01377], "fy":[0.09178,0.091,0.09076,0.09154]},
+    {"t":1.55899, "x":5.10767, "y":7.34023, "heading":-0.46302, "vx":-2.55356, "vy":0.3509, "omega":0.02316, "ax":0.00207, "ay":0.01426, "alpha":0.0006, "fx":[0.01385,0.01353,0.01429,0.0146], "fy":[0.09758,0.09683,0.09651,0.09727]},
+    {"t":1.60595, "x":4.98775, "y":7.35672, "heading":-0.46193, "vx":-2.55346, "vy":0.35157, "omega":0.02319, "ax":0.0023, "ay":0.0159, "alpha":0.00062, "fx":[0.01541,0.01512,0.01591,0.0162], "fy":[0.10874,0.10795,0.10766,0.10845]},
+    {"t":1.65292, "x":4.86783, "y":7.37325, "heading":-0.46084, "vx":-2.55336, "vy":0.35231, "omega":0.02322, "ax":0.00817, "ay":0.05324, "alpha":0.00258, "fx":[0.05488,0.05322,0.05634,0.05799], "fy":[0.36464,0.36153,0.35987,0.36298]},
+    {"t":1.69988, "x":4.74792, "y":7.38986, "heading":-0.45975, "vx":-2.55297, "vy":0.35481, "omega":0.02334, "ax":1.09691, "ay":1.9101, "alpha":2.10235, "fx":[6.78336,5.52785,8.15212,9.38966], "fy":[14.91078,12.3832,11.07755,13.61286]},
+    {"t":1.74685, "x":4.62923, "y":7.40863, "heading":-0.45865, "vx":-2.50146, "vy":0.44452, "omega":0.12208, "ax":14.42978, "ay":1.30251, "alpha":37.00421, "fx":[78.46443,102.66475,102.54688,109.03833], "fy":[77.9422,-23.36178,-42.59649,23.46472]},
+    {"t":1.79381, "x":4.52767, "y":7.43094, "heading":-0.45292, "vx":-1.82377, "vy":0.50569, "omega":1.85996, "ax":14.55812, "ay":-2.69523, "alpha":38.63495, "fx":[99.92434,87.16216,96.52783,112.59276], "fy":[50.82867,-69.28759,-57.86624,2.97315]},
+    {"t":1.84077, "x":4.45807, "y":7.45172, "heading":-0.36557, "vx":-1.14005, "vy":0.37911, "omega":3.67444, "ax":15.29024, "ay":-6.15946, "alpha":9.26246, "fx":[108.94135,98.59171,100.17014,108.42892], "fy":[-29.24522,-54.80663,-52.09841,-31.48274]},
+    {"t":1.88774, "x":4.42139, "y":7.46273, "heading":-0.193, "vx":-0.42195, "vy":0.08984, "omega":4.10945, "ax":8.98442, "ay":-1.91286, "alpha":-87.50094, "fx":[90.95939,110.63,43.75012,-0.82359], "fy":[-67.47889,24.24143,104.30794,-113.13002]},
+    {"t":1.9347, "x":4.41148, "y":7.46484, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Straight90Turn.traj b/src/main/deploy/choreo/Straight90Turn.traj
index f706e53..ed621f8 100644
--- a/src/main/deploy/choreo/Straight90Turn.traj
+++ b/src/main/deploy/choreo/Straight90Turn.traj
@@ -3,24 +3,26 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.0, "y":7.5, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.0, "y":7.5, "heading":0.0, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.0, "y":7.5, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4 m", "val":4.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7 m", "val":7.0}, "y":{"exp":"7.5 m", "val":7.5}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"1 rad / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -37,9 +39,9 @@
     "y":0.302006
    },
    "mass":27.2155422,
-   "inertia":6.0,
+   "inertia":1.65,
    "gearing":6.03,
-   "radius":0.049377599999999994,
+   "radius":0.049657,
    "vmax":314.1592653589793,
    "tmax":3.5,
    "cof":1.7,
@@ -51,40 +53,73 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.54524],
+  "waypoints":[0.0,1.59637],
   "samples":[
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-    {"t":0.04985, "x":4.01764, "y":7.50098, "heading":0.0, "vx":0.70794, "vy":0.03933, "omega":-0.65472, "ax":14.19719, "ay":0.76437, "alpha":-13.09648, "fx":[109.19114,106.41363,80.24538,90.53403], "fy":[-29.75445,38.5384,79.54513,-67.52639]},
-    {"t":0.09969, "x":4.07057, "y":7.50389, "heading":-0.03264, "vx":1.41562, "vy":0.07743, "omega":-1.30753, "ax":12.2546, "ay":-5.10232, "alpha":-6.12492, "fx":[86.19519,96.68322,85.13892,65.4984], "fy":[-48.4818,-10.44963,-14.37627,-65.55461]},
-    {"t":0.14954, "x":4.15636, "y":7.50141, "heading":-0.09781, "vx":2.02647, "vy":-0.1769, "omega":-1.61284, "ax":3.23516, "ay":2.11265, "alpha":10.78006, "fx":[-0.8302,-7.55775,48.32322,48.11142], "fy":[46.94929,-11.06886,-14.35077,35.96728]},
-    {"t":0.19939, "x":4.26139, "y":7.49522, "heading":-0.17821, "vx":2.18773, "vy":-0.07159, "omega":-1.07549, "ax":4.76184, "ay":3.21228, "alpha":13.79399, "fx":[7.33468,-8.86002,66.28019,64.84126], "fy":[67.77622,-7.23751,-17.5961,44.48124]},
-    {"t":0.24923, "x":4.37636, "y":7.49564, "heading":-0.23181, "vx":2.42509, "vy":0.08853, "omega":-0.38791, "ax":1.25565, "ay":0.80125, "alpha":3.50369, "fx":[2.12182,-1.94494,15.16507,18.8312], "fy":[16.05797,-1.02512,-5.03514,11.80876]},
-    {"t":0.29908, "x":4.4988, "y":7.50105, "heading":-0.25115, "vx":2.48768, "vy":0.12847, "omega":-0.21326, "ax":-1.46888, "ay":-0.6939, "alpha":-3.92122, "fx":[-3.06812,1.86787,-17.17608,-21.6001], "fy":[-16.78628,2.34373,7.15565,-11.59791]},
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-    {"t":0.39877, "x":4.73421, "y":7.50814, "heading":-0.28215, "vx":2.12901, "vy":-0.03183, "omega":-1.1617, "ax":-6.64921, "ay":-2.07564, "alpha":-16.47034, "fx":[-23.92255,4.47566,-78.35674,-83.15821], "fy":[-77.8781,24.58125,34.41073,-37.60344]},
-    {"t":0.44862, "x":4.83208, "y":7.50397, "heading":-0.34006, "vx":1.79757, "vy":-0.13529, "omega":-1.98269, "ax":-6.35236, "ay":-0.53273, "alpha":-14.20651, "fx":[-28.35333,0.01645,-65.81942,-78.72665], "fy":[-60.03549,28.68782,39.8239,-22.97481]},
-    {"t":0.49846, "x":4.91379, "y":7.49657, "heading":-0.43889, "vx":1.48092, "vy":-0.16185, "omega":-2.69083, "ax":-1.41459, "ay":2.23669, "alpha":-1.46666, "fx":[-7.96364,-4.69136,-11.27949,-14.56423], "fy":[10.42994,17.09386,19.93644,13.4124]},
-    {"t":0.54831, "x":4.98585, "y":7.49128, "heading":-0.57302, "vx":1.41041, "vy":-0.05036, "omega":-2.76394, "ax":2.70154, "ay":1.2998, "alpha":7.15236, "fx":[13.51834,-6.58133,25.11904,41.46778], "fy":[33.8621,4.13351,-16.31332,13.69258]},
-    {"t":0.59816, "x":5.05951, "y":7.49038, "heading":-0.71079, "vx":1.54507, "vy":0.01443, "omega":-2.40742, "ax":4.54206, "ay":0.12945, "alpha":10.65668, "fx":[30.98985,-7.13759,36.35032,63.4121], "fy":[40.6579,-2.46554,-38.07755,3.40822]},
-    {"t":0.648, "x":5.14217, "y":7.49126, "heading":-0.83079, "vx":1.77148, "vy":0.02089, "omega":-1.87622, "ax":4.30714, "ay":0.19997, "alpha":9.8775, "fx":[32.81357,-5.86901,30.37524,59.90142], "fy":[37.35693,3.76323,-35.48648,-0.19133]},
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+    {"t":0.0, "x":4.0, "y":7.5, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.14128, "ay":0.00292, "alpha":-40.07491, "fx":[100.671,100.66219,78.14357,78.17037], "fy":[-29.86297,29.89529,57.10881,-57.06165]},
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+    {"t":0.04989, "x":4.01678, "y":7.5, "heading":-0.02493, "vx":0.68982, "vy":0.00023, "omega":-0.9996, "ax":13.99525, "ay":0.00954, "alpha":0.0, "fx":[95.22205,95.22205,95.22205,95.22205], "fy":[0.06492,0.06492,0.06492,0.06492]},
+    {"t":0.07483, "x":4.03834, "y":7.50001, "heading":-0.04987, "vx":1.03891, "vy":0.00047, "omega":-0.9996, "ax":13.19858, "ay":0.01326, "alpha":0.0, "fx":[89.8016,89.8016,89.8016,89.8016], "fy":[0.09022,0.09022,0.09022,0.09022]},
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diff --git a/src/main/deploy/choreo/Top Start To Depot End.chor b/src/main/deploy/choreo/Top Start To Depot End.chor
index 437b441..4b659f9 100644
--- a/src/main/deploy/choreo/Top Start To Depot End.chor	
+++ b/src/main/deploy/choreo/Top Start To Depot End.chor	
@@ -187,8 +187,8 @@
    "val":27.2155422
   },
   "inertia":{
-   "exp":"6 kg m ^ 2",
-   "val":6.0
+   "exp":"1.65 kg m ^ 2",
+   "val":1.65
   },
   "gearing":{
    "exp":"6.03",
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index e0fd947..af454fc 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,30 +3,30 @@
  "version":3,
  "snapshot":{
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-    {"x":6.594359874725342, "y":7.075039863586426, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.315490245819092, "y":6.626769542694092, "heading":0.0, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.357858657836914, "y":7.244722366333008, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.179059982299805, "y":6.802180290222168, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true}],
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":false}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
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-    {"x":{"exp":"6.594359874725342 m", "val":6.594359874725342}, "y":{"exp":"7.075039863586426 m", "val":7.075039863586426}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.315490245819092 m", "val":7.315490245819092}, "y":{"exp":"6.626769542694092 m", "val":6.626769542694092}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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+    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.357858657836914 m", "val":6.357858657836914}, "y":{"exp":"7.244722366333008 m", "val":7.244722366333008}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.179059982299805 m", "val":7.179059982299805}, "y":{"exp":"6.802180290222168 m", "val":6.802180290222168}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":true}],
+    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":false}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -42,10 +42,10 @@
     "x":-0.302006,
     "y":0.302006
    },
-   "mass":33.56583538,
-   "inertia":6.0,
+   "mass":27.2155422,
+   "inertia":1.65,
    "gearing":6.03,
-   "radius":0.049377599999999994,
+   "radius":0.049657,
    "vmax":314.1592653589793,
    "tmax":3.5,
    "cof":1.7,
@@ -57,57 +57,57 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.97781,1.37622,1.58418,1.99103],
+  "waypoints":[0.0,0.86005,1.24993,1.55886,1.93822],
   "samples":[
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+    {"t":1.81177, "x":7.99406, "y":5.7843, "heading":-1.07677, "vx":0.73351, "vy":-1.3583, "omega":-2.9319, "ax":-9.36156, "ay":11.88739, "alpha":-33.09642, "fx":[-103.44672,-25.12148,-40.17935,-86.03229], "fy":[40.07676,107.39735,104.39931,71.64823]},
+    {"t":1.85392, "x":8.01666, "y":5.73761, "heading":-1.20035, "vx":0.33892, "vy":-0.85723, "omega":-4.32694, "ax":-6.01444, "ay":15.38266, "alpha":-3.19504, "fx":[-45.09576,-36.73609,-37.05357,-44.80078], "fy":[102.98602,106.2552,106.21713,103.18899]},
+    {"t":1.89607, "x":8.0256, "y":5.71514, "heading":-1.38274, "vx":0.0854, "vy":-0.20885, "omega":-4.46161, "ax":-2.02618, "ay":4.95473, "alpha":105.84912, "fx":[21.30595,-82.73469,-105.9104,112.19554], "fy":[111.20914,77.3304,-39.90083,-13.79297]},
+    {"t":1.93822, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/pathplanner/autos/There n Back.auto b/src/main/deploy/pathplanner/autos/There n Back.auto
new file mode 100644
index 0000000..a906d89
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/There n Back.auto	
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopGateToFuel"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "FuelToTopGate"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Choreo Autos",
+  "choreoAuto": true
+}
\ No newline at end of file

From 7fc7fcd5f004218b29a759b1a0fa4c9c6f84db59 Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Fri, 27 Feb 2026 20:57:23 -0600
Subject: [PATCH 26/28] Many tuning changes

---
 src/main/deploy/choreo/FuelToTopGate.traj | 101 +++++++--------------
 src/main/deploy/choreo/NewPath_copy6.traj |  86 ++++++++++++++++++
 src/main/deploy/choreo/Straight_Line.traj |   2 +-
 src/main/deploy/choreo/Sweep.traj         |   2 +-
 src/main/deploy/choreo/TopGateToFuel.traj | 102 +++++++---------------
 src/main/deploy/choreo/ZTLDR.chor         |  30 +++++--
