diff --git a/src/main/deploy/pathplanner/autos/S W3-1 S C1-3 S.auto b/src/main/deploy/pathplanner/autos/S W3-1 S C1-3 S.auto
deleted file mode 100644
index 41de0ed1..00000000
--- a/src/main/deploy/pathplanner/autos/S W3-1 S C1-3 S.auto	
+++ /dev/null
@@ -1,114 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 1.29235458470917,
-      "y": 4.778983272252259
-    },
-    "rotation": 151.53108100340572
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "FullPowerPreload"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "S W3-1 Bayou"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "EnableLimelight"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "ShootInstantlyWhenReady"
-                      }
-                    }
-                  ]
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "PrepareSWD"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "race",
-          "data": {
-            "commands": [
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "W1 C1"
-                      }
-                    },
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 0.3
-                      }
-                    }
-                  ]
-                }
-              },
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "StopAll"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "ToIndexer"
-                      }
-                    }
-                  ]
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "C1toC5nonOBJ"
-          }
-        }
-      ]
-    }
-  },
-  "folder": "Normal",
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/S W3-1 S C1-2 S.auto b/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto
similarity index 95%
rename from src/main/deploy/pathplanner/autos/S W3-1 S C1-2 S.auto
rename to src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto
index 0df240f6..1292d639 100644
--- a/src/main/deploy/pathplanner/autos/S W3-1 S C1-2 S.auto	
+++ b/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto	
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.3
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -109,7 +115,7 @@
         {
           "type": "named",
           "data": {
-            "name": "C1toC2nonOBJ"
+            "name": "C1toC5nonOBJ"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/paths/A C2.path b/src/main/deploy/pathplanner/paths/A C2.path
index d9d4d7d3..3a371925 100644
--- a/src/main/deploy/pathplanner/paths/A C2.path	
+++ b/src/main/deploy/pathplanner/paths/A C2.path	
@@ -48,12 +48,12 @@
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 7.901389778143498,
-        "y": 5.680088493435666
+        "x": 8.163407972892946,
+        "y": 5.495910528372229
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/A W1.path b/src/main/deploy/pathplanner/paths/A W1.path
index c623be20..bb7324b1 100644
--- a/src/main/deploy/pathplanner/paths/A W1.path	
+++ b/src/main/deploy/pathplanner/paths/A W1.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": {
-        "x": 1.844887968272587,
-        "y": 5.788662487005561
+        "x": 1.8470169457631473,
+        "y": 5.675626833459793
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/C1 C2.path b/src/main/deploy/pathplanner/paths/C1 C2.path
index 89336822..d45976be 100644
--- a/src/main/deploy/pathplanner/paths/C1 C2.path	
+++ b/src/main/deploy/pathplanner/paths/C1 C2.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 8.259914481755056,
-        "y": 6.378752018422289
+        "x": 8.521932676504504,
+        "y": 6.194574053358852
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/C1 L.path b/src/main/deploy/pathplanner/paths/C1 L.path
index 90b99d1f..4f5cc84b 100644
--- a/src/main/deploy/pathplanner/paths/C1 L.path	
+++ b/src/main/deploy/pathplanner/paths/C1 L.path	
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.3719141995954764,
-        "y": 7.156704660553778
+        "x": 6.27438500662272,
+        "y": 7.495444556106504
       },
       "isLocked": false,
       "linkedName": "C1"
     },
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": {
-        "x": 5.919544888735168,
-        "y": 6.892024564190972
+        "x": 5.036070551289278,
+        "y": 7.109381814149608
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -173.5955883034978,
+    "rotation": -179.47339920782028,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/C2 A.path b/src/main/deploy/pathplanner/paths/C2 A.path
index bb93ba8f..dbaa1b16 100644
--- a/src/main/deploy/pathplanner/paths/C2 A.path	
+++ b/src/main/deploy/pathplanner/paths/C2 A.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.636652908270122,
-        "y": 7.479926566561713
+        "x": 2.89867110301957,
+        "y": 7.295748601498276
       },
       "isLocked": false,
       "linkedName": "C2"
diff --git a/src/main/deploy/pathplanner/paths/C2 C1.path b/src/main/deploy/pathplanner/paths/C2 C1.path
index f870d25b..30ae0cbc 100644
--- a/src/main/deploy/pathplanner/paths/C2 C1.path	
+++ b/src/main/deploy/pathplanner/paths/C2 C1.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.218546246722951,
-        "y": 6.374155547863166
+        "x": 8.4805644414724,
+        "y": 6.189977582799729
       },
       "isLocked": false,
       "linkedName": "C2"
diff --git a/src/main/deploy/pathplanner/paths/C2 C3.path b/src/main/deploy/pathplanner/paths/C2 C3.path
index f17a2b1b..53972631 100644
--- a/src/main/deploy/pathplanner/paths/C2 C3.path	
+++ b/src/main/deploy/pathplanner/paths/C2 C3.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.158409090241099,
-        "y": 5.444519377280635
+        "x": 8.420427284990547,
+        "y": 5.260341412217198
       },
       "isLocked": false,
       "linkedName": "C2"
diff --git a/src/main/deploy/pathplanner/paths/C2 L.path b/src/main/deploy/pathplanner/paths/C2 L.path
index 93b72cad..212e9c98 100644
--- a/src/main/deploy/pathplanner/paths/C2 L.path	
+++ b/src/main/deploy/pathplanner/paths/C2 L.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.419028022826482,
-        "y": 7.2494001501627485
+        "x": 6.68104621757593,
+        "y": 7.065222185099311
       },
       "isLocked": false,
       "linkedName": "C2"
     },
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": {
-        "x": 4.653217249696911,
-        "y": 6.87019132903514
+        "x": 4.472107336965418,
+        "y": 6.505096160409611
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -173.51654383579043,
+    "rotation": -178.58557678859785,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/L C1.path b/src/main/deploy/pathplanner/paths/L C1.path
index aa642858..b2f8c681 100644
--- a/src/main/deploy/pathplanner/paths/L C1.path	
+++ b/src/main/deploy/pathplanner/paths/L C1.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.6022730343333045,
-        "y": 6.4856199589218875
+        "x": 4.421163121601807,
+        "y": 6.120524790296359
       },
       "isLocked": false,
       "linkedName": "L"
