diff --git a/src/main/deploy/choreo/DtoFL.traj b/src/main/deploy/choreo/DtoFL.traj
new file mode 100644
index 0000000..4ca2f60
--- /dev/null
+++ b/src/main/deploy/choreo/DtoFL.traj
@@ -0,0 +1,191 @@
+{
+ "name":"DtoFL",
+ "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/FLMtoPL.traj b/src/main/deploy/choreo/FLMtoPL.traj
new file mode 100644
index 0000000..92550dc
--- /dev/null
+++ b/src/main/deploy/choreo/FLMtoPL.traj
@@ -0,0 +1,149 @@
+{
+ "name":"FLMtoPL",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.651943683624268, "y":7.046875476837158, "heading":3.1193731823607354, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.405607223510742, "y":7.404540061950684, "heading":-3.1325835196488248, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "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":"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":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "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":"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":{
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+    "y":0.295275
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+   "backLeft":{
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+    "y":0.295275
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+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.07955,1.62243,2.32947],
+  "samples":[
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diff --git a/src/main/deploy/choreo/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj
new file mode 100644
index 0000000..e8d2a95
--- /dev/null
+++ b/src/main/deploy/choreo/FLtoFLM.traj
@@ -0,0 +1,77 @@
+{
+ "name":"FLtoFLM",
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diff --git a/src/main/deploy/choreo/FLtoPL.traj b/src/main/deploy/choreo/FLtoPL.traj
new file mode 100644
index 0000000..e3018eb
--- /dev/null
+++ b/src/main/deploy/choreo/FLtoPL.traj
@@ -0,0 +1,148 @@
+{
+ "name":"FLtoPL",
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+ "snapshot":{
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FRMtoPR.traj b/src/main/deploy/choreo/FRMtoPR.traj
new file mode 100644
index 0000000..2a83122
--- /dev/null
+++ b/src/main/deploy/choreo/FRMtoPR.traj
@@ -0,0 +1,168 @@
+{
+ "name":"FRMtoPR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.188870906829834, "y":1.6466065645217896, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":6.173748970031738, "y":0.8035948872566223, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.3034772872924805, "y":0.6539731621742249, "heading":3.1254649650416493, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "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":0.05
+ },
+ "params":{
+  "waypoints":[
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+    {"x":{"exp":"7.188870906829834 m", "val":7.188870906829834}, "y":{"exp":"1.6466065645217896 m", "val":1.6466065645217896}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "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":"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":0.301625,
+    "y":0.295275
+   },
+   "backLeft":{
+    "x":-0.301625,
+    "y":0.295275
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+   "mass":65.39238106842257,
+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.83433,1.16981,1.62352,2.31867],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj
new file mode 100644
index 0000000..c290398
--- /dev/null
+++ b/src/main/deploy/choreo/FRtoFRM.traj
@@ -0,0 +1,131 @@
+{
+ "name":"FRtoFRM",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.7779757976531982, "y":1.1417036056518557, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"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":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.7779757976531982 m", "val":2.7779757976531982}, "y":{"exp":"1.1417036056518555 m", "val":1.1417036056518557}, "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":false},
+    {"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":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
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+    "y":0.295275
+   },
+   "backLeft":{
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+    "y":0.295275
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+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.51399,2.10416],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FRtoPR.traj b/src/main/deploy/choreo/FRtoPR.traj
new file mode 100644
index 0000000..d342919
--- /dev/null
+++ b/src/main/deploy/choreo/FRtoPR.traj
@@ -0,0 +1,149 @@
+{
+ "name":"FRtoPR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.877583026885986, "y":0.9488903284072876, "heading":2.31396636130458, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.852348327636719, "y":0.673642635345459, "heading":3.0566907872831894, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.7788686752319336, "y":0.7205682992935181, "heading":3.141592653589793, "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":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.877583026885986 m", "val":6.877583026885986}, "y":{"exp":"0.9488903284072876 m", "val":0.9488903284072876}, "heading":{"exp":"2.3139663613045798 rad", "val":2.31396636130458}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.852348327636719 m", "val":4.852348327636719}, "y":{"exp":"0.673642635345459 m", "val":0.673642635345459}, "heading":{"exp":"3.0566907872831894 rad", "val":3.0566907872831894}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.7788686752319336 m", "val":2.7788686752319336}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"PR.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},