 src/main/resources/yaml/zmule.yml         |   8 +-
 7 files changed, 176 insertions(+), 155 deletions(-)
 create mode 100644 src/main/deploy/choreo/NewPath_copy6.traj

diff --git a/src/main/deploy/choreo/FuelToTopGate.traj b/src/main/deploy/choreo/FuelToTopGate.traj
index 6fea8d6..d8c31a1 100644
--- a/src/main/deploy/choreo/FuelToTopGate.traj
+++ b/src/main/deploy/choreo/FuelToTopGate.traj
@@ -3,33 +3,29 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.179059982299805, "y":6.802180290222168, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":6.535889625549316, "y":7.133510112762451, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":7.98834981918335, "y":5.644197273254395, "heading":-1.3962634015954636, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.88070011138916, "y":6.470850467681885, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.001873970031738, "y":7.11126708984375, "heading":0.0, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":5.453551292419434, "y":7.460888385772705, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":2, "to":1, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":false}],
-  "targetDt":0.05
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
+  "targetDt":0.5
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.179059982299805 m", "val":7.179059982299805}, "y":{"exp":"6.802180290222168 m", "val":6.802180290222168}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"7.133510112762451 m", "val":7.133510112762451}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.3962634015954636}, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.88070011138916 m", "val":7.88070011138916}, "y":{"exp":"6.470850467681885 m", "val":6.470850467681885}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.001873970031738 m", "val":7.001873970031738}, "y":{"exp":"7.11126708984375 m", "val":7.11126708984375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"5.453551292419434 m", "val":5.453551292419434}, "y":{"exp":"7.460888385772705 m", "val":7.460888385772705}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopGateBlue.x", "val":4.411479949951172}, "y":{"exp":"TopGateBlue.y", "val":7.464839458465576}, "heading":{"exp":"TopGateBlue.heading", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
-    {"from":2, "to":1, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":false}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
   "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
+   "exp":"0.5 s",
+   "val":0.5
   }
  },
  "trajectory":{
@@ -43,9 +39,9 @@
     "y":0.302006
    },
    "mass":27.2155422,
-   "inertia":1.65,
+   "inertia":1.651,
    "gearing":6.03,
-   "radius":0.049657,
+   "radius":0.049377599999999994,
    "vmax":314.1592653589793,
    "tmax":3.5,
    "cof":1.7,
@@ -57,56 +53,21 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.38164,0.69431,0.99541,1.9347],
+  "waypoints":[0.0,0.48738,1.0446,1.7045,2.19178],
   "samples":[
-    {"t":0.0, "x":8.0274, "y":5.71074, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.82551, "ay":3.38793, "alpha":110.80174, "fx":[40.95232,-75.01204,-108.20158,92.579], "fy":[105.56221,84.8483,-33.29219,-64.91409]},
-    {"t":0.0424, "x":8.02576, "y":5.71379, "heading":-1.5708, "vx":-0.07741, "vy":0.14366, "omega":4.69854, "ax":-4.97611, "ay":15.60726, "alpha":-8.6844, "fx":[-48.50389,-25.65791,-20.85679,-40.40903], "fy":[100.9484,108.90722,110.208,104.69634]},
-    {"t":0.08481, "x":8.018, "y":5.73391, "heading":-1.37156, "vx":-0.28842, "vy":0.80549, "omega":4.33028, "ax":-6.8985, "ay":13.53088, "alpha":-30.74614, "fx":[-92.34795,-11.17996,-17.00349,-67.21493], "fy":[60.52172,108.63887,110.05731,89.03242]},
-    {"t":0.12721, "x":7.99957, "y":5.78023, "heading":-1.18793, "vx":-0.58095, "vy":1.37927, "omega":3.02649, "ax":-10.46605, "ay":9.52664, "alpha":-33.84166, "fx":[-104.71826,-46.48976,-44.20742,-89.42369], "fy":[13.66937,86.54652,97.86163,61.19515]},
-    {"t":0.16962, "x":7.96553, "y":5.84729, "heading":-1.05959, "vx":-1.02476, "vy":1.78324, "omega":1.59144, "ax":-8.06544, "ay":3.59077, "alpha":-21.72053, "fx":[-64.42253,-38.46265,-47.06136,-69.5589], "fy":[-0.91802,22.4258,48.89278,27.32429]},
-    {"t":0.21202, "x":7.91482, "y":5.92613, "heading":-0.99211, "vx":-1.36678, "vy":1.93551, "omega":0.67038, "ax":-1.41781, "ay":0.2465, "alpha":-2.98103, "fx":[-10.24661,-6.84406,-9.05859,-12.43716], "fy":[-1.16037,1.08753,4.5177,2.26383]},
-    {"t":0.25443, "x":7.85559, "y":6.00843, "heading":-0.96368, "vx":-1.4269, "vy":1.94596, "omega":0.54397, "ax":-0.68526, "ay":-0.09922, "alpha":-0.88147, "fx":[-4.81307,-3.8257,-4.51228,-5.49873], "fy":[-1.5141,-0.82693,0.16418,-0.5235]},
-    {"t":0.29683, "x":7.79446, "y":6.09086, "heading":-0.94061, "vx":-1.45596, "vy":1.94175, "omega":0.50659, "ax":-0.88845, "ay":-0.23163, "alpha":-1.04008, "fx":[-6.19893,-5.05449,-5.89172,-7.03452], "fy":[-2.57056,-1.73365,-0.58093,-1.4189]},
-    {"t":0.33924, "x":7.73192, "y":6.17299, "heading":-0.91913, "vx":-1.49363, "vy":1.93193, "omega":0.46249, "ax":-2.53067, "ay":1.72047, "alpha":-9.34676, "fx":[-18.80898,-8.29661,-15.8688,-25.89919], "fy":[2.56383,10.81923,20.74789,12.6925]},
-    {"t":0.38164, "x":7.66631, "y":6.25646, "heading":-0.89952, "vx":-1.60095, "vy":2.00489, "omega":0.06614, "ax":2.02631, "ay":-2.22158, "alpha":9.65628, "fx":[15.27022,4.41089,12.5355,22.93043], "fy":[-5.76129,-14.44187,-24.30384,-15.95458]},
-    {"t":0.41639, "x":7.61191, "y":6.32477, "heading":-0.89722, "vx":-1.53055, "vy":1.92771, "omega":0.40161, "ax":-0.3443, "ay":-0.81301, "alpha":1.29964, "fx":[-2.2049,-3.59252,-2.48049,-1.09234], "fy":[-4.28622,-5.39004,-6.77553,-5.6746]},
-    {"t":0.45113, "x":7.55853, "y":6.39125, "heading":-0.88327, "vx":-1.54251, "vy":1.89946, "omega":0.44676, "ax":-0.35561, "ay":-0.90693, "alpha":1.4505, "fx":[-2.28576,-3.81735,-2.55362,-1.0213], "fy":[-4.77928,-6.03193,-7.56008,-6.31138]},
-    {"t":0.48587, "x":7.50473, "y":6.45669, "heading":-0.86775, "vx":-1.55487, "vy":1.86795, "omega":0.49715, "ax":-0.25345, "ay":-1.14992, "alpha":2.16538, "fx":[-1.55621,-3.81836,-1.89301,0.36976], "fy":[-5.74676,-7.651,-9.89569,-8.0022]},
-    {"t":0.52061, "x":7.45056, "y":6.52089, "heading":-0.85048, "vx":-1.56367, "vy":1.82801, "omega":0.57238, "ax":-0.11904, "ay":-1.54878, "alpha":3.27195, "fx":[-0.60649,-3.99109,-1.01259,2.37033], "fy":[-7.40363,-10.33782,-13.65584,-10.75361]},
-    {"t":0.55535, "x":7.39616, "y":6.58347, "heading":-0.83059, "vx":-1.56781, "vy":1.7742, "omega":0.68605, "ax":0.07322, "ay":-2.21849, "alpha":5.03779, "fx":[0.73114,-4.45136,0.27229,5.4406], "fy":[-10.29292,-14.91032,-19.84336,-15.33067]},
-    {"t":0.59009, "x":7.34174, "y":6.64377, "heading":-0.80676, "vx":-1.56526, "vy":1.69713, "omega":0.86107, "ax":0.36347, "ay":-3.14407, "alpha":7.39316, "fx":[2.70525,-4.9279,2.27118,9.84338], "fy":[-14.42404,-21.37966,-28.20792,-21.55592]},
-    {"t":0.62483, "x":7.28758, "y":6.70083, "heading":-0.77684, "vx":-1.55264, "vy":1.5879, "omega":1.11791, "ax":0.62349, "ay":-3.88598, "alpha":8.98247, "fx":[4.34508,-4.9153,4.19628,13.34258], "fy":[-18.08649,-26.79382,-34.5289,-26.34978]},
-    {"t":0.65957, "x":7.23402, "y":6.75365, "heading":-0.73801, "vx":-1.53098, "vy":1.45289, "omega":1.42998, "ax":-2.93197, "ay":-3.22008, "alpha":0.35933, "fx":[-19.98915,-20.29635,-19.90892,-19.60084], "fy":[-21.56332,-21.90201,-22.25442,-21.91653]},
-    {"t":0.69431, "x":7.17906, "y":6.80218, "heading":-0.68833, "vx":-1.63284, "vy":1.34103, "omega":1.44246, "ax":-11.01264, "ay":-5.69455, "alpha":-19.13611, "fx":[-66.5151,-62.23919,-84.80844,-86.15232], "fy":[-61.35594,-47.56202,-11.50657,-34.5558]},
-    {"t":0.72777, "x":7.11827, "y":6.84386, "heading":-0.64007, "vx":-2.00127, "vy":1.15051, "omega":0.80226, "ax":-5.17335, "ay":-1.33873, "alpha":-11.33081, "fx":[-33.46917,-25.14982,-37.42711,-44.74947], "fy":[-20.94743,-7.94002,2.76646,-10.31337]},
-    {"t":0.76122, "x":7.04842, "y":6.8816, "heading":-0.61323, "vx":-2.17434, "vy":1.10573, "omega":0.42318, "ax":-0.77646, "ay":-0.19066, "alpha":-1.67264, "fx":[-5.00616,-3.6938,-5.56188,-6.86986], "fy":[-2.89249,-1.02155,0.29776,-1.57273]},
-    {"t":0.79468, "x":6.97524, "y":6.91848, "heading":-0.59907, "vx":-2.20032, "vy":1.09935, "omega":0.36722, "ax":-0.05765, "ay":0.02098, "alpha":-0.08029, "fx":[-0.37787,-0.31601,-0.40656,-0.46842], "fy":[0.06657,0.15712,0.21897,0.12842]},
-    {"t":0.82814, "x":6.9016, "y":6.95528, "heading":-0.58679, "vx":-2.20225, "vy":1.10005, "omega":0.36454, "ax":0.03668, "ay":0.05129, "alpha":0.13282, "fx":[0.22423,0.12381,0.27491,0.37532], "fy":[0.47474,0.32365,0.22323,0.37432]},
-    {"t":0.86159, "x":6.82794, "y":6.99211, "heading":-0.57459, "vx":-2.20102, "vy":1.10176, "omega":0.36898, "ax":0.05015, "ay":0.05342, "alpha":0.17155, "fx":[0.30654,0.17921,0.37591,0.50324], "fy":[0.5255,0.32881,0.20147,0.39816]},
-    {"t":0.89505, "x":6.75434, "y":7.029, "heading":-0.56225, "vx":-2.19934, "vy":1.10355, "omega":0.37472, "ax":0.06023, "ay":0.03757, "alpha":0.22473, "fx":[0.36175,0.19815,0.45787,0.62147], "fy":[0.46731,0.20759,0.04398,0.3037]},
-    {"t":0.9285, "x":6.68079, "y":7.06594, "heading":-0.54971, "vx":-2.19733, "vy":1.10481, "omega":0.38224, "ax":0.24778, "ay":-0.45195, "alpha":1.33981, "fx":[1.38455,0.42671,1.98717,2.94495], "fy":[-1.81722,-3.3785,-4.33189,-2.77243]},
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diff --git a/src/main/deploy/choreo/NewPath_copy6.traj b/src/main/deploy/choreo/NewPath_copy6.traj
new file mode 100644
index 0000000..159fa37
--- /dev/null
+++ b/src/main/deploy/choreo/NewPath_copy6.traj
@@ -0,0 +1,86 @@
+{
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+    {"t":3.8054, "x":6.9289, "y":7.1834, "heading":-1.13885, "vx":0.74122, "vy":-0.45253, "omega":-0.3147, "ax":-0.16009, "ay":-0.78943, "alpha":0.15215, "fx":[-1.20882,-1.29006,-0.96962,-0.88838], "fy":[-5.1703,-5.49076,-5.57202,-5.25156]},
+    {"t":4.04591, "x":7.10254, "y":7.05173, "heading":-1.21453, "vx":0.70272, "vy":-0.6424, "omega":-0.27811, "ax":-0.17026, "ay":-0.92723, "alpha":0.14138, "fx":[-1.09864,-1.28132,-1.21822,-1.03555], "fy":[-6.18586,-6.24897,-6.43168,-6.36857]},
+    {"t":4.28642, "x":7.26663, "y":6.87041, "heading":-1.28142, "vx":0.66177, "vy":-0.86541, "omega":-0.2441, "ax":-0.16966, "ay":-1.06636, "alpha":0.31916, "fx":[-1.15477,-1.50528,-1.15397,-0.80346], "fy":[-6.90447,-7.25579,-7.60633,-7.25501]},
+    {"t":4.52694, "x":7.42088, "y":6.63143, "heading":-1.34013, "vx":0.62096, "vy":-1.12188, "omega":-0.16734, "ax":-0.13064, "ay":-1.20799, "alpha":-0.0366, "fx":[-1.13001,-0.99665,-0.64765,-0.781], "fy":[-8.1112,-8.46022,-8.32688,-7.97787]},
+    {"t":4.76745, "x":7.56645, "y":6.32666, "heading":-1.38038, "vx":0.58954, "vy":-1.41242, "omega":-0.17614, "ax":-1.00623, "ay":0.99082, "alpha":-0.13985, "fx":[-6.84484,-6.68211,-6.84774,-7.01046], "fy":[6.57723,6.74285,6.90558,6.73996]},
+    {"t":4.99506, "x":7.67457, "y":6.03085, "heading":-1.42047, "vx":0.36052, "vy":-1.1869, "omega":-0.20797, "ax":-0.89287, "ay":0.95948, "alpha":0.19875, "fx":[-5.98557,-6.24769,-6.16441,-5.90229], "fy":[6.70092,6.61763,6.35552,6.43882]},
+    {"t":5.22266, "x":7.7335, "y":5.78556, "heading":-1.46781, "vx":0.15729, "vy":-0.96852, "omega":-0.16274, "ax":-0.5363, "ay":1.01076, "alpha":0.08354, "fx":[-3.53256,-3.65835,-3.76534,-3.63955], "fy":[6.88653,6.99359,6.8677,6.76064]},
+    {"t":5.45027, "x":7.75541, "y":5.5913, "heading":-1.50485, "vx":0.03523, "vy":-0.73846, "omega":-0.14372, "ax":-0.23358, "ay":1.04284, "alpha":0.22916, "fx":[-1.4075,-1.72429,-1.77105,-1.45427], "fy":[7.23046,7.27747,6.96032,6.91331]},