diff --git a/src/main/deploy/pathplanner/paths/L C2.path b/src/main/deploy/pathplanner/paths/L C2.path
index f2734117..7caf8836 100644
--- a/src/main/deploy/pathplanner/paths/L C2.path	
+++ b/src/main/deploy/pathplanner/paths/L C2.path	
@@ -3,48 +3,54 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.23248792596876,
-        "y": 7.146745641009012
+        "x": 5.371143874497155,
+        "y": 7.349760502537864
       },
       "isLocked": false,
       "linkedName": "L"
     },
     {
       "anchor": {
-        "x": 7.047595371786488,
-        "y": 5.77776349281702
+        "x": 7.2067629494620125,
+        "y": 6.686898058800555
       },
       "prevControl": {
-        "x": 6.626048946393878,
-        "y": 5.801182738672167
+        "x": 6.805634327255101,
+        "y": 7.081556864520259
       },
       "nextControl": {
-        "x": 7.295804781979105,
-        "y": 5.763974081139652
+        "x": 7.658383515524795,
+        "y": 6.242561695416204
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 7.308445076016692,
-        "y": 5.83636849244583
+        "x": 7.549120475348316,
+        "y": 6.3299721275573875
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "C2"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 136.9677610942732,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [
     {
       "name": "SpeedyIntake",
@@ -67,13 +73,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0,
+    "rotation": 135.61605990839928,
     "rotateFast": true
   },
   "reversed": false,
   "folder": "Stage",
   "previewStartingState": {
-    "rotation": -165.35696772976468,
+    "rotation": -178.90878377473737,
     "velocity": 0
   },
   "useDefaultConstraints": false
diff --git a/src/main/deploy/pathplanner/paths/L C3.path b/src/main/deploy/pathplanner/paths/L C3.path
index f6767208..34595279 100644
--- a/src/main/deploy/pathplanner/paths/L C3.path	
+++ b/src/main/deploy/pathplanner/paths/L C3.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.074494720418012,
-        "y": 4.031350919844697
+        "x": 4.893384807686517,
+        "y": 3.6662557512191682
       },
       "isLocked": false,
       "linkedName": "L"
diff --git a/src/main/deploy/pathplanner/paths/M C2.path b/src/main/deploy/pathplanner/paths/M C2.path
index 89061506..5f25f0a3 100644
--- a/src/main/deploy/pathplanner/paths/M C2.path	
+++ b/src/main/deploy/pathplanner/paths/M C2.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 6.908552137373031,
-        "y": 6.387944959540534
+        "x": 7.170570332122479,
+        "y": 6.203766994477097
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/S C2.path b/src/main/deploy/pathplanner/paths/S C2.path
index 1bb90071..bd836639 100644
--- a/src/main/deploy/pathplanner/paths/S C2.path	
+++ b/src/main/deploy/pathplanner/paths/S C2.path	
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 7.087814489178809,
-        "y": 6.424716724013514
+        "x": 7.349832683928257,
+        "y": 6.240538758950077
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/S W1.path b/src/main/deploy/pathplanner/paths/S W1.path
index 2e8eee34..4e3c5bb6 100644
--- a/src/main/deploy/pathplanner/paths/S W1.path	
+++ b/src/main/deploy/pathplanner/paths/S W1.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": {
-        "x": 2.2185338517641693,
-        "y": 6.762260696421776
+        "x": 2.2206628292547297,
+        "y": 6.649225042876008
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/S W3 New.path b/src/main/deploy/pathplanner/paths/S W3 New.path
index e7c45d9a..79b75b87 100644
--- a/src/main/deploy/pathplanner/paths/S W3 New.path	
+++ b/src/main/deploy/pathplanner/paths/S W3 New.path	
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 2.4553382440098215,
-        "y": 4.4758132069455625
+        "x": 2.428325992410636,
+        "y": 4.23940595884741
       },
       "prevControl": {
-        "x": 2.293682792812724,
-        "y": 4.170464021351045
+        "x": 2.2666705412135384,
+        "y": 3.934056773252893
       },
       "nextControl": {
-        "x": 2.57944294910613,
-        "y": 4.710233205460812
+        "x": 2.5524306975069444,
+        "y": 4.473825957362659
       },
       "isLocked": false,
       "linkedName": "W3 Pickup"
diff --git a/src/main/deploy/pathplanner/paths/S W3-1 2.path b/src/main/deploy/pathplanner/paths/S W3-1 2.path
index 830c1515..8f4733a7 100644
--- a/src/main/deploy/pathplanner/paths/S W3-1 2.path	
+++ b/src/main/deploy/pathplanner/paths/S W3-1 2.path	
@@ -48,12 +48,12 @@
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": {
-        "x": 1.2330601144964886,
-        "y": 6.050487412658289
+        "x": 1.235189091987049,
+        "y": 5.9374517591125215
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/S W3-1 Bayou.path b/src/main/deploy/pathplanner/paths/S W3-1 Bayou.path
index eeb52424..930a3393 100644
--- a/src/main/deploy/pathplanner/paths/S W3-1 Bayou.path	
+++ b/src/main/deploy/pathplanner/paths/S W3-1 Bayou.path	
@@ -16,44 +16,44 @@
     },
     {
       "anchor": {
-        "x": 2.4553382440098215,
-        "y": 4.4758132069455625
+        "x": 2.428325992410636,
+        "y": 4.23940595884741
       },
       "prevControl": {
-        "x": 2.2079885136348345,
-        "y": 4.2342834702264565
+        "x": 2.180976262035649,
+        "y": 3.997876222128304
       },
       "nextControl": {
-        "x": 2.8460382415352363,
-        "y": 4.857320263352733
+        "x": 2.819025989936051,
+        "y": 4.6209130152545805
       },
       "isLocked": false,
       "linkedName": "W3 Pickup"
     },
     {
       "anchor": {
-        "x": 2.0113957958412367,
-        "y": 5.378253593386619
+        "x": 2.049547453132173,
+        "y": 5.237341725792591
       },
       "prevControl": {
-        "x": 1.145914832282723,
-        "y": 5.291535853302232
+        "x": 1.2243689644069953,
+        "y": 4.9622822295508655
       },
       "nextControl": {
-        "x": 3.1606075951005406,
-        "y": 5.4934000313860505
+        "x": 3.2514408950734497,
+        "y": 5.637972873106349
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8872307611518506,
+        "y": 6.825297909690762
       },
       "prevControl": {
-        "x": 1.2422530556147342,
-        "y": 6.025972903009635
+        "x": 1.237097830426863,
+        "y": 5.869232033393276
       },
       "nextControl": null,
       "isLocked": false,
@@ -68,12 +68,12 @@
     },
     {
       "waypointRelativePos": 1.7999999999999998,
-      "rotationDegrees": 170.6683195762387,
+      "rotationDegrees": 169.22011509237518,
       "rotateFast": false
     },
     {
       "waypointRelativePos": 2.55,
-      "rotationDegrees": -146.99446263627644,
+      "rotationDegrees": -162.7437926739913,
       "rotateFast": false
     }
   ],
@@ -150,7 +150,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -145.24068548829183,
+    "rotation": -148.53585636913425,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/S W3-1.path b/src/main/deploy/pathplanner/paths/S W3-1.path