+    {"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":0.301625,
+    "y":0.295275
+   },
+   "backLeft":{
+    "x":-0.301625,
+    "y":0.295275
+   },
+   "mass":65.39238106842257,
+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/OtoFR.traj b/src/main/deploy/choreo/OtoFR.traj
new file mode 100644
index 0000000..ac95ce6
--- /dev/null
+++ b/src/main/deploy/choreo/OtoFR.traj
@@ -0,0 +1,167 @@
+{
+ "name":"OtoFR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.6150895357131958, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.017363756895065308, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
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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":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"17.363756895065308 mm", "val":0.017363756895065308}, "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":{
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+    "y":0.295275
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+   "backLeft":{
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+    "y":0.295275
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+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.28618,1.91091,2.59118],
+  "samples":[
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PLtoCL.traj b/src/main/deploy/choreo/PLtoCL.traj
new file mode 100644
index 0000000..b032135
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoCL.traj
@@ -0,0 +1,88 @@
+{
+ "name":"PLtoCL",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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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":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
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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":"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":{
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+    "y":0.295275
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+   "backLeft":{
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+    "y":0.295275
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+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
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+   "cof":1.5,
+   "bumper":{
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+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.45802],
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+}
diff --git a/src/main/deploy/choreo/PLtoCM.traj b/src/main/deploy/choreo/PLtoCM.traj
new file mode 100644
index 0000000..fdc8e8f
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoCM.traj
@@ -0,0 +1,89 @@
+{
+ "name":"PLtoCM",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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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":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
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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},
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+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
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+    "y":0.295275
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+   "inertia":6.590492861012039,
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+    "side":0.46609,
+    "back":0.46609
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PLtoD.traj b/src/main/deploy/choreo/PLtoD.traj
new file mode 100644
index 0000000..c591891
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoD.traj
@@ -0,0 +1,81 @@
+{
+ "name":"PLtoD",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "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":"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":[
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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":"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":0.301625,
+    "y":0.295275
+   },
+   "backLeft":{
+    "x":-0.301625,
+    "y":0.295275
+   },
+   "mass":65.39238106842257,
+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
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diff --git a/src/main/deploy/choreo/PLtoFL.traj b/src/main/deploy/choreo/PLtoFL.traj
new file mode 100644
index 0000000..aba6ef2
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoFL.traj
@@ -0,0 +1,167 @@
+{
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PRtoCM.traj b/src/main/deploy/choreo/PRtoCM.traj
new file mode 100644
index 0000000..e7d96c2
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoCM.traj
@@ -0,0 +1,87 @@
+{
+ "name":"PRtoCM",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "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":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "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":"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":{
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+    "y":0.295275
+   },
+   "backLeft":{