+    {"t":5.67787, "x":7.75738, "y":5.45023, "heading":-1.53756, "vx":-0.01794, "vy":-0.5011, "omega":-0.09157, "ax":0.00657, "ay":1.07483, "alpha":0.16302, "fx":[0.19019,-0.03455,-0.10083,0.12391], "fy":[7.39233,7.45924,7.23371,7.16681]},
+    {"t":5.90548, "x":7.75347, "y":5.36402, "heading":-1.5584, "vx":-0.01644, "vy":-0.25647, "omega":-0.05446, "ax":0.07224, "ay":1.1268, "alpha":0.23929, "fx":[0.66612,0.34043,0.3169,0.6426], "fy":[7.81785,7.84442,7.51536,7.48882]},
+    {"t":6.13308, "x":7.75159, "y":5.33483, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/Straight_Line.traj b/src/main/deploy/choreo/Straight_Line.traj
index 7d4aa0e..9671f86 100644
--- a/src/main/deploy/choreo/Straight_Line.traj
+++ b/src/main/deploy/choreo/Straight_Line.traj
@@ -33,7 +33,7 @@
     "y":0.302006
    },
    "mass":27.2155422,
-   "inertia":6.0,
+   "inertia":1.651,
    "gearing":6.03,
    "radius":0.049377599999999994,
    "vmax":314.1592653589793,
diff --git a/src/main/deploy/choreo/Sweep.traj b/src/main/deploy/choreo/Sweep.traj
index 0a0e651..2ee725e 100644
--- a/src/main/deploy/choreo/Sweep.traj
+++ b/src/main/deploy/choreo/Sweep.traj
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"TopFuelDown.x", "val":7.58834981918335}, "y":{"exp":"TopFuelDown.y", "val":6.3344197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":4.71238898038469}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.3962634015954636}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"BottomFuelDown.x", "val":7.58834981918335}, "y":{"exp":"BottomFuelDown.y", "val":1.8855873346328735}, "heading":{"exp":"BottomFuelDown.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index af454fc..81ad5c0 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,33 +3,29 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.357858657836914, "y":7.244722366333008, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.179059982299805, "y":6.802180290222168, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":6.256459712982178, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":8.02740097045898, "y":5.710739612579346, "heading":4.71238898038469, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.453551292419434, "y":7.460888385772705, "heading":0.0, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.001873970031738, "y":7.11126708984375, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.870933055877685, "y":6.3520894050598145, "heading":0.0, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.98834981918335, "y":5.644197273254395, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":8.036620140075684, "y":5.73022985458374, "tolerance":0.017453292519943295, "flip":false}}, "enabled":false}],
-  "targetDt":0.05
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
+  "targetDt":0.5
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.411479949951172 m", "val":4.411479949951172}, "y":{"exp":"7.464839458465576 m", "val":7.464839458465576}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.357858657836914 m", "val":6.357858657836914}, "y":{"exp":"7.244722366333008 m", "val":7.244722366333008}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.179059982299805 m", "val":7.179059982299805}, "y":{"exp":"6.802180290222168 m", "val":6.802180290222168}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"6.256459712982178 m", "val":6.256459712982178}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"TopEndFuel.x", "val":8.02740097045898}, "y":{"exp":"TopEndFuel.y", "val":5.710739612579346}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"TopGateBlue.x", "val":4.411479949951172}, "y":{"exp":"TopGateBlue.y", "val":7.464839458465576}, "heading":{"exp":"TopGateBlue.heading", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.453551292419434 m", "val":5.453551292419434}, "y":{"exp":"7.460888385772705 m", "val":7.460888385772705}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.001873970031738 m", "val":7.001873970031738}, "y":{"exp":"7.11126708984375 m", "val":7.11126708984375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.8709330558776855 m", "val":7.870933055877685}, "y":{"exp":"6.3520894050598145 m", "val":6.3520894050598145}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.3962634015954636}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true},
-    {"from":2, "to":3, "data":{"type":"PointAt", "props":{"x":{"exp":"8.036620140075684 m", "val":8.036620140075684}, "y":{"exp":"5.73022985458374 m", "val":5.73022985458374}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":false}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
   "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
+   "exp":"0.5 s",
+   "val":0.5
   }
  },
  "trajectory":{
@@ -43,9 +39,9 @@
     "y":0.302006
    },
    "mass":27.2155422,
-   "inertia":1.65,
+   "inertia":1.651,
    "gearing":6.03,
-   "radius":0.049657,
+   "radius":0.049377599999999994,
    "vmax":314.1592653589793,
    "tmax":3.5,
    "cof":1.7,
@@ -57,57 +53,21 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.86005,1.24993,1.55886,1.93822],
+  "waypoints":[0.0,0.80341,1.48365,2.08145,2.77219],
   "samples":[
-    {"t":0.0, "x":4.41148, "y":7.46484, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.29118, "ay":-0.61822, "alpha":-86.57615, "fx":[99.62363,106.33438,27.76246,19.14393], "fy":[-53.86965,38.96565,109.59897,-111.52011]},
-    {"t":0.04527, "x":4.421, "y":7.46421, "heading":0.0, "vx":0.42057, "vy":-0.02798, "omega":-3.91892, "ax":16.11513, "ay":-3.90741, "alpha":2.58926, "fx":[110.28397,108.58349,109.10085,110.6136], "fy":[-23.97212,-30.79874,-29.02208,-22.54934]},
-    {"t":0.09053, "x":4.45655, "y":7.45894, "heading":-0.17739, "vx":1.15003, "vy":-0.20486, "omega":-3.80172, "ax":14.34602, "ay":-3.78166, "alpha":39.08103, "fx":[106.84891,72.97155,98.0934,112.52088], "fy":[32.85847,-84.9474,-55.35948,4.52846]},
-    {"t":0.1358, "x":4.5233, "y":7.44579, "heading":-0.34948, "vx":1.79941, "vy":-0.37603, "omega":-2.03269, "ax":14.53614, "ay":0.31678, "alpha":38.92777, "fx":[84.01127,98.41532,103.70287,109.47953], "fy":[72.43264,-45.5664,-41.27902,23.03413]},
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-    {"t":0.27159, "x":4.84947, "y":7.40333, "heading":-0.45463, "vx":2.56597, "vy":-0.25667, "omega":-0.01959, "ax":0.00202, "ay":0.01956, "alpha":0.00042, "fx":[0.01364,0.01339,0.0139,0.01415], "fy":[0.13347,0.13296,0.1327,0.13322]},
-    {"t":0.31686, "x":4.96562, "y":7.39174, "heading":-0.45552, "vx":2.56606, "vy":-0.25578, "omega":-0.01958, "ax":0.00181, "ay":0.01748, "alpha":0.0004, "fx":[0.01216,0.01192,0.01241,0.01265], "fy":[0.1193,0.11881,0.11857,0.11906]},
-    {"t":0.36212, "x":5.08178, "y":7.38018, "heading":-0.45641, "vx":2.56615, "vy":-0.25499, "omega":-0.01956, "ax":0.00171, "ay":0.01653, "alpha":0.0004, "fx":[0.0115,0.01126,0.01174,0.01198], "fy":[0.11286,0.11237,0.11213,0.11262]},
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-    {"t":0.81478, "x":6.24348, "y":7.26596, "heading":-0.46522, "vx":2.56547, "vy":-0.26123, "omega":-0.01964, "ax":-1.71002, "ay":-9.18683, "alpha":-0.04104, "fx":[-11.61439,-11.58751,-11.65519,-11.68203], "fy":[-62.5341,-62.50156,-62.47811,-62.51067]},
-    {"t":0.86005, "x":6.35786, "y":7.24472, "heading":-0.46611, "vx":2.48806, "vy":-0.67708, "omega":-0.02149, "ax":-6.40128, "ay":-11.51786, "alpha":-6.45001, "fx":[-38.19731,-36.34682,-49.66264,-50.00759], "fy":[-83.14821,-80.41401,-73.14584,-76.75662]},
-    {"t":0.89549, "x":6.44202, "y":7.21349, "heading":-0.46687, "vx":2.26117, "vy":-1.08532, "omega":-0.25011, "ax":-1.23817, "ay":-0.9247, "alpha":-2.2937, "fx":[-7.71889,-6.32736,-9.13771,-10.51338], "fy":[-8.40616,-5.61356,-4.17677,-6.96971]},
-    {"t":0.93093, "x":6.52139, "y":7.17444, "heading":-0.47574, "vx":2.21729, "vy":-1.1181, "omega":-0.33141, "ax":-0.45997, "ay":-0.35011, "alpha":-0.76186, "fx":[-2.90479,-2.42909,-3.35472,-3.82976], "fy":[-3.08339,-2.15862,-1.68079,-2.60559]},
-    {"t":0.96638, "x":6.59969, "y":7.13459, "heading":-0.48749, "vx":2.20098, "vy":-1.13051, "omega":-0.35841, "ax":-0.4496, "ay":-0.29395, "alpha":-0.77607, "fx":[-2.83861,-2.34287,-3.27981,-3.77491], "fy":[-2.71702,-1.78056,-1.28295,-2.2194]},
-    {"t":1.00182, "x":6.67742, "y":7.09434, "heading":-0.50019, "vx":2.18505, "vy":-1.14092, "omega":-0.38592, "ax":-0.4446, "ay":-0.2303, "alpha":-0.81538, "fx":[-2.80315,-2.2697,-3.24718,-3.77997], "fy":[-2.32319,-1.34578,-0.81069,-1.78804]},
-    {"t":1.03727, "x":6.75459, "y":7.05375, "heading":-0.51387, "vx":2.16929, "vy":-1.14909, "omega":-0.41482, "ax":-0.46114, "ay":-0.17353, "alpha":-0.9045, "fx":[-2.9031,-2.29646,-3.37236,-3.97822], "fy":[-2.02297,-0.94667,-0.33845,-1.4146]},
-    {"t":1.07271, "x":6.83119, "y":7.01291, "heading":-0.52857, "vx":2.15294, "vy":-1.15524, "omega":-0.44688, "ax":-0.74459, "ay":-0.17749, "alpha":-1.63935, "fx":[-4.66422,-3.53704,-5.46998,-6.59327], "fy":[-2.74257,-0.80588,0.32673,-1.60884]},
-    {"t":1.10816, "x":6.90703, "y":6.97186, "heading":-0.54441, "vx":2.12655, "vy":-1.16153, "omega":-0.50498, "ax":-1.8118, "ay":-0.30093, "alpha":-4.28858, "fx":[-11.34959,-8.33965,-13.33541,-16.28434], "fy":[-6.12484,-1.0582,2.01959,-3.02651]},
-    {"t":1.1436, "x":6.98127, "y":6.9305, "heading":-0.56231, "vx":2.06234, "vy":-1.17219, "omega":-0.65699, "ax":-3.52719, "ay":-0.38387, "alpha":-8.51223, "fx":[-22.28699,-16.24538,-25.91735,-31.54464], "fy":[-11.03867,-0.74721,5.73187,-4.39313]},
-    {"t":1.17904, "x":7.05215, "y":6.88871, "heading":-0.58559, "vx":1.93732, "vy":-1.1858, "omega":-0.9587, "ax":-4.40138, "ay":-0.24357, "alpha":-10.39501, "fx":[-28.19627,-20.6171,-32.04997,-38.92263], "fy":[-12.26548,0.48469,8.78788,-3.63591]},
-    {"t":1.21449, "x":7.11805, "y":6.84653, "heading":-0.61957, "vx":1.78131, "vy":-1.19443, "omega":-1.32714, "ax":-3.38815, "ay":-3.20147, "alpha":-3.15007, "fx":[-22.33855,-20.08378,-23.80777,-25.98035], "fy":[-24.82349,-21.52472,-18.71743,-22.06406]},
-    {"t":1.24993, "x":7.17906, "y":6.80218, "heading":-0.66661, "vx":1.66122, "vy":-1.30791, "omega":-1.43879, "ax":-2.29381, "ay":-10.57199, "alpha":17.60681, "fx":[-23.08035,-37.02317,-10.9743,8.65054], "fy":[-60.74278,-70.6661,-82.50196,-73.81155]},
-    {"t":1.28426, "x":7.23473, "y":6.75106, "heading":-0.716, "vx":1.58249, "vy":-1.6708, "omega":-0.83443, "ax":0.02665, "ay":-3.56997, "alpha":7.65926, "fx":[-0.36463,-7.51951,0.69928,7.91027], "fy":[-17.1564,-24.87269,-31.24503,-23.8845]},
-    {"t":1.31858, "x":7.28907, "y":6.6916, "heading":-0.74464, "vx":1.5834, "vy":-1.79334, "omega":-0.57152, "ax":0.06096, "ay":-0.57574, "alpha":1.19548, "fx":[0.36796,-0.74028,0.46158,1.56978], "fy":[-2.76457,-3.96494,-5.06913,-3.87038]},
-    {"t":1.35291, "x":7.34345, "y":6.62971, "heading":-0.76426, "vx":1.5855, "vy":-1.8131, "omega":-0.53049, "ax":0.05899, "ay":-0.0753, "alpha":0.06844, "fx":[0.4,0.33531,0.40279,0.46747], "fy":[-0.44625,-0.51373,-0.57842,-0.51094]},
-    {"t":1.38723, "x":7.39791, "y":6.56743, "heading":-0.78247, "vx":1.58752, "vy":-1.81568, "omega":-0.52814, "ax":0.03269, "ay":-0.05525, "alpha":-0.02912, "fx":[0.22251,0.25056,0.22235,0.19431], "fy":[-0.40401,-0.37581,-0.34777,-0.37597]},
-    {"t":1.42156, "x":7.45242, "y":6.50507, "heading":-0.8006, "vx":1.58864, "vy":-1.81758, "omega":-0.52914, "ax":-0.02804, "ay":-0.16129, "alpha":0.10778, "fx":[-0.18921,-0.29489,-0.19237,-0.0867], "fy":[-0.99331,-1.0958,-1.20146,-1.09897]},
-    {"t":1.45588, "x":7.50694, "y":6.44259, "heading":-0.81876, "vx":1.58768, "vy":-1.82312, "omega":-0.52544, "ax":-0.14586, "ay":-0.31586, "alpha":0.26734, "fx":[-0.98388,-1.25053,-1.00094,-0.73428], "fy":[-1.89107,-2.14038,-2.40703,-2.15777]},