index 5b531aea..a1693c23 100644
--- a/src/main/deploy/pathplanner/paths/S W3-1.path	
+++ b/src/main/deploy/pathplanner/paths/S W3-1.path	
@@ -48,12 +48,12 @@
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": {
-        "x": 1.2330601144964886,
-        "y": 6.050487412658289
+        "x": 1.235189091987049,
+        "y": 5.9374517591125215
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Shot Spots.path b/src/main/deploy/pathplanner/paths/Shot Spots.path
index 87b1d1aa..5e89920d 100644
--- a/src/main/deploy/pathplanner/paths/Shot Spots.path	
+++ b/src/main/deploy/pathplanner/paths/Shot Spots.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.774908333691249,
-        "y": 5.915657609590695
+        "x": 4.593798420959755,
+        "y": 5.550562440965166
       },
       "isLocked": false,
       "linkedName": "L"
diff --git a/src/main/deploy/pathplanner/paths/W1 A.path b/src/main/deploy/pathplanner/paths/W1 A.path
index 5f072084..80b4376b 100644
--- a/src/main/deploy/pathplanner/paths/W1 A.path	
+++ b/src/main/deploy/pathplanner/paths/W1 A.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.448666263038041,
-        "y": 7.238220481000093
+        "x": 2.4507952405286013,
+        "y": 7.1251848274543255
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W1 C1 N.path b/src/main/deploy/pathplanner/paths/W1 C1 N.path
index 30209f06..86045e6f 100644
--- a/src/main/deploy/pathplanner/paths/W1 C1 N.path	
+++ b/src/main/deploy/pathplanner/paths/W1 C1 N.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.862241274314576,
-        "y": 6.756811721910118
+        "x": 3.8643702518051364,
+        "y": 6.6437760683643505
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W1 C1.path b/src/main/deploy/pathplanner/paths/W1 C1.path
index ce1383d2..699ed049 100644
--- a/src/main/deploy/pathplanner/paths/W1 C1.path	
+++ b/src/main/deploy/pathplanner/paths/W1 C1.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.151283612757595,
-        "y": 7.317581130123067
+        "x": 6.153412590248156,
+        "y": 7.204545476577299
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W1 C2 N.path b/src/main/deploy/pathplanner/paths/W1 C2 N.path
index e66c3198..b9039e09 100644
--- a/src/main/deploy/pathplanner/paths/W1 C2 N.path	
+++ b/src/main/deploy/pathplanner/paths/W1 C2 N.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.944977744378782,
-        "y": 7.211862307263249
+        "x": 3.9471067218693423,
+        "y": 7.098826653717481
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W1 C2.path b/src/main/deploy/pathplanner/paths/W1 C2.path
index c3785d28..76e65b2a 100644
--- a/src/main/deploy/pathplanner/paths/W1 C2.path	
+++ b/src/main/deploy/pathplanner/paths/W1 C2.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.119108318843736,
-        "y": 6.913091720920284
+        "x": 6.1212372963342965,
+        "y": 6.800056067374516
       },
       "isLocked": false,
       "linkedName": "W1"
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 7.37509389912397,
-        "y": 6.164250058996572
+        "x": 7.637112093873418,
+        "y": 5.980072093933135
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/W1 C3.path b/src/main/deploy/pathplanner/paths/W1 C3.path
index 19fbbb55..4c838948 100644
--- a/src/main/deploy/pathplanner/paths/W1 C3.path	
+++ b/src/main/deploy/pathplanner/paths/W1 C3.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.539722256749478,
-        "y": 5.662085650412435
+        "x": 3.5418512342400383,
+        "y": 5.5490499968666676
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W1 W2.path b/src/main/deploy/pathplanner/paths/W1 W2.path
index f4184801..8c4ffe46 100644
--- a/src/main/deploy/pathplanner/paths/W1 W2.path	
+++ b/src/main/deploy/pathplanner/paths/W1 W2.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3512739869758232,
-        "y": 6.889078258418361
+        "x": 2.3534029644663836,
+        "y": 6.776042604872593
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W1 W3.path b/src/main/deploy/pathplanner/paths/W1 W3.path
index fa558a34..02f8da3b 100644
--- a/src/main/deploy/pathplanner/paths/W1 W3.path	
+++ b/src/main/deploy/pathplanner/paths/W1 W3.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.117670775281163,
-        "y": 7.208241836977058
+        "x": 2.1197997527717236,
+        "y": 7.09520618343129
       },
       "isLocked": false,
       "linkedName": "W1"
diff --git a/src/main/deploy/pathplanner/paths/W2 C2.path b/src/main/deploy/pathplanner/paths/W2 C2.path
index 2029c4d0..fb024144 100644
--- a/src/main/deploy/pathplanner/paths/W2 C2.path	
+++ b/src/main/deploy/pathplanner/paths/W2 C2.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 8.03009095379893,
-        "y": 5.873140256918812
+        "x": 8.292109148548377,
+        "y": 5.688962291855375
       },
       "prevControl": {
-        "x": 6.54083449264323,
-        "y": 6.034016726488099
+        "x": 6.802852687392678,
+        "y": 5.849838761424662
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/W2 W1.path b/src/main/deploy/pathplanner/paths/W2 W1.path
index 4cc5afe3..fcac1dd6 100644
--- a/src/main/deploy/pathplanner/paths/W2 W1.path	
+++ b/src/main/deploy/pathplanner/paths/W2 W1.path	
@@ -32,28 +32,28 @@
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": {
-        "x": 2.547650694405532,
-        "y": 6.913091720920284
+        "x": 2.5497796718960926,
+        "y": 6.800056067374516
       },
       "nextControl": {
-        "x": 3.3373232041458003,
-        "y": 7.071026222868336
+        "x": 3.3394521816363607,
+        "y": 6.957990569322568
       },
       "isLocked": false,
       "linkedName": "W1"
     },
     {
       "anchor": {
-        "x": 3.774908333691248,
-        "y": 5.915657609590695
+        "x": 3.593798420959752,
+        "y": 5.550562440965166
       },
       "prevControl": {
-        "x": 3.650803628594939,
-        "y": 6.356918783266457
+        "x": 3.469693715863443,
+        "y": 5.9918236146409285
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/W3 W1.path b/src/main/deploy/pathplanner/paths/W3 W1.path
index dd2e7de7..9bf122a3 100644
--- a/src/main/deploy/pathplanner/paths/W3 W1.path	
+++ b/src/main/deploy/pathplanner/paths/W3 W1.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.8945149638302823,
+        "y": 6.8690031257613535
       },
       "prevControl": {
-        "x": 1.4904624658073509,
-        "y": 6.756811721910118
+        "x": 1.4925914432979113,
+        "y": 6.6437760683643505
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b2ecba27..e43d8c7e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -221,7 +221,7 @@ public RobotContainer() {
                 || (OIConstants.OPERATOR_PRESENT 
                     && operator.getLeftBumper()),
                 () -> OIConstants.OPERATOR_PRESENT 
-                && (driver.getLeftBumper() || operator.getYButton())
+                && (operator.getYButton())
             )
         );
 
@@ -305,7 +305,6 @@ private void configureTimedEvents() {
         new Trigger(() -> 
             Robot.gameMode == GameMode.TELEOP
             && shooter.getAverageSpeed() > 1700
-            && shooter.getAverageTargetSpeed() != 2500
             && swerve.getPose().getX() > FieldConstants.CENTERLINE_X ^ Robot.isBlueAlliance()
             && limelight3g.getPose2d().getTranslation().getDistance(swerve.getPose().getTranslation()) < Units.inchesToMeters(4))
         .onTrue(Commands.runOnce(() -> 
@@ -326,12 +325,11 @@ private void configureTimedEvents() {
         // The reason we are checking bumpers
         // is so this doesn't happen on pieceControl::moveNote
         new Trigger(
-            () -> piPico.hasNoteShooter() 
+            () -> (piPico.hasNoteShooter() || piPico.hasNoteElevator())
                 && (
                     // All of these buttons command intake
                     // Whether that be source or not
-                    driver.getLeftTrigger() 
-                    || driver.getXButton() 
+                    driver.getXButton() 
                     || (OIConstants.OPERATOR_PRESENT 
                         &&(operator.getLeftBumper() 
                         || operator.getStartButton() 
@@ -368,17 +366,7 @@ private void configureTimedEvents() {
             ).onFalse(
                 driver.setRumble(() -> 0)
             );
-        
-        // Controller rumble if climb hooks are up and we are inside of stage area
-        // AKA driver is good to climb
-        new Trigger(climb::getHooksUp).and(() -> PoseCalculations.inStageTriangle(robotPose2d))
-            .onTrue(driver.setRumble(() -> 0.5))
-            .onFalse(driver.setRumble(() -> 0));
 