-    {"t":1.49021, "x":7.56135, "y":6.37982, "heading":-0.8368, "vx":1.58267, "vy":-1.83396, "omega":-0.51626, "ax":-0.50749, "ay":-0.09767, "alpha":-0.9313, "fx":[-3.49898,-2.55522,-3.40728,-4.35019], "fy":[-1.56352,-0.71117,0.2346,-0.61802]},
-    {"t":1.52454, "x":7.61538, "y":6.31681, "heading":-0.85452, "vx":1.56525, "vy":-1.83731, "omega":-0.54823, "ax":-4.74183, "ay":4.60688, "alpha":-19.81724, "fx":[-37.716,-12.32844,-29.00532,-50.0017], "fy":[11.03916,34.04464,49.74727,30.54759]},
-    {"t":1.55886, "x":7.66631, "y":6.25646, "heading":-0.87334, "vx":1.40249, "vy":-1.67918, "omega":-1.22846, "ax":1.40127, "ay":-6.32506, "alpha":17.51644, "fx":[12.89672,-9.95821,7.2271,27.97067], "fy":[-27.69073,-43.43991,-57.15875,-43.85045]},
-    {"t":1.60101, "x":7.72667, "y":6.18006, "heading":-0.92512, "vx":1.46155, "vy":-1.94578, "omega":-0.49013, "ax":-0.80161, "ay":-0.65328, "alpha":0.15641, "fx":[-5.43362,-5.60361,-5.47453,-5.30451], "fy":[-4.29518,-4.42321,-4.59443,-4.46644]},
-    {"t":1.64316, "x":7.78756, "y":6.09747, "heading":-0.94578, "vx":1.42776, "vy":-1.97332, "omega":-0.48354, "ax":-1.09256, "ay":-0.22159, "alpha":-1.39511, "fx":[-7.64653,-6.10772,-7.22261,-8.75775], "fy":[-2.8424,-1.72662,-0.17193,-1.28986]},
-    {"t":1.68531, "x":7.84677, "y":6.01409, "heading":-0.96616, "vx":1.38171, "vy":-1.98266, "omega":-0.54235, "ax":-1.57494, "ay":0.20805, "alpha":-3.24166, "fx":[-11.28869,-7.6564,-10.15836,-13.75943], "fy":[-1.69074,0.85315,4.52554,1.97422]},
-    {"t":1.72746, "x":7.90362, "y":5.93071, "heading":-0.98902, "vx":1.31533, "vy":-1.97389, "omega":-0.67898, "ax":-4.60476, "ay":3.9527, "alpha":-17.17477, "fx":[-37.52038,-15.00492,-26.69797,-46.09771], "fy":[9.49624,26.08801,43.4028,28.58785]},
-    {"t":1.76961, "x":7.95497, "y":5.85102, "heading":-1.01764, "vx":1.12123, "vy":-1.80728, "omega":-1.40291, "ax":-9.19843, "ay":10.6519, "alpha":-36.27439, "fx":[-100.43901,-20.8653,-41.71013,-87.32582], "fy":[27.31882,99.40506,99.39851,63.77491]},
-    {"t":1.81177, "x":7.99406, "y":5.7843, "heading":-1.07677, "vx":0.73351, "vy":-1.3583, "omega":-2.9319, "ax":-9.36156, "ay":11.88739, "alpha":-33.09642, "fx":[-103.44672,-25.12148,-40.17935,-86.03229], "fy":[40.07676,107.39735,104.39931,71.64823]},
-    {"t":1.85392, "x":8.01666, "y":5.73761, "heading":-1.20035, "vx":0.33892, "vy":-0.85723, "omega":-4.32694, "ax":-6.01444, "ay":15.38266, "alpha":-3.19504, "fx":[-45.09576,-36.73609,-37.05357,-44.80078], "fy":[102.98602,106.2552,106.21713,103.18899]},
-    {"t":1.89607, "x":8.0256, "y":5.71514, "heading":-1.38274, "vx":0.0854, "vy":-0.20885, "omega":-4.46161, "ax":-2.02618, "ay":4.95473, "alpha":105.84912, "fx":[21.30595,-82.73469,-105.9104,112.19554], "fy":[111.20914,77.3304,-39.90083,-13.79297]},
-    {"t":1.93822, "x":8.0274, "y":5.71074, "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]}],
+    {"t":0.0, "x":4.41148, "y":7.46484, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.69798, "ay":0.28765, "alpha":-0.49836, "fx":[25.50118,25.50121,24.82014,24.82012], "fy":[1.61659,2.29773,2.29771,1.61656]},
+    {"t":0.2678, "x":4.54409, "y":7.47515, "heading":0.0, "vx":0.99034, "vy":0.07703, "omega":-0.13346, "ax":2.87565, "ay":-0.25272, "alpha":-0.48307, "fx":[19.9026,19.88877,19.22862,19.24245], "fy":[-2.04272,-1.38246,-1.39624,-2.05651]},
+    {"t":0.53561, "x":4.91243, "y":7.48672, "heading":-0.03574, "vx":1.76045, "vy":0.00935, "omega":-0.26283, "ax":1.94284, "ay":-0.79028, "alpha":-0.58343, "fx":[13.58654,13.64689,12.85119,12.79084], "fy":[-5.80505,-5.00932,-4.94887,-5.7446]},
+    {"t":0.80341, "x":5.45355, "y":7.46089, "heading":-0.10613, "vx":2.28075, "vy":-0.20229, "omega":-0.41908, "ax":0.44664, "ay":-0.7863, "alpha":-0.21661, "fx":[3.14805,3.2198,2.92974,2.85798], "fy":[-5.53082,-5.24075,-5.16897,-5.45903]},
+    {"t":0.97347, "x":5.84787, "y":7.41512, "heading":-0.1774, "vx":2.35671, "vy":-0.336, "omega":-0.45591, "ax":-0.08705, "ay":-0.94704, "alpha":-0.39901, "fx":[-0.41869,-0.24326,-0.76582,-0.94124], "fy":[-6.79258,-6.27002,-6.09458,-6.61715]},
+    {"t":1.14353, "x":6.24739, "y":7.34428, "heading":-0.25493, "vx":2.3419, "vy":-0.49706, "omega":-0.52377, "ax":-0.59441, "ay":-1.06473, "alpha":-0.6352, "fx":[-3.84039,-3.45227,-4.24823,-4.63635], "fy":[-7.83632,-7.04034,-6.65223,-7.44821]},
+    {"t":1.31359, "x":6.63706, "y":7.24436, "heading":-0.344, "vx":2.24082, "vy":-0.67812, "omega":-0.63179, "ax":-1.12443, "ay":-1.22888, "alpha":-0.6434, "fx":[-7.52322,-7.02297,-7.77781,-8.27807], "fy":[-8.98872,-8.23386,-7.73364,-8.4885]},
+    {"t":1.48365, "x":7.00187, "y":7.11127, "heading":-0.45144, "vx":2.0496, "vy":-0.88711, "omega":-0.7412, "ax":-1.81706, "ay":-1.47065, "alpha":-0.55989, "fx":[-12.32695,-11.80292,-12.39922,-12.92325], "fy":[-10.56629,-9.96994,-9.44592,-10.04227]},
+    {"t":1.68292, "x":7.37422, "y":6.9053, "heading":-0.59914, "vx":1.68752, "vy":-1.18016, "omega":-0.85277, "ax":-2.16762, "ay":-1.14648, "alpha":-0.33568, "fx":[-14.7824,-14.41168,-14.71401,-15.08473], "fy":[-8.13714,-7.83482,-7.46395,-7.76627]},
+    {"t":1.88219, "x":7.66745, "y":6.64737, "heading":-0.76907, "vx":1.25558, "vy":-1.40861, "omega":-0.91966, "ax":-2.35276, "ay":-0.73487, "alpha":-0.6976, "fx":[-16.18719,-15.33076,-15.82869,-16.68512], "fy":[-5.67717,-5.17951,-4.32281,-4.82046]},
+    {"t":2.08145, "x":7.87093, "y":6.35209, "heading":-0.95233, "vx":0.78675, "vy":-1.55505, "omega":-1.05867, "ax":-2.43263, "ay":0.81915, "alpha":0.94563, "fx":[-16.20311,-17.41943,-16.89961,-15.68328], "fy":[6.44146,5.92169,4.70538,5.22516]},
+    {"t":2.42682, "x":7.99757, "y":5.86388, "heading":-1.31796, "vx":-0.0534, "vy":-1.27214, "omega":-0.73208, "ax":0.15463, "ay":3.68341, "alpha":2.11969, "fx":[2.26798,-0.60941,-0.16386,2.71353], "fy":[26.72284,26.2766,23.40019,23.84643]},
+    {"t":2.77219, "x":7.98835, "y":5.6442, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 1e67a7a..95db023 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -21,16 +21,30 @@
    },
    "TopFuelDown":{
     "x":{
-     "exp":"7.58834981918335 m",
-     "val":7.58834981918335
+     "exp":"7.98834981918335 m",
+     "val":7.98834981918335
     },
     "y":{
-     "exp":"6.3344197273254395 m",
-     "val":6.3344197273254395
+     "exp":"5.644197273254395 m",
+     "val":5.644197273254395
     },
     "heading":{
-     "exp":"270 deg",
-     "val":4.71238898038469
+     "exp":"-80 deg",
+     "val":-1.3962634015954636
+    }
+   },
+   "TopGateBlue":{
+    "x":{
+     "exp":"4.411479949951172 m",
+     "val":4.411479949951172
+    },
+    "y":{
+     "exp":"7.464839458465576 m",
+     "val":7.464839458465576
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
     }
    }
   }
@@ -61,8 +75,8 @@
    "val":27.2155422
   },
   "inertia":{
-   "exp":"6 kg m ^ 2",
-   "val":6.0
+   "exp":"1.651 kg m ^ 2",
+   "val":1.651
   },
   "gearing":{
    "exp":"6.03",
diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml
index b3ccaeb..b41af61 100644
--- a/src/main/resources/yaml/zmule.yml
+++ b/src/main/resources/yaml/zmule.yml
@@ -344,10 +344,10 @@ subsystems:
             maxAngularRate: 8.285 # rad/sec
             wheelCOF: 1.7
         constants:
-            translationKp: 3
-            rotationKp: 5
-            rotationKi: 0.02
-            rotationKd: 0.8
+            translationKp: 4
+            rotationKp: 3
+            rotationKi: 0
+            rotationKd: 0
 
 autopathing:
     paths:

From ed41ecc44cda5e39226e3d1186fc2ae7db77d28d Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Fri, 27 Feb 2026 23:06:15 -0600
Subject: [PATCH 27/28] Trajectories cleaned up

---
 src/main/deploy/choreo/BottomGateToFuel.traj  | 109 +++----
 src/main/deploy/choreo/FuelToTopGate.traj     |  63 ++--
 src/main/deploy/choreo/GateToFuelAndBack.traj |  98 +++++++
 src/main/deploy/choreo/NewPath.traj           | 142 +++++----
 src/main/deploy/choreo/NewPath_copy1.traj     | 136 ++++-----
 src/main/deploy/choreo/NewPath_copy2.traj     | 113 ++++---
 src/main/deploy/choreo/NewPath_copy3.traj     |  10 +-
 .../deploy/choreo/NewPath_copy3_copy1.traj    | 277 ++++++++----------
 src/main/deploy/choreo/NewPath_copy4.traj     | 192 ++++++------
 src/main/deploy/choreo/NewPath_copy5.traj     | 168 +++++------
 src/main/deploy/choreo/Straight90Turn.traj    | 132 ++++-----
 src/main/deploy/choreo/Sweep.traj             |  90 +++---
 src/main/deploy/choreo/TopGateToFuel.traj     |  81 +++--
 src/main/deploy/choreo/ZTLDR.chor             |  46 ++-
 src/main/deploy/pathplanner/settings.json     |   4 +-
 15 files changed, 875 insertions(+), 786 deletions(-)
 create mode 100644 src/main/deploy/choreo/GateToFuelAndBack.traj

diff --git a/src/main/deploy/choreo/BottomGateToFuel.traj b/src/main/deploy/choreo/BottomGateToFuel.traj
index 3e15a24..02ed251 100644
--- a/src/main/deploy/choreo/BottomGateToFuel.traj
+++ b/src/main/deploy/choreo/BottomGateToFuel.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.566978693008423, "y":0.6486854553222656, "heading":1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.582844257354736, "y":1.8706356287002563, "heading":0.0, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":3.566978693008423, "y":0.6486854553222656, "heading":1.5707963267948966, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.582844257354736, "y":1.8706356287002563, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":7.58834981918335, "y":2.023021697998047, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,35 +14,35 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"StartTopGate.x", "val":3.566978693008423}, "y":{"exp":"0.6486854553222656 m", "val":0.6486854553222656}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.582844257354736 m", "val":7.582844257354736}, "y":{"exp":"1.8706356287002563 m", "val":1.8706356287002563}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"StartTopGate.x", "val":3.566978693008423}, "y":{"exp":"0.6486854553222656 m", "val":0.6486854553222656}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-   "exp":"0.05 s",
-   "val":0.05
+   "exp":"0.09 s",
+   "val":0.09
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  "trajectory":{
   "config":{
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-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
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-    "y":0.2794
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@@ -51,43 +51,46 @@
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/FuelToTopGate.traj b/src/main/deploy/choreo/FuelToTopGate.traj
index d8c31a1..b81799a 100644
--- a/src/main/deploy/choreo/FuelToTopGate.traj
+++ b/src/main/deploy/choreo/FuelToTopGate.traj
@@ -3,29 +3,31 @@
  "version":3,
  "snapshot":{
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-    {"x":7.88070011138916, "y":6.470850467681885, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
-  "targetDt":0.5
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}],
+  "targetDt":0.2
  },
  "params":{
   "waypoints":[