-        new Trigger(climb::getToggleMode)
-            .onTrue(swerve.resetHDCCommand())
-            .onFalse(swerve.resetDesiredHDCPoseCommand())
-            .whileTrue(alignmentCmds.chainRotationalAlignment(driver::getLeftX, driver::getLeftY, robotRelativeSupplier));  
     }
     
     private void configureFieldCalibrationBindings(PatriBoxController controller) {
@@ -475,11 +463,9 @@ private void configureCommonDriverBindings(PatriBoxController controller) {
         controller.povDown()
             .onTrue(
                 climb.toBottomCommand()
-                    .alongWith(
-                        Commands.waitUntil(elevator::atDesiredPosition)
-                            .andThen(shooterCmds.stowPivot())));
+                    .alongWith(shooterCmds.stowPivot()));
 
-        // POV left is uncommonly used but needed incase of emergency
+        // POV left and right are uncommonly used but needed incase of emergency
         controller.povLeft()
             .onTrue(
                 Commands.sequence(
@@ -488,6 +474,13 @@ private void configureCommonDriverBindings(PatriBoxController controller) {
                     shooterCmds.raisePivot()
                 ));
 
+        controller.povRight()
+            .onTrue(
+                Commands.sequence(
+                    pieceControl.stopAllMotors(),
+                    shooterCmds.stowPivot()
+                ));
+
     }
 
     private void configureSoloDriverBindings(PatriBoxController controller) {
@@ -545,11 +538,11 @@ private void configureDriverBindings(PatriBoxController controller) {
                     shooterCmds.prepareSubwooferCommand()
                 ).finallyDo(
                     () -> 
-                    Commands.parallel(
-                        shooterCmds.raisePivot(),
-                        shooterCmds.stopShooter())
-                        .withInterruptBehavior(InterruptionBehavior.kCancelSelf)
-                        .schedule()));
+                        Commands.parallel(
+                            shooterCmds.raisePivot(),
+                            shooterCmds.stopShooter())
+                            .withInterruptBehavior(InterruptionBehavior.kCancelSelf)
+                            .schedule()));
 
 
         controller.a()
@@ -562,8 +555,7 @@ private void configureDriverBindings(PatriBoxController controller) {
                     limelight3g.setLEDState(() -> false),
                     swerve.resetHDCCommand(),
                     swerve.resetDesiredHDCPoseCommand()));
-                
-        controller.x()
+        controller.leftBumper()
             .whileTrue(pieceControl.intakeNoteDriver(swerve::getPose, swerve::getRobotRelativeVelocity))
             .negate().and(() -> !OIConstants.OPERATOR_PRESENT  || !operator.getLeftBumper())
             .onTrue(pieceControl.stopIntakeAndIndexer());
@@ -595,7 +587,7 @@ private void configureOperatorBindings(PatriBoxController controller) {
 
         controller.leftBumper()
             .whileTrue(pieceControl.intakeUntilNote())
-            .negate().and(driver.x().negate())
+            .negate().and(driver.leftBumper().negate())
             .onTrue(pieceControl.stopIntakeAndIndexer());
 
         controller.rightBumper()
@@ -624,7 +616,9 @@ private void configureOperatorBindings(PatriBoxController controller) {
             .onFalse(pieceControl.stopPanicEject());
 
         controller.start().or(controller.back())
-            .whileTrue(pieceControl.sourceShooterIntake())
+            .whileTrue(
+                Commands.waitUntil(elevator::atDesiredPosition)
+                    .andThen(pieceControl.sourceShooterIntake()))
             .onFalse(pieceControl.stopIntakeAndIndexer());
 
         controller.rightStick().and(controller.leftStick())
diff --git a/src/main/java/frc/robot/commands/drive/AlignmentCmds.java b/src/main/java/frc/robot/commands/drive/AlignmentCmds.java
index 4101fc0c..561460b2 100644
--- a/src/main/java/frc/robot/commands/drive/AlignmentCmds.java
+++ b/src/main/java/frc/robot/commands/drive/AlignmentCmds.java
@@ -193,10 +193,21 @@ public Command wingRotationalAlignment(DoubleSupplier driverX, DoubleSupplier dr
                 climb::getHooksUp);
     }
 
+    public Command preparePassCommand(DoubleSupplier driverX, DoubleSupplier driverY, BooleanSupplier robotRelativeSupplier, BooleanSupplier lowPass) {
+        return
+            passRotationalAlignment(driverX, driverY, shooterCmds)
+                .alongWith(shooterCmds.preparePassCommand(swerve::getPose, lowPass));
+    }
+
     public Command preparePassCommand(DoubleSupplier driverX, DoubleSupplier driverY, BooleanSupplier robotRelativeSupplier) {
+        return preparePassCommand(driverX, driverY, robotRelativeSupplier, () -> PoseCalculations.inLowPassZone(swerve.getPose()));
+    }
+
+    public Command prepareSlidePassCommand(DoubleSupplier driverX, DoubleSupplier driverY, BooleanSupplier robotRelativeSupplier) {
         return
             passRotationalAlignment(driverX, driverY, shooterCmds)
-                .alongWith(shooterCmds.preparePassCommand(swerve::getPose));
+                .alongWith(shooterCmds.prepareSlidePassCommand());
+
     }
 
     public Command preparePresetPose(DoubleSupplier driverX, DoubleSupplier driverY, boolean xButtonPressed) {
diff --git a/src/main/java/frc/robot/commands/managers/HDCTuner.java b/src/main/java/frc/robot/commands/managers/HDCTuner.java
index 12e6f65f..f5c3b942 100644
--- a/src/main/java/frc/robot/commands/managers/HDCTuner.java
+++ b/src/main/java/frc/robot/commands/managers/HDCTuner.java
@@ -12,9 +12,9 @@
 
 public class HDCTuner extends SubsystemBase {
 
-    @AutoLogOutput (key = "Managers//HDCTuner/PIDControllerIndex")
+    @AutoLogOutput (key = "Managers/HDCTuner/PIDControllerIndex")
     public int PIDControllerIndex = 0;
-    @AutoLogOutput (key = "Managers//HDCTuner/PIDIndex")
+    @AutoLogOutput (key = "Managers/HDCTuner/PIDIndex")
     public int PIDIndex = 0;
 
     public PIDController XYController = AutoConstants.HDC.getXController();
diff --git a/src/main/java/frc/robot/commands/managers/ShooterCmds.java b/src/main/java/frc/robot/commands/managers/ShooterCmds.java
index f4c61be4..5b3c7fd4 100644
--- a/src/main/java/frc/robot/commands/managers/ShooterCmds.java
+++ b/src/main/java/frc/robot/commands/managers/ShooterCmds.java
@@ -16,6 +16,7 @@
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.Constants.ShooterConstants;
+import frc.robot.util.calc.PoseCalculations;
 import frc.robot.util.calc.ShooterCalc;
 import frc.robot.util.custom.SpeedAngleTriplet;
 
@@ -147,15 +148,27 @@ public Command prepareStillSpeakerCommand(Supplier<Pose2d> robotPose) {
         return prepareSWDCommand(robotPose, () -> new ChassisSpeeds());
     }
 
-    public Command preparePassCommand(Supplier<Pose2d> robotPose) {
+    public Command preparePassCommand(Supplier<Pose2d> robotPose, BooleanSupplier lowPass) {
         return Commands.run(
             () -> {
-                desiredTriplet = shooterCalc.calculatePassTriplet(robotPose.get());
+                desiredTriplet = shooterCalc.calculatePassTriplet(robotPose.get(), lowPass.getAsBoolean());
                 pivot.setAngle(desiredTriplet.getAngle());
                 shooter.setSpeed(desiredTriplet.getSpeeds());
             }, pivot, shooter);
     }
 