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-    {"x":{"exp":"7.001873970031738 m", "val":7.001873970031738}, "y":{"exp":"7.11126708984375 m", "val":7.11126708984375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"5.453551292419434 m", "val":5.453551292419434}, "y":{"exp":"7.460888385772705 m", "val":7.460888385772705}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"TopGateBlue.x", "val":4.411479949951172}, "y":{"exp":"TopGateBlue.y", "val":7.464839458465576}, "heading":{"exp":"TopGateBlue.heading", "val":0.0}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.5707963267948966}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"WaypointC.x", "val":7.800933055877685}, "y":{"exp":"WaypointC.y", "val":6.3520894050598145}, "heading":{"exp":"WaypointC.heading", "val":-1.3962634015954636}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"WaypointB.x", "val":6.951873970031738}, "y":{"exp":"WaypointB.y", "val":7.11126708984375}, "heading":{"exp":"WaypointB.heading", "val":-0.7853981633974483}, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"WaypointA.x", "val":5.453551292419434}, "y":{"exp":"WaypointA.y", "val":7.48888385772705}, "heading":{"exp":"WaypointA.heading", "val":-0.08726646259971647}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopGateBlue.x", "val":4.411479949951172}, "y":{"exp":"TopGateBlue.y", "val":7.464839458465576}, "heading":{"exp":"TopGateBlue.heading", "val":0.0}, "intervals":12, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}],
   "targetDt":{
-   "exp":"0.5 s",
-   "val":0.5
+   "exp":"0.2 s",
+   "val":0.2
   }
  },
  "trajectory":{
@@ -53,21 +55,24 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.48738,1.0446,1.7045,2.19178],
+  "waypoints":[0.0,0.75085,1.33102,1.98316,2.74863],
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diff --git a/src/main/deploy/choreo/GateToFuelAndBack.traj b/src/main/deploy/choreo/GateToFuelAndBack.traj
new file mode 100644
index 0000000..8cf31e7
--- /dev/null
+++ b/src/main/deploy/choreo/GateToFuelAndBack.traj
@@ -0,0 +1,98 @@
+{
+ "name":"GateToFuelAndBack",
+ "version":3,
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+  "targetDt":0.5
+ },
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.5 s",
+   "val":0.5
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.302006,
+    "y":0.302006
+   },
+   "backLeft":{
+    "x":-0.302006,
+    "y":0.302006
+   },
+   "mass":27.2155422,
+   "inertia":1.651,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,2.32914,4.17215,5.71045,9.74603,10.09745,10.80405,11.97887,13.73779],
+  "samples":[
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+    {"t":13.15148, "x":4.54416, "y":7.46688, "heading":-0.14192, "vx":-0.45261, "vy":-0.00697, "omega":0.24206, "ax":0.77197, "ay":0.0119, "alpha":-0.41286, "fx":[5.50579,5.56104,4.9991,4.94379], "fy":[-0.22826,0.33377,0.39016,-0.17191]},
+    {"t":13.73779, "x":4.41148, "y":7.46484, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/NewPath.traj b/src/main/deploy/choreo/NewPath.traj
index 2dc42c9..227db39 100644
--- a/src/main/deploy/choreo/NewPath.traj
+++ b/src/main/deploy/choreo/NewPath.traj
@@ -3,9 +3,9 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":0.9422599077224731, "y":6.665750026702881, "heading":-2.440332634410412, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.6719498991966248, "y":6.1979899406433105, "heading":-2.440332634410412, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.021679878234863, "y":7.640250205993652, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.9422599077224731, "y":6.665750026702881, "heading":-2.440332634410412, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6719498991966248, "y":6.1979899406433105, "heading":-2.440332634410412, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":0.6719498991966248, "y":5.00940017700195, "heading":-2.440332634410412, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -16,9 +16,9 @@
  },
  "params":{
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+    {"t":8.55453, "x":0.67174, "y":5.02575, "heading":-2.63576, "vx":0.00228, "vy":-0.17693, "omega":1.05748, "ax":-0.01233, "ay":0.95742, "alpha":-5.7222, "fx":[-5.56986,-1.02148,5.40221,0.85344], "fy":[7.45193,1.03153,5.57705,11.99612]},
+    {"t":8.73933, "x":0.67195, "y":5.0094, "heading":-2.44033, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/NewPath_copy1.traj b/src/main/deploy/choreo/NewPath_copy1.traj
index c4cefa0..944be84 100644
--- a/src/main/deploy/choreo/NewPath_copy1.traj
+++ b/src/main/deploy/choreo/NewPath_copy1.traj
@@ -45,7 +45,7 @@
     "y":0.302006
    },
    "mass":27.2155422,
-   "inertia":6.0,
+   "inertia":1.651,
    "gearing":6.03,
    "radius":0.049377599999999994,
    "vmax":314.1592653589793,
@@ -59,74 +59,74 @@
    "differentialTrackWidth":0.5588
   },
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+    {"t":5.84835, "x":0.50861, "y":0.57462, "heading":3.13856, "vx":-0.70236, "vy":-0.19033, "omega":0.03121, "ax":7.23092, "ay":1.95951, "alpha":-0.32134, "fx":[48.94823,48.87524,49.44036,49.52962], "fy":[13.54449,13.24239,13.11769,13.42457]},
+    {"t":5.94549, "x":0.4745, "y":0.56538, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/NewPath_copy2.traj b/src/main/deploy/choreo/NewPath_copy2.traj
index f5d0581..544f4bb 100644
--- a/src/main/deploy/choreo/NewPath_copy2.traj
+++ b/src/main/deploy/choreo/NewPath_copy2.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.6719498991966248, "y":5.00940017700195, "heading":-2.440332634410412, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.0726799964904785, "y":4.5608296394348145, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":0.6719498991966248, "y":5.00940017700195, "heading":-2.440332634410412, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0726799964904785, "y":4.5608296394348145, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":1.507469892501831, "y":2.787239789962769, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,8 +14,8 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DepotEnd.x", "val":0.6719498991966248}, "y":{"exp":"DepotEnd.y", "val":5.00940017700195}, "heading":{"exp":"DepotEnd.heading", "val":-2.440332634410412}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.0726799964904785 m", "val":2.0726799964904785}, "y":{"exp":"4.5608296394348145 m", "val":4.5608296394348145}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"DepotEnd.x", "val":0.6719498991966248}, "y":{"exp":"DepotEnd.y", "val":5.00940017700195}, "heading":{"exp":"DepotEnd.heading", "val":-2.440332634410412}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.0726799964904785 m", "val":2.0726799964904785}, "y":{"exp":"4.5608296394348145 m", "val":4.5608296394348145}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"1.507469892501831 m", "val":1.507469892501831}, "y":{"exp":"2.7872397899627686 m", "val":2.787239789962769}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -29,20 +29,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
+   "mass":27.2155422,
+   "inertia":1.651,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -51,55 +51,42 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.69593,1.49349],
+  "waypoints":[0.0,0.67998,1.51315],
   "samples":[
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diff --git a/src/main/deploy/choreo/NewPath_copy3.traj b/src/main/deploy/choreo/NewPath_copy3.traj
index 2446c18..8230bc9 100644
--- a/src/main/deploy/choreo/NewPath_copy3.traj
+++ b/src/main/deploy/choreo/NewPath_copy3.traj
@@ -18,11 +18,11 @@
  },
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+    {"x":{"exp":"7.471410274505615 m", "val":7.471410274505615}, "y":{"exp":"6.1979899406433105 m", "val":6.1979899406433105}, "heading":{"exp":"-1.592069967439606 rad", "val":-1.592069967439606}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.802740573883057 m", "val":7.802740573883057}, "y":{"exp":"3.664289951324463 m", "val":3.664289951324463}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":13, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.802740097045898 m", "val":7.802740097045898}, "y":{"exp":"2.4753997325897217 m", "val":2.4753997325897217}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"CenterDownEnd.x", "val":7.568860054016113}, "y":{"exp":"CenterDownEnd.y", "val":1.5203896760940552}, "heading":{"exp":"CenterDownEnd.heading", "val":-2.259721068123533}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
diff --git a/src/main/deploy/choreo/NewPath_copy3_copy1.traj b/src/main/deploy/choreo/NewPath_copy3_copy1.traj
index dbd7691..1af14bf 100644
--- a/src/main/deploy/choreo/NewPath_copy3_copy1.traj
+++ b/src/main/deploy/choreo/NewPath_copy3_copy1.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":6.516400337219238, "y":0.8470001220703125, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.471410274505615, "y":1.8020100593566897, "heading":1.5495226861501872, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.6663103103637695, "y":5.165019989013672, "heading":0.0, "intervals":18, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.763760566711426, "y":4.093070030212402, "heading":0.0, "intervals":25, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.021679878234863, "y":0.5848698019981384, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.516400337219238, "y":0.8470001220703125, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.471410274505615, "y":1.8020100593566897, "heading":1.5495226861501872, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.6663103103637695, "y":5.165019989013672, "heading":0.0, "intervals":11, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.763760566711426, "y":4.093070030212402, "heading":0.0, "intervals":22, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
     {"x":7.568860054016113, "y":6.479610323905945, "heading":2.4526679122611568, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -18,11 +18,11 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"BottomStart.x", "val":4.021679878234863}, "y":{"exp":"BottomStart.y", "val":0.5848698019981384}, "heading":{"exp":"BottomStart.heading", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.516400337219238 m", "val":6.516400337219238}, "y":{"exp":"(8 - 7.1529998779296875) m", "val":0.8470001220703125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.471410274505615 m", "val":7.471410274505615}, "y":{"exp":"(8 - 6.1979899406433105) m", "val":1.8020100593566897}, "heading":{"exp":"((pi) - 1.592069967439606) rad", "val":1.5495226861501872}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"5.165019989013672 m", "val":5.165019989013672}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.763760566711426 m", "val":7.763760566711426}, "y":{"exp":"4.093070030212402 m", "val":4.093070030212402}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"BottomStart.x", "val":4.021679878234863}, "y":{"exp":"BottomStart.y", "val":0.5848698019981384}, "heading":{"exp":"BottomStart.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.516400337219238 m", "val":6.516400337219238}, "y":{"exp":"(8 - 7.1529998779296875) m", "val":0.8470001220703125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.471410274505615 m", "val":7.471410274505615}, "y":{"exp":"(8 - 6.1979899406433105) m", "val":1.8020100593566897}, "heading":{"exp":"((pi) - 1.592069967439606) rad", "val":1.5495226861501872}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.6663103103637695 m", "val":7.6663103103637695}, "y":{"exp":"5.165019989013672 m", "val":5.165019989013672}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.763760566711426 m", "val":7.763760566711426}, "y":{"exp":"4.093070030212402 m", "val":4.093070030212402}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"CenterUpEnd.x", "val":7.568860054016113}, "y":{"exp":"CenterUpEnd.y", "val":6.479610323905945}, "heading":{"exp":"CenterUpEnd.heading", "val":2.4526679122611568}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -37,20 +37,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