+    public Command preparePassCommand(Supplier<Pose2d> robotPose) {
+        return preparePassCommand(robotPose, () -> PoseCalculations.inLowPassZone(robotPose.get()));
+    }
+
+    public Command prepareSlidePassCommand() {
+        return Commands.run(
+            () -> {
+                pivot.setAngle(ShooterConstants.PIVOT_LOWER_LIMIT_DEGREES);
+                shooter.setSpeed(ShooterConstants.SLIDE_PASS_AVERAGE_RPM);
+            }, pivot, shooter);
+    }
+
     public Command prepareSubwooferCommand() {
         return prepareStillSpeakerCommand(FieldConstants::GET_SUBWOOFER_POSITION);
     }
diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
index 7181e097..5e285ef7 100644
--- a/src/main/java/frc/robot/util/Constants.java
+++ b/src/main/java/frc/robot/util/Constants.java
@@ -31,8 +31,6 @@
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.util.Color;
 import frc.robot.Robot;
-import frc.robot.util.Constants.FieldConstants;
-import frc.robot.util.Constants.LoggingConstants.RobotType;
 import frc.robot.util.custom.PatrIDConstants;
 import frc.robot.util.custom.SpeedAngleTriplet;
 import frc.robot.util.rev.Neo;
@@ -198,6 +196,8 @@ public static final class ShooterConstants {
         public static final double PIVOT_UPPER_LIMIT_DEGREES = 56;
         public static final double PIVOT_RAISE_ANGLE_DEGREES = 49;
 
+        public static final double SLIDE_PASS_AVERAGE_RPM = 2500;
+
         public static final SpeedAngleTriplet SHOOTER_AMP_TRIPLET = SpeedAngleTriplet.of(712.0, 554.0, 55.4);
 
         public static final double SHOOTER_RPM_LOWER_LIMIT = -NeoMotorConstants.VORTEX_FREE_SPEED_RPM;
@@ -240,14 +240,14 @@ public static final class ShooterConstants {
                 put(8.0, SpeedAngleTriplet.of(3024.0, 3319.0, 42.4));
                 put(8.5, SpeedAngleTriplet.of(3128.0, 3445.0, 40.9));
                 put(9.0, SpeedAngleTriplet.of(3305.0, 3606.0, 39.6));
-                put(10.0, SpeedAngleTriplet.of(3441.0, 3842.0, 37.6));
-                put(11.0, SpeedAngleTriplet.of(3647.0, 3965.0, 36.2));
-                put(12.0, SpeedAngleTriplet.of(3781.0, 4147.0, 34.1));
-                put(12.5, SpeedAngleTriplet.of(3945.0, 4320.0, 34.0));
-                put(13.0, SpeedAngleTriplet.of(4106.0, 4490.0, 33.7));
-                put(14.0, SpeedAngleTriplet.of(4379.0, 4648.0, 31.5));
-                put(15.0, SpeedAngleTriplet.of(4445.0, 4714.0, 30.4));
-                put(16.0, SpeedAngleTriplet.of(4540.0, 4809.0, 29.7));
+                put(10.0, SpeedAngleTriplet.of(3441.0, 3842.0, 36.6));
+                put(11.0, SpeedAngleTriplet.of(3647.0, 3965.0, 35.2));
+                put(12.0, SpeedAngleTriplet.of(3781.0, 4147.0, 33.1));
+                put(12.5, SpeedAngleTriplet.of(3945.0, 4320.0, 33.0));
+                put(13.0, SpeedAngleTriplet.of(4106.0, 4490.0, 32.7));
+                put(14.0, SpeedAngleTriplet.of(4379.0, 4648.0, 30.5));
+                put(15.0, SpeedAngleTriplet.of(4445.0, 4714.0, 29.4));
+                put(16.0, SpeedAngleTriplet.of(4540.0, 4809.0, 28.7));
 
                 // BAYOU
                 // put(6.0, SpeedAngleTriplet.of(3007.0, 2850.0, 50.1));
@@ -400,7 +400,7 @@ public static final class ClimbConstants {
 
     public static final class AutoConstants {
 
-        // The below values need to be tuned for each new robot.
+        // The below values need to be tuned for each new robot..
         // They are currently set to the values suggested by Choreo
         public static final double MAX_SPEED_METERS_PER_SECOND = 5;
         public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 5;
@@ -499,8 +499,9 @@ public static final class AutoConstants {
             "S C5-3 3-5 S",
             "S W3-1 S C2-5 S",
             "S W3-1 S C2-3 S", // HOME AUTO
-            "S W3-1 S C1-2 S",
+            // "S W3-1 S C1-2 S",
             "S W3-1 S C3-5 S",
+            "S W3-1 S C1-5 S",
             "S W3-1 S",
             "S C1-5 S Over W1"
         };
@@ -936,7 +937,7 @@ public static final class FieldConstants {
         public static final List<Pose2d> CENTER_PASS_TARGET_POSITIONS = new ArrayList<Pose2d>() {{
 
             // I swear bulldogs and hawaiin kids just had to get in here somehow
-            Pose2d bluePose = new Pose2d(1.07, 6.99, Rotation2d.fromDegrees(0));
+            Pose2d bluePose = new Pose2d(0.630, 6.405, Rotation2d.fromDegrees(0));
             Pose2d redPose = GeometryUtil.flipFieldPose(bluePose).plus(new Transform2d(0, 0, Rotation2d.fromDegrees(180)));
 
             add(bluePose);
diff --git a/src/main/java/frc/robot/util/calc/ShooterCalc.java b/src/main/java/frc/robot/util/calc/ShooterCalc.java
index 6e3d8020..08213fd0 100644
--- a/src/main/java/frc/robot/util/calc/ShooterCalc.java
+++ b/src/main/java/frc/robot/util/calc/ShooterCalc.java
@@ -84,8 +84,7 @@ public SpeedAngleTriplet calculateSWDTripletAuto(Pose2d pose, ChassisSpeeds spee
             );
     }
 
-    public SpeedAngleTriplet calculatePassTriplet(Pose2d robotPose) {
-        boolean lowPass = PoseCalculations.inLowPassZone(robotPose);
+    public SpeedAngleTriplet calculatePassTriplet(Pose2d robotPose, boolean lowPass) {
         Rotation2d pivotAngle = calculatePassPivotAngle(robotPose, lowPass);
         Pair<Number, Number> shooterSpeeds = calculateShooterSpeedsForPassApex(robotPose, pivotAngle, lowPass);
         return SpeedAngleTriplet.of(
@@ -95,6 +94,10 @@ public SpeedAngleTriplet calculatePassTriplet(Pose2d robotPose) {
             pivotAngle.getDegrees());
     }
 
+    public SpeedAngleTriplet calculatePassTriplet(Pose2d robotPose) {
+        return calculatePassTriplet(robotPose, PoseCalculations.inLowPassZone(robotPose));
+    }
+
     public SpeedAngleTriplet calculateApexTriplet(Pose2d robotPose) {
         Rotation2d pivotAngle = calculatePivotAngle(robotPose);
         Pair<Number, Number> shooterSpeeds = calculateShooterSpeedsForSpeakerApex(robotPose, pivotAngle);
@@ -129,14 +132,8 @@ public Rotation2d calculatePivotAngle(Pose2d robotPose) {
 
     public Rotation2d calculatePassPivotAngle(Pose2d robotPose, boolean lowPass) {
 
-        boolean sourcePass = PoseCalculations.inSourcePassZone(robotPose);
-
         // Calculate the robot's pose relative to the desired pass's apex position
-        robotPose = 
-            robotPose.relativeTo(
-                sourcePass 
-                    ? FieldConstants.GET_SOURCE_PASS_TARGET_POSITION() 
-                    : FieldConstants.GET_CENTER_PASS_TARGET_POSITION());
+        robotPose = robotPose.relativeTo(FieldConstants.GET_CENTER_PASS_TARGET_POSITION());
 
         // Calculate the distance and height in meters from the robot to the pass target pose
         double rangeMeters = robotPose.getTranslation().getNorm();
@@ -209,12 +206,12 @@ public Rotation2d calculateRobotAngleToPose(Pose2d robotPose, ChassisSpeeds robo
         Rotation2d currentAngleToTarget = new Rotation2d(poseRelativeToTarget.getX(), poseRelativeToTarget.getY());
         double velocityArcTan = Math.atan2(
             velocityTangent,
-            (target.equals(FieldConstants.GET_CENTER_PASS_TARGET_POSITION()) || target.equals(FieldConstants.GET_SOURCE_PASS_TARGET_POSITION())
+            (target.equals(FieldConstants.GET_CENTER_PASS_TARGET_POSITION()))
                 // Run this calculation with high pass triplet, as low pass requires little rotational precision in swd
                 ? rpmToVelocity(calculatePassTriplet(robotPose).getSpeeds())
                 : rpmToVelocity(calculateSWDTriplet(robotPose, robotVelocity).getSpeeds())
             // rpmToVelocity(calculateShooterSpeedsForApex(robotPose, calculatePivotAngle(robotPose)))
-        ));
+        );
         // Calculate the desired rotation to the speaker, taking into account the tangent velocity
         // Add PI because the speaker opening is the opposite direction that the robot needs to be facing
         Rotation2d desiredRotation2d = Rotation2d.fromRadians(MathUtil.angleModulus(
@@ -239,11 +236,9 @@ public Rotation2d calculateRobotAngleToPass(Pose2d robotPose) {
     public Rotation2d calculateRobotAngleToPass(Pose2d robotPose, ChassisSpeeds robotVelocity) {
         return 
             calculateRobotAngleToPose(
-                robotPose, 
+                robotPose,
                 robotVelocity,
-                PoseCalculations.inSourcePassZone(robotPose) 
-                    ? FieldConstants.GET_SOURCE_PASS_TARGET_POSITION()
-                    : FieldConstants.GET_CENTER_PASS_TARGET_POSITION());
+                FieldConstants.GET_CENTER_PASS_TARGET_POSITION());
     }
 
     public Rotation2d calculateRobotAngleToSpeaker(Pose2d pose) {