+   "mass":27.2155422,
+   "inertia":1.651,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -59,137 +59,112 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.8206,1.12138,1.41682,1.42057,2.39786],
+  "waypoints":[0.0,1.0893,1.76309,1.98229,1.98371,3.74618],
   "samples":[
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+    {"t":2.14393, "x":7.46182, "y":2.59721, "heading":2.13586, "vx":0.08146, "vy":2.56911, "omega":0.00382, "ax":0.00033, "ay":-0.00001, "alpha":0.0, "fx":[0.00225,0.00225,0.00225,0.00225], "fy":[-0.00008,-0.00008,-0.00008,-0.00008]},
+    {"t":2.22404, "x":7.46834, "y":2.80303, "heading":2.13616, "vx":0.08148, "vy":2.56911, "omega":0.00382, "ax":-0.00008, "ay":0.0, "alpha":0.0, "fx":[-0.00051,-0.00051,-0.00051,-0.00051], "fy":[0.00001,0.00001,0.00001,0.00001]},
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+    {"t":2.38427, "x":7.4814, "y":3.21466, "heading":2.13677, "vx":0.08147, "vy":2.56911, "omega":0.00382, "ax":-0.00008, "ay":0.0, "alpha":0.0, "fx":[-0.00056,-0.00057,-0.00056,-0.00056], "fy":[0.00002,0.00002,0.00001,0.00002]},
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+    {"t":2.54449, "x":7.49445, "y":3.6263, "heading":2.13739, "vx":0.08146, "vy":2.56911, "omega":0.00382, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.0006,-0.0006,-0.0006,-0.0006], "fy":[0.00002,0.00002,0.00002,0.00002]},
+    {"t":2.6246, "x":7.50098, "y":3.83212, "heading":2.13769, "vx":0.08145, "vy":2.56911, "omega":0.00382, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.00062,-0.00062,-0.00062,-0.00062], "fy":[0.00002,0.00002,0.00002,0.00002]},
+    {"t":2.70472, "x":7.5075, "y":4.03793, "heading":2.138, "vx":0.08144, "vy":2.56911, "omega":0.00382, "ax":-0.00009, "ay":0.0, "alpha":0.0, "fx":[-0.00064,-0.00064,-0.00064,-0.00063], "fy":[0.00003,0.00002,0.00002,0.00002]},
+    {"t":2.78483, "x":7.51403, "y":4.24375, "heading":2.1383, "vx":0.08144, "vy":2.56911, "omega":0.00382, "ax":-0.0001, "ay":0.0, "alpha":0.0, "fx":[-0.00065,-0.00066,-0.00066,-0.00065], "fy":[0.00003,0.00003,0.00002,0.00002]},
+    {"t":2.86494, "x":7.52055, "y":4.44957, "heading":2.13861, "vx":0.08143, "vy":2.56911, "omega":0.00382, "ax":-0.0001, "ay":0.0, "alpha":0.0, "fx":[-0.00067,-0.00068,-0.00067,-0.00067], "fy":[0.00003,0.00003,0.00002,0.00003]},
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+    {"t":3.10528, "x":7.54012, "y":5.06702, "heading":2.13953, "vx":0.0814, "vy":2.56911, "omega":0.00382, "ax":-0.00011, "ay":0.0, "alpha":-0.00001, "fx":[-0.00074,-0.00074,-0.00074,-0.00073], "fy":[0.00004,0.00003,0.00003,0.00003]},
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+    {"t":3.34562, "x":7.55968, "y":5.68448, "heading":2.14045, "vx":0.08138, "vy":2.56912, "omega":0.00382, "ax":-0.00014, "ay":0.00001, "alpha":-0.00001, "fx":[-0.00095,-0.00096,-0.00095,-0.00094], "fy":[0.00005,0.00005,0.00004,0.00004]},
+    {"t":3.42573, "x":7.5662, "y":5.89029, "heading":2.14075, "vx":0.08137, "vy":2.56912, "omega":0.00382, "ax":-0.00496, "ay":0.00014, "alpha":0.00004, "fx":[-0.03373,-0.03368,-0.03371,-0.03376], "fy":[0.0009,0.00093,0.00098,0.00095]},
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+    {"t":3.66607, "x":7.57136, "y":6.43353, "heading":2.18357, "vx":-0.06231, "vy":1.15037, "omega":3.35895, "ax":0.77773, "ay":-14.35944, "alpha":-41.92802, "fx":[48.47966,-78.64683,-11.16392,62.49739], "fy":[-102.03319,-81.52667,-112.75174,-94.48846]},
+    {"t":3.74618, "x":7.56886, "y":6.47961, "heading":2.45267, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/NewPath_copy4.traj b/src/main/deploy/choreo/NewPath_copy4.traj
index 677c311..af3a5eb 100644
--- a/src/main/deploy/choreo/NewPath_copy4.traj
+++ b/src/main/deploy/choreo/NewPath_copy4.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.568860054016113, "y":1.5203896760940552, "heading":-2.259721068123533, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.639350414276123, "y":0.7602798342704773, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":4.58689022064209, "y":0.6238498091697693, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.715850353240967, "y":1.1500798463821411, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.568860054016113, "y":1.5203896760940552, "heading":-2.259721068123533, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.639350414276123, "y":0.7602798342704773, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.58689022064209, "y":0.6238498091697693, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.715850353240967, "y":1.1500798463821411, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.526960372924805, "y":2.8651998043060303, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -16,10 +16,10 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"CenterDownEnd.x", "val":7.568860054016113}, "y":{"exp":"CenterDownEnd.y", "val":1.5203896760940552}, "heading":{"exp":"CenterDownEnd.heading", "val":-2.259721068123533}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.639350414276123 m", "val":5.639350414276123}, "y":{"exp":"0.7602798342704773 m", "val":0.7602798342704773}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"4.58689022064209 m", "val":4.58689022064209}, "y":{"exp":"0.6238498091697693 m", "val":0.6238498091697693}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.715850353240967 m", "val":2.715850353240967}, "y":{"exp":"1.1500798463821411 m", "val":1.1500798463821411}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CenterDownEnd.x", "val":7.568860054016113}, "y":{"exp":"CenterDownEnd.y", "val":1.5203896760940552}, "heading":{"exp":"CenterDownEnd.heading", "val":-2.259721068123533}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.639350414276123 m", "val":5.639350414276123}, "y":{"exp":"0.7602798342704773 m", "val":0.7602798342704773}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.58689022064209 m", "val":4.58689022064209}, "y":{"exp":"0.6238498091697693 m", "val":0.6238498091697693}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.715850353240967 m", "val":2.715850353240967}, "y":{"exp":"1.1500798463821411 m", "val":1.1500798463821411}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"EndHang.x", "val":1.526960372924805}, "y":{"exp":"EndHang.y", "val":2.8651998043060303}, "heading":{"exp":"EndHang.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -33,20 +33,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
+   "mass":27.2155422,
+   "inertia":1.651,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -55,93 +55,75 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.70577,0.92311,1.32847,2.03502],
+  "waypoints":[0.0,0.93199,1.3736,2.13168,3.02321],
   "samples":[
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-    {"t":0.05646, "x":7.55619, "y":1.51496, "heading":-2.26621, "vx":-0.44909, "vy":-0.1922, "omega":-0.45536, "ax":-7.97508, "ay":-3.40327, "alpha":-7.83832, "fx":[-146.00298,-115.44859,-127.89487,-153.26907], "fy":[-46.90748,-100.89079,-84.21817,0.46215]},
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+    {"t":2.92415, "x":1.57258, "y":2.79747, "heading":-3.14159, "vx":-0.92089, "vy":1.36735, "omega":0.0, "ax":9.29408, "ay":-13.80067, "alpha":0.0, "fx":[63.23586,63.23586,63.23586,63.23586], "fy":[-93.89816,-93.89816,-93.89816,-93.89816]},
+    {"t":2.97368, "x":1.53837, "y":2.84827, "heading":-3.14159, "vx":-0.46056, "vy":0.68382, "omega":0.0, "ax":9.29867, "ay":-13.80629, "alpha":0.0, "fx":[63.26706,63.26706,63.26706,63.26706], "fy":[-93.93642,-93.93642,-93.93642,-93.93642]},
+    {"t":3.02321, "x":1.52696, "y":2.8652, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/NewPath_copy5.traj b/src/main/deploy/choreo/NewPath_copy5.traj
index ed459c5..e2817c0 100644
--- a/src/main/deploy/choreo/NewPath_copy5.traj
+++ b/src/main/deploy/choreo/NewPath_copy5.traj
@@ -3,9 +3,9 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":6.69180965423584, "y":7.172489643096924, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.9001898765563965, "y":4.755729675292969, "heading":-1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.625870227813721, "y":7.328409671783447, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.69180965423584, "y":7.172489643096924, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.9001898765563965, "y":4.755729675292969, "heading":-1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.822229862213135, "y":4.931139945983887, "heading":0.0, "intervals":40, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -15,9 +15,9 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"4.625870227813721 m", "val":4.625870227813721}, "y":{"exp":"7.328409671783447 m", "val":7.328409671783447}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.69180965423584 m", "val":6.69180965423584}, "y":{"exp":"7.172489643096924 m", "val":7.172489643096924}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.9001898765563965 m", "val":7.9001898765563965}, "y":{"exp":"4.755729675292969 m", "val":4.755729675292969}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.625870227813721 m", "val":4.625870227813721}, "y":{"exp":"7.328409671783447 m", "val":7.328409671783447}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.69180965423584 m", "val":6.69180965423584}, "y":{"exp":"7.172489643096924 m", "val":7.172489643096924}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.9001898765563965 m", "val":7.9001898765563965}, "y":{"exp":"4.755729675292969 m", "val":4.755729675292969}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.822229862213135 m", "val":7.822229862213135}, "y":{"exp":"4.931139945983887 m", "val":4.931139945983887}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -31,20 +31,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
+   "mass":27.2155422,
+   "inertia":1.651,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -53,83 +53,65 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.74054,1.6152,1.61541],
+  "waypoints":[0.0,0.94246,2.15285,2.15296],
   "samples":[
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+    {"t":2.15296, "x":7.90019, "y":4.75573, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/Straight90Turn.traj b/src/main/deploy/choreo/Straight90Turn.traj
index ed621f8..eedcee5 100644
--- a/src/main/deploy/choreo/Straight90Turn.traj
+++ b/src/main/deploy/choreo/Straight90Turn.traj
@@ -39,9 +39,9 @@
     "y":0.302006
    },
    "mass":27.2155422,
-   "inertia":1.65,
+   "inertia":1.651,
    "gearing":6.03,
-   "radius":0.049657,
+   "radius":0.049377599999999994,
    "vmax":314.1592653589793,
    "tmax":3.5,
    "cof":1.7,
@@ -55,70 +55,70 @@
   "sampleType":"Swerve",
   "waypoints":[0.0,1.59637],
   "samples":[
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-    {"t":0.02494, "x":4.00409, "y":7.5, "heading":0.0, "vx":0.32779, "vy":0.00007, "omega":-0.9996, "ax":14.51436, "ay":0.00621, "alpha":-0.00005, "fx":[98.75402,98.75402,98.754,98.754], "fy":[0.04219,0.0423,0.0423,0.04219]},
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-    {"t":0.07483, "x":4.03834, "y":7.50001, "heading":-0.04987, "vx":1.03891, "vy":0.00047, "omega":-0.9996, "ax":13.19858, "ay":0.01326, "alpha":0.0, "fx":[89.8016,89.8016,89.8016,89.8016], "fy":[0.09022,0.09022,0.09022,0.09022]},
-    {"t":0.09977, "x":4.06836, "y":7.50003, "heading":-0.0748, "vx":1.36812, "vy":0.0008, "omega":-0.9996, "ax":11.87546, "ay":0.01508, "alpha":0.0, "fx":[80.79927,80.79927,80.79927,80.79927], "fy":[0.10258,0.10258,0.10258,0.10258]},
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+    {"t":1.54648, "x":6.98306, "y":7.49999, "heading":-1.52093, "vx":0.69659, "vy":-0.00017, "omega":-0.9996, "ax":-14.6614, "ay":0.02211, "alpha":0.00005, "fx":[-99.75449,-99.75451,-99.75451,-99.75449], "fy":[0.15051,0.1505,0.15038,0.15039]},
+    {"t":1.57143, "x":6.99587, "y":7.5, "heading":-1.54586, "vx":0.33088, "vy":0.00038, "omega":-0.9996, "ax":-13.26547, "ay":-0.01538, "alpha":40.07486, "fx":[-79.2205,-101.5291,-100.987,-79.29036], "fy":[58.11657,29.20617,-30.77041,-56.97077]},
     {"t":1.59637, "x":7.0, "y":7.5, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
diff --git a/src/main/deploy/choreo/Sweep.traj b/src/main/deploy/choreo/Sweep.traj
index 2ee725e..8de809e 100644
--- a/src/main/deploy/choreo/Sweep.traj
+++ b/src/main/deploy/choreo/Sweep.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.58834981918335, "y":6.3344197273254395, "heading":4.71238898038469, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.98834981918335, "y":5.644197273254395, "heading":-1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.58834981918335, "y":1.8855873346328735, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -13,7 +13,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.3962634015954636}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"BottomFuelDown.x", "val":7.58834981918335}, "y":{"exp":"BottomFuelDown.y", "val":1.8855873346328735}, "heading":{"exp":"BottomFuelDown.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -27,20 +27,20 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2794,
-    "y":0.2794
+    "x":0.302006,
+    "y":0.302006
    },
    "backLeft":{
-    "x":-0.2794,
-    "y":0.2794
+    "x":-0.302006,
+    "y":0.302006
    },
-   "mass":68.0388555,
-   "inertia":6.0,
-   "gearing":6.5,
-   "radius":0.0508,
-   "vmax":628.3185307179587,
-   "tmax":1.2,
-   "cof":1.5,
+   "mass":27.2155422,
+   "inertia":1.651,
+   "gearing":6.03,
+   "radius":0.049377599999999994,
+   "vmax":314.1592653589793,
+   "tmax":3.5,
+   "cof":1.7,
    "bumper":{
     "front":0.4064,
     "side":0.4064,
@@ -49,38 +49,40 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.90717],
+  "waypoints":[0.0,1.47058],
   "samples":[
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-    {"t":0.03128, "x":7.58835, "y":6.1811, "heading":-1.5708, "vx":0.0, "vy":-4.90428, "omega":0.0, "ax":0.0, "ay":-0.0002, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00334,-0.00334,-0.00334,-0.00334]},
-    {"t":0.06256, "x":7.58835, "y":6.02769, "heading":-1.5708, "vx":0.0, "vy":-4.90428, "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":0.09385, "x":7.58835, "y":5.87427, "heading":-1.5708, "vx":0.0, "vy":-4.90428, "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":0.12513, "x":7.58835, "y":5.72086, "heading":-1.5708, "vx":0.0, "vy":-4.90428, "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]},
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diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 81ad5c0..4eade90 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,29 +3,31 @@
  "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}],
-  "targetDt":0.5
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}],
+  "targetDt":0.09
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+    {"x":{"exp":"WaypointC.x", "val":7.800933055877685}, "y":{"exp":"WaypointC.y", "val":6.3520894050598145}, "heading":{"exp":"WaypointC.heading", "val":-1.3962634015954636}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.5707963267948966}, "intervals":32, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}],
   "targetDt":{
-   "exp":"0.5 s",
-   "val":0.5
+   "exp":"0.09 s",
+   "val":0.09
   }
  },
  "trajectory":{
@@ -53,21 +55,42 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.80341,1.48365,2.08145,2.77219],
+  "waypoints":[0.0,0.98642,1.78765,2.42361,3.16517],
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+    {"t":1.25349, "x":5.94998, "y":7.43237, "heading":-0.22838, "vx":1.9225, "vy":-0.32064, "omega":-0.25719, "ax":0.12745, "ay":-0.91779, "alpha":-0.01045, "fx":[0.86232,0.88208,0.87201,0.85225], "fy":[-6.25949,-6.24941,-6.22965,-6.23973]},
+    {"t":1.34252, "x":6.12163, "y":7.40019, "heading":-0.25128, "vx":1.93384, "vy":-0.40234, "omega":-0.25812, "ax":-0.07549, "ay":-0.99845, "alpha":-0.53023, "fx":[-0.38848,0.00767,-0.63881,-1.03495], "fy":[-7.31467,-6.6682,-6.27206,-6.91853]},
+    {"t":1.43155, "x":6.29349, "y":7.36042, "heading":-0.27426, "vx":1.92712, "vy":-0.49123, "omega":-0.30532, "ax":-0.27143, "ay":-1.08556, "alpha":0.1324, "fx":[-1.87088,-1.97995,-1.82266,-1.71359], "fy":[-7.25285,-7.41014,-7.5192,-7.36191]},
+    {"t":1.52057, "x":6.46398, "y":7.31238, "heading":-0.30144, "vx":1.90296, "vy":-0.58787, "omega":-0.29353, "ax":-0.46413, "ay":-1.17844, "alpha":-1.04016, "fx":[-2.99414,-2.10835,-3.32166,-4.20745], "fy":[-9.0675,-7.85421,-6.96842,-8.18171]},
+    {"t":1.6096, "x":6.63155, "y":7.25538, "heading":-0.32757, "vx":1.86164, "vy":-0.69279, "omega":-0.38614, "ax":-0.65484, "ay":-1.27986, "alpha":0.2173, "fx":[-4.45502,-4.68973,-4.45583,-4.22112], "fy":[-8.47373,-8.70763,-8.94233,-8.70844]},
+    {"t":1.69862, "x":6.79469, "y":7.18863, "heading":-0.36195, "vx":1.80334, "vy":-0.80673, "omega":-0.36679, "ax":-0.84797, "ay":-1.39918, "alpha":-1.38518, "fx":[-5.67704,-4.34279,-5.8619,-7.19614], "fy":[-10.94652,-9.42745,-8.09319,-9.61226]},
+    {"t":1.78765, "x":6.95187, "y":7.11127, "heading":-0.3946, "vx":1.72785, "vy":-0.93129, "omega":-0.49011, "ax":-1.01218, "ay":-1.0554, "alpha":-0.17059, "fx":[-6.84344,-6.7263,-6.93006,-7.04721], "fy":[-7.34128,-7.13752,-7.02036,-7.22413]},
+    {"t":1.8785, "x":7.10467, "y":7.0223, "heading":-0.43913, "vx":1.63589, "vy":-1.02717, "omega":-0.5056, "ax":-1.14796, "ay":-0.9471, "alpha":-1.39248, "fx":[-7.86651,-6.35981,-7.75468,-9.26138], "fy":[-7.89474,-6.49989,-4.99316,-6.38801]},
+    {"t":1.96935, "x":7.24856, "y":6.92507, "heading":-0.48506, "vx":1.5316, "vy":-1.11322, "omega":-0.63211, "ax":-1.23804, "ay":-0.78225, "alpha":-0.81724, "fx":[-8.4712,-7.58194,-8.37581,-9.26507], "fy":[-6.16388,-5.37001,-4.48075,-5.27462]},
+    {"t":2.0602, "x":7.3826, "y":6.82071, "heading":-0.54249, "vx":1.41912, "vy":-1.18429, "omega":-0.70636, "ax":-1.35343, "ay":-0.65649, "alpha":-1.04406, "fx":[-9.35495,-8.13284,-9.06226,-10.28437], "fy":[-5.54241,-4.613,-3.3909,-4.32031]},
+    {"t":2.15105, "x":7.50594, "y":6.7104, "heading":-0.60666, "vx":1.29616, "vy":-1.24393, "omega":-0.80122, "ax":-1.48643, "ay":-0.55594, "alpha":-1.60706, "fx":[-10.45162,-8.47418,-9.77532,-11.75276], "fy":[-5.42182,-4.12067,-2.14323,-3.44438]},
+    {"t":2.2419, "x":7.61757, "y":6.5951, "heading":-0.67946, "vx":1.16112, "vy":-1.29444, "omega":-0.94722, "ax":-1.63453, "ay":-0.4823, "alpha":-0.81877, "fx":[-11.3274,-10.30352,-10.91495,-11.93883], "fy":[-4.09915,-3.48769,-2.46385,-3.07531]},
+    {"t":2.33276, "x":7.71631, "y":6.47551, "heading":-0.76551, "vx":1.01262, "vy":-1.33825, "omega":-1.02161, "ax":-1.78698, "ay":-0.4442, "alpha":-2.17706, "fx":[-12.89965,-10.03937,-11.4172,-14.27748], "fy":[-5.14136,-3.7635,-0.90319,-2.28105]},
+    {"t":2.42361, "x":7.80093, "y":6.35209, "heading":-0.85833, "vx":0.85027, "vy":-1.37861, "omega":-1.2194, "ax":-2.30022, "ay":0.12537, "alpha":1.68258, "fx":[-14.97105,-17.23114,-16.32984,-14.06975], "fy":[2.4338,1.53236,-0.72778,0.17365]},
+    {"t":2.57192, "x":7.90174, "y":6.149, "heading":-1.03918, "vx":0.50911, "vy":-1.36002, "omega":-0.96985, "ax":-1.80681, "ay":0.9244, "alpha":-1.0951, "fx":[-12.86341,-11.3479,-11.72319,-13.2387], "fy":[5.34404,5.71923,7.23498,6.85978]},
+    {"t":2.72023, "x":7.95738, "y":5.95746, "heading":-1.18302, "vx":0.24114, "vy":-1.22292, "omega":-1.13227, "ax":-1.09436, "ay":1.82004, "alpha":1.44228, "fx":[-6.70476,-8.64685,-8.18705,-6.24494], "fy":[13.58373,13.12366,11.18298,11.64304]},
+    {"t":2.86855, "x":7.9811, "y":5.79611, "heading":-1.35095, "vx":0.07883, "vy":-0.95298, "omega":-0.91836, "ax":-0.46791, "ay":2.73227, "alpha":2.3895, "fx":[-1.77397,-5.0252,-4.5932,-1.34192], "fy":[20.43004,19.99834,16.75007,17.18179]},
+    {"t":3.01686, "x":7.98765, "y":5.68482, "heading":-1.48715, "vx":0.00944, "vy":-0.54775, "omega":-0.56396, "ax":-0.06363, "ay":3.6932, "alpha":3.80252, "fx":[2.03317,-3.16464,-2.8992,2.29894], "fy":[27.85342,27.59081,22.40269,22.6656]},
+    {"t":3.16517, "x":7.98835, "y":5.6442, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor
index 95db023..c433522 100644
--- a/src/main/deploy/choreo/ZTLDR.chor
+++ b/src/main/deploy/choreo/ZTLDR.chor
@@ -29,8 +29,8 @@
      "val":5.644197273254395
     },
     "heading":{
-     "exp":"-80 deg",
-     "val":-1.3962634015954636
+     "exp":"-90 deg",
+     "val":-1.5707963267948966
     }
    },
    "TopGateBlue":{
@@ -46,6 +46,48 @@
      "exp":"0 deg",
      "val":0.0
     }
+   },
+   "WaypointA":{
+    "x":{
+     "exp":"5.453551292419434 m",
+     "val":5.453551292419434
+    },
+    "y":{
+     "exp":"7.48888385772705 m",
+     "val":7.48888385772705
+    },
+    "heading":{
+     "exp":"-5 deg",
+     "val":-0.08726646259971647
+    }
+   },
+   "WaypointB":{
+    "x":{
+     "exp":"6.951873970031738 m",
+     "val":6.951873970031738
+    },
+    "y":{
+     "exp":"7.11126708984375 m",
+     "val":7.11126708984375
+    },
+    "heading":{
+     "exp":"-45 deg",
+     "val":-0.7853981633974483
+    }
+   },
+   "WaypointC":{
+    "x":{
+     "exp":"7.800933055877685 m",
+     "val":7.800933055877685
+    },
+    "y":{
+     "exp":"6.3520894050598145 m",
+     "val":6.3520894050598145
+    },
+    "heading":{
+     "exp":"-80 deg",
+     "val":-1.3962634015954636
+    }
    }
   }
  },
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 3a41f7f..9ef02b7 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -12,7 +12,7 @@
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 27.216,
-  "robotMOI": 2.48,
+  "robotMOI": 1.651,
   "robotTrackwidth": 0.60325,
   "driveWheelRadius": 0.04935,
   "driveGearing": 6.03,
@@ -31,4 +31,4 @@
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": []
-}
+}
\ No newline at end of file

From 93949aadcbbec56b4a24b7f8a55b2fbcc7fce07c Mon Sep 17 00:00:00 2001
From: mark-teskey <mark.teskey@warecorp.com>
Date: Fri, 27 Feb 2026 23:36:02 -0600
Subject: [PATCH 28/28] tweaks

---
 src/main/deploy/choreo/FuelToTopGate.traj |  63 +++++++------
 src/main/deploy/choreo/NewPath_copy6.traj |  86 ------------------
 src/main/deploy/choreo/TopGateToFuel.traj | 105 +++++++++++-----------
 3 files changed, 86 insertions(+), 168 deletions(-)
 delete mode 100644 src/main/deploy/choreo/NewPath_copy6.traj

diff --git a/src/main/deploy/choreo/FuelToTopGate.traj b/src/main/deploy/choreo/FuelToTopGate.traj
index b81799a..0e9b81d 100644
--- a/src/main/deploy/choreo/FuelToTopGate.traj
+++ b/src/main/deploy/choreo/FuelToTopGate.traj
@@ -3,31 +3,25 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.98834981918335, "y":5.644197273254395, "heading":-1.5707963267948966, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.800933055877685, "y":6.3520894050598145, "heading":-1.3962634015954636, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":6.951873970031738, "y":7.11126708984375, "heading":-0.7853981633974483, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":5.453551292419434, "y":7.48888385772705, "heading":-0.08726646259971647, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.98834981918335, "y":5.644197273254395, "heading":-1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.951873970031738, "y":7.11126708984375, "heading":-0.7853981633974483, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":4.411479949951172, "y":7.464839458465576, "heading":0.0, "intervals":12, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}],
-  "targetDt":0.2
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
+  "targetDt":0.11
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.5707963267948966}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"WaypointC.x", "val":7.800933055877685}, "y":{"exp":"WaypointC.y", "val":6.3520894050598145}, "heading":{"exp":"WaypointC.heading", "val":-1.3962634015954636}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"WaypointB.x", "val":6.951873970031738}, "y":{"exp":"WaypointB.y", "val":7.11126708984375}, "heading":{"exp":"WaypointB.heading", "val":-0.7853981633974483}, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"WaypointA.x", "val":5.453551292419434}, "y":{"exp":"WaypointA.y", "val":7.48888385772705}, "heading":{"exp":"WaypointA.heading", "val":-0.08726646259971647}, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"WaypointB.x", "val":6.951873970031738}, "y":{"exp":"WaypointB.y", "val":7.11126708984375}, "heading":{"exp":"WaypointB.heading", "val":-0.7853981633974483}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"TopGateBlue.x", "val":4.411479949951172}, "y":{"exp":"TopGateBlue.y", "val":7.464839458465576}, "heading":{"exp":"TopGateBlue.heading", "val":0.0}, "intervals":12, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}],
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}],
   "targetDt":{
-   "exp":"0.2 s",
-   "val":0.2
+   "exp":"0.11 s",
+   "val":0.11
   }
  },
  "trajectory":{
@@ -55,24 +49,29 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.75085,1.33102,1.98316,2.74863],
+  "waypoints":[0.0,1.21203,2.71761],
   "samples":[
-    {"t":0.0, "x":7.98835, "y":5.6442, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.14337, "ay":3.33883, "alpha":2.017, "fx":[0.40486,-2.35579,-2.35579,0.40486], "fy":[24.09737,24.08926,21.34073,21.34073]},
-    {"t":0.15017, "x":7.98673, "y":5.68184, "heading":-1.5708, "vx":-0.02153, "vy":0.50139, "omega":0.30289, "ax":-0.5852, "ay":2.68883, "alpha":1.65474, "fx":[-2.84712,-5.11175,-5.11609,-2.85145], "fy":[19.42473,19.42271,17.16748,17.16315]},
-    {"t":0.30034, "x":7.9769, "y":5.78745, "heading":-1.52531, "vx":-0.10941, "vy":0.90517, "omega":0.55138, "ax":-1.01011, "ay":1.93685, "alpha":1.25285, "fx":[-6.04341,-7.75584,-7.70268,-5.98879], "fy":[14.05742,14.00889,12.29643,12.3496]},
-    {"t":0.45051, "x":7.94908, "y":5.94522, "heading":-1.44251, "vx":-0.2611, "vy":1.19602, "omega":0.73952, "ax":-1.43394, "ay":1.22642, "alpha":0.91235, "fx":[-9.1897,-10.43384,-10.32302,-9.07888], "fy":[9.02191,8.90848,7.66829,7.77897]},
-    {"t":0.60068, "x":7.89371, "y":6.13866, "heading":-1.33146, "vx":-0.47643, "vy":1.38019, "omega":0.87653, "ax":-1.88269, "ay":0.54725, "alpha":0.59251, "fx":[-12.4857,-13.28254,-13.13536,-12.33474], "fy":[4.19455,4.04847,3.25173,3.39891]},
-    {"t":0.75085, "x":7.80093, "y":6.35209, "heading":-1.19983, "vx":-0.75915, "vy":1.46237, "omega":0.9655, "ax":-2.60254, "ay":-0.22024, "alpha":0.05261, "fx":[-17.70345,-17.76064,-17.71126,-17.65407], "fy":[-1.44472,-1.49335,-1.55257,-1.50319]},
-    {"t":0.94424, "x":7.60545, "y":6.63078, "heading":-1.01311, "vx":-1.26246, "vy":1.41978, "omega":0.97568, "ax":-2.31121, "ay":-0.76247, "alpha":-0.37065, "fx":[-15.92938,-15.40487,-15.52109,-16.0456], "fy":[-5.50817,-5.39192,-4.86738,-4.98362]},
-    {"t":1.13763, "x":7.31808, "y":6.8911, "heading":-0.82442, "vx":-1.70944, "vy":1.27233, "omega":0.904, "ax":-1.90431, "ay":-1.38461, "alpha":-1.13067, "fx":[-13.32921,-11.87776,-12.58423,-14.03569], "fy":[-10.4997,-9.79323,-8.34177,-9.04825]},
-    {"t":1.33102, "x":6.95187, "y":7.11127, "heading":-0.64959, "vx":-2.07772, "vy":1.00455, "omega":0.68533, "ax":-1.14293, "ay":-1.33624, "alpha":-1.23051, "fx":[-7.99051,-6.54685,-7.56216,-9.00582], "fy":[-10.32114,-9.30582,-7.86216,-8.87748]},
-    {"t":1.49406, "x":6.59795, "y":7.25728, "heading":-0.53786, "vx":-2.26405, "vy":0.7867, "omega":0.48472, "ax":-0.57031, "ay":-1.34321, "alpha":-1.46734, "fx":[-3.97791,-2.39303,-3.78271,-5.36759], "fy":[-10.62634,-9.23666,-7.65178,-9.04146]},
-    {"t":1.65709, "x":6.22125, "y":7.36769, "heading":-0.45883, "vx":-2.35703, "vy":0.56771, "omega":0.24549, "ax":-0.12807, "ay":-1.22568, "alpha":0.86466, "fx":[-0.93288,-1.73277,-0.80985,-0.00997], "fy":[-7.47797,-8.40089,-9.20077,-8.27786]},
-    {"t":1.82013, "x":5.83527, "y":7.44396, "heading":-0.41881, "vx":-2.37791, "vy":0.36788, "omega":0.38646, "ax":0.44834, "ay":-1.13253, "alpha":0.67364, "fx":[2.91612,2.40467,3.18476,3.6962], "fy":[-7.05987,-7.83996,-8.3514,-7.57131]},
-    {"t":1.98316, "x":5.45355, "y":7.48888, "heading":-0.3558, "vx":-2.30482, "vy":0.18324, "omega":0.49629, "ax":1.78568, "ay":-0.96949, "alpha":0.11952, "fx":[12.14363,12.02523,12.15549,12.2739], "fy":[-6.47199,-6.60226,-6.72066,-6.59039]},
-    {"t":2.23832, "x":4.92359, "y":7.50408, "heading":-0.22917, "vx":-1.84919, "vy":-0.06413, "omega":0.52679, "ax":3.00503, "ay":-0.2257, "alpha":-0.60908, "fx":[20.76409,20.94108,20.1276,19.95062], "fy":[-2.03085,-1.21734,-1.04038,-1.85388]},
-    {"t":2.49348, "x":4.54958, "y":7.48037, "heading":-0.09476, "vx":-1.08243, "vy":-0.12172, "omega":0.37137, "ax":4.24219, "ay":0.47704, "alpha":-1.45547, "fx":[29.76392,29.94402,27.96284,27.78274], "fy":[2.16515,4.146,4.32632,2.34547]},
-    {"t":2.74863, "x":4.41148, "y":7.46484, "heading":0.0, "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":7.98835, "y":5.6442, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.26374, "ay":3.77706, "alpha":1.33348, "fx":[-7.68712,-9.50959,-9.50962,-7.68715], "fy":[26.60996,26.60993,24.78748,24.7875]},
+    {"t":0.13467, "x":7.97689, "y":5.67845, "heading":-1.5708, "vx":-0.17019, "vy":0.50866, "omega":0.17958, "ax":-1.36025, "ay":3.12195, "alpha":1.32651, "fx":[-8.34222,-10.15516,-10.1678,-8.35485], "fy":[22.1416,22.15416,20.34123,20.32867]},
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/NewPath_copy6.traj b/src/main/deploy/choreo/NewPath_copy6.traj
deleted file mode 100644
index 159fa37..0000000
--- a/src/main/deploy/choreo/NewPath_copy6.traj
+++ /dev/null
@@ -1,86 +0,0 @@
-{
- "name":"NewPath_copy6",
- "version":3,
- "snapshot":{
-  "waypoints":[
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-    {"x":5.728265285491943, "y":7.358161449432373, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.566452980041504, "y":6.32666015625, "heading":0.0, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.751594543457031, "y":5.334832191467285, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
-  "targetDt":0.1
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"4.19423770904541 m", "val":4.19423770904541}, "y":{"exp":"7.344936847686768 m", "val":7.344936847686768}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.728265285491943 m", "val":5.728265285491943}, "y":{"exp":"7.358161449432373 m", "val":7.358161449432373}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.566452980041504 m", "val":7.566452980041504}, "y":{"exp":"6.32666015625 m", "val":6.32666015625}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.751594543457031 m", "val":7.751594543457031}, "y":{"exp":"5.334832191467285 m", "val":5.334832191467285}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
-  "targetDt":{
-   "exp":"0.1 s",
-   "val":0.1
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.302006,
-    "y":0.302006
-   },
-   "backLeft":{
-    "x":-0.302006,
-    "y":0.302006
-   },
-   "mass":27.2155422,
-   "inertia":1.651,
-   "gearing":6.03,
-   "radius":0.049377599999999994,
-   "vmax":314.1592653589793,
-   "tmax":3.5,
-   "cof":1.7,
-   "bumper":{
-    "front":0.4064,
-    "side":0.4064,
-    "back":0.4064
-   },
-   "differentialTrackWidth":0.5588
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.36232,4.76745,6.13308],
-  "samples":[
-    {"t":0.0, "x":4.19424, "y":7.34494, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.83638, "ay":-0.02168, "alpha":-0.34681, "fx":[5.92765,5.92765,5.45367,5.45368], "fy":[-0.3845,0.0895,0.0895,-0.3845]},
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-    {"t":1.47645, "x":4.93995, "y":7.336, "heading":-0.25246, "vx":0.83602, "vy":0.00391, "omega":-0.34081, "ax":0.17939, "ay":0.04593, "alpha":-0.09524, "fx":[1.26177,1.3031,1.17933,1.138], "fy":[0.22998,0.35374,0.39507,0.27131]},
-    {"t":1.77174, "x":5.19465, "y":7.33915, "heading":-0.3531, "vx":0.889, "vy":0.01747, "omega":-0.36894, "ax":0.07518, "ay":0.05378, "alpha":-0.08351, "fx":[0.53852,0.58792,0.48449,0.43509], "fy":[0.28951,0.39293,0.44233,0.33892]},
-    {"t":2.06703, "x":5.46044, "y":7.34666, "heading":-0.46205, "vx":0.9112, "vy":0.03335, "omega":-0.3936, "ax":-0.02839, "ay":0.03795, "alpha":-0.03732, "fx":[-0.19025,-0.1561,-0.19608,-0.23023], "fy":[0.22114,0.2611,0.29525,0.25528]},
-    {"t":2.36232, "x":5.72827, "y":7.35816, "heading":-0.57827, "vx":0.90281, "vy":0.04456, "omega":-0.40462, "ax":-0.07299, "ay":-0.03943, "alpha":-0.02317, "fx":[-0.50115,-0.47278,-0.49208,-0.52045], "fy":[-0.29208,-0.2728,-0.24444,-0.26372]},
-    {"t":2.60284, "x":5.94329, "y":7.36774, "heading":-0.67559, "vx":0.88526, "vy":0.03507, "omega":-0.41019, "ax":-0.09462, "ay":-0.20037, "alpha":0.04738, "fx":[-0.65782,-0.68831,-0.62978,-0.59929], "fy":[-1.31877,-1.37733,-1.40783,-1.34927]},
-    {"t":2.84335, "x":6.15347, "y":7.37038, "heading":-0.77424, "vx":0.8625, "vy":-0.01312, "omega":-0.39879, "ax":-0.10553, "ay":-0.26977, "alpha":0.02113, "fx":[-0.74523,-0.73812,-0.6908,-0.6979], "fy":[-1.81536,-1.8627,-1.8556,-1.80826]},
-    {"t":3.08386, "x":6.35786, "y":7.35942, "heading":-0.87016, "vx":0.83712, "vy":-0.078, "omega":-0.39371, "ax":-0.1189, "ay":-0.38684, "alpha":0.10048, "fx":[-0.79077,-0.9049,-0.82724,-0.7131], "fy":[-2.53611,-2.61379,-2.72794,-2.65026]},
-    {"t":3.32437, "x":6.55576, "y":7.32947, "heading":-0.96485, "vx":0.80852, "vy":-0.17104, "omega":-0.36954, "ax":-0.13292, "ay":-0.51766, "alpha":0.0651, "fx":[-0.97429,-0.981,-0.8345,-0.82778], "fy":[-3.44545,-3.59198,-3.59871,-3.45218]},
-    {"t":3.56489, "x":6.74637, "y":7.27336, "heading":-1.05373, "vx":0.77655, "vy":-0.29554, "omega":-0.35389, "ax":-0.1469, "ay":-0.65271, "alpha":0.16293, "fx":[-0.91102,-1.13847,-1.08801,-0.86056], "fy":[-4.30201,-4.35248,-4.57995,-4.52947]},
-    {"t":3.8054, "x":6.9289, "y":7.1834, "heading":-1.13885, "vx":0.74122, "vy":-0.45253, "omega":-0.3147, "ax":-0.16009, "ay":-0.78943, "alpha":0.15215, "fx":[-1.20882,-1.29006,-0.96962,-0.88838], "fy":[-5.1703,-5.49076,-5.57202,-5.25156]},
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-    {"t":4.52694, "x":7.42088, "y":6.63143, "heading":-1.34013, "vx":0.62096, "vy":-1.12188, "omega":-0.16734, "ax":-0.13064, "ay":-1.20799, "alpha":-0.0366, "fx":[-1.13001,-0.99665,-0.64765,-0.781], "fy":[-8.1112,-8.46022,-8.32688,-7.97787]},
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-    {"t":5.90548, "x":7.75347, "y":5.36402, "heading":-1.5584, "vx":-0.01644, "vy":-0.25647, "omega":-0.05446, "ax":0.07224, "ay":1.1268, "alpha":0.23929, "fx":[0.66612,0.34043,0.3169,0.6426], "fy":[7.81785,7.84442,7.51536,7.48882]},
-    {"t":6.13308, "x":7.75159, "y":5.33483, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/TopGateToFuel.traj b/src/main/deploy/choreo/TopGateToFuel.traj
index 4eade90..70c0f1c 100644
--- a/src/main/deploy/choreo/TopGateToFuel.traj
+++ b/src/main/deploy/choreo/TopGateToFuel.traj
@@ -3,31 +3,25 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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