+    "x":-0.301625,
+    "y":0.295275
+   },
+   "mass":65.39238106842257,
+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.41872],
+  "samples":[
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+}
diff --git a/src/main/deploy/choreo/PRtoCR.traj b/src/main/deploy/choreo/PRtoCR.traj
new file mode 100644
index 0000000..0ca16a9
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoCR.traj
@@ -0,0 +1,85 @@
+{
+ "name":"PRtoCR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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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":"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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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
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+    "y":0.295275
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+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PRtoFR.traj b/src/main/deploy/choreo/PRtoFR.traj
new file mode 100644
index 0000000..b71f8d2
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoFR.traj
@@ -0,0 +1,146 @@
+{
+ "name":"PRtoFR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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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},
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+  "targetDt":0.05
+ },
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+  "targetDt":{
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+  }
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+    "y":0.295275
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+    "side":0.46609,
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+    {"t":2.25684, "x":7.82223, "y":2.21695, "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/PRtoO.traj b/src/main/deploy/choreo/PRtoO.traj
new file mode 100644
index 0000000..c2f0b90
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoO.traj
@@ -0,0 +1,82 @@
+{
+ "name":"PRtoO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.6150895357131958, "y":0.7198631167411804, "heading":3.141592653589793, "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":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.6150895357131958}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.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},
+    {"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":0.301625,
+    "y":0.295275
+   },
+   "backLeft":{
+    "x":-0.301625,
+    "y":0.295275
+   },
+   "mass":65.39238106842257,
+   "inertia":6.590492861012039,
+   "gearing":5.902777777777778,
+   "radius":0.0508,
+   "vmax":523.5987755982989,
+   "tmax":0.9,
+   "cof":1.5,
+   "bumper":{
+    "front":0.46609,
+    "side":0.46609,
+    "back":0.46609
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.16139],
+  "samples":[
+    {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.39137, "ay":-0.00209, "alpha":0.0, "fx":[-104.48671,-104.48671,-104.48671,-104.48671], "fy":[-0.03422,-0.03422,-0.03422,-0.03422]},
+    {"t":0.04839, "x":2.7611, "y":0.72057, "heading":3.14159, "vx":-0.30929, "vy":-0.0001, "omega":0.0, "ax":-6.39084, "ay":-0.00209, "alpha":0.0, "fx":[-104.47813,-104.47813,-104.47813,-104.47813], "fy":[-0.03421,-0.03421,-0.03421,-0.03421]},
+    {"t":0.09678, "x":2.73866, "y":0.72056, "heading":3.14159, "vx":-0.61855, "vy":-0.0002, "omega":0.0, "ax":-6.39021, "ay":-0.00209, "alpha":0.0, "fx":[-104.46774,-104.46774,-104.46774,-104.46774], "fy":[-0.03421,-0.03421,-0.03421,-0.03421]},
+    {"t":0.14517, "x":2.70124, "y":0.72055, "heading":3.14159, "vx":-0.92777, "vy":-0.0003, "omega":0.0, "ax":-6.38942, "ay":-0.00209, "alpha":0.0, "fx":[-104.45491,-104.45491,-104.45491,-104.45491], "fy":[-0.0342,-0.0342,-0.0342,-0.0342]},
+    {"t":0.19356, "x":2.64886, "y":0.72053, "heading":3.14159, "vx":-1.23697, "vy":-0.00041, "omega":0.0, "ax":-6.38843, "ay":-0.00209, "alpha":0.0, "fx":[-104.43865,-104.43865,-104.43865,-104.43865], "fy":[-0.0342,-0.0342,-0.0342,-0.0342]},
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+    {"t":0.29035, "x":2.49923, "y":0.72048, "heading":3.14159, "vx":-1.85519, "vy":-0.00061, "omega":0.0, "ax":-6.38536, "ay":-0.00209, "alpha":0.0, "fx":[-104.38842,-104.38842,-104.38842,-104.38842], "fy":[-0.03418,-0.03418,-0.03418,-0.03418]},
+    {"t":0.33874, "x":2.40198, "y":0.72045, "heading":3.14159, "vx":-2.16418, "vy":-0.00071, "omega":0.0, "ax":-6.3828, "ay":-0.00209, "alpha":0.0, "fx":[-104.34658,-104.34658,-104.34658,-104.34658], "fy":[-0.03417,-0.03417,-0.03417,-0.03417]},
+    {"t":0.38713, "x":2.28978, "y":0.72041, "heading":3.14159, "vx":-2.47305, "vy":-0.00081, "omega":0.0, "ax":-6.37878, "ay":-0.00209, "alpha":0.0, "fx":[-104.28084,-104.28084,-104.28084,-104.28084], "fy":[-0.03415,-0.03415,-0.03415,-0.03415]},
+    {"t":0.43552, "x":2.16264, "y":0.72037, "heading":3.14159, "vx":-2.78173, "vy":-0.00091, "omega":0.0, "ax":-6.37154, "ay":-0.00209, "alpha":0.0, "fx":[-104.16258,-104.16258,-104.16258,-104.16258], "fy":[-0.03411,-0.03411,-0.03411,-0.03411]},
+    {"t":0.48391, "x":2.02056, "y":0.72032, "heading":3.14159, "vx":-3.09006, "vy":-0.00101, "omega":0.0, "ax":-6.35469, "ay":-0.00208, "alpha":0.0, "fx":[-103.88711,-103.88711,-103.88711,-103.88711], "fy":[-0.03402,-0.03402,-0.03402,-0.03402]},
+    {"t":0.5323, "x":1.86359, "y":0.72027, "heading":3.14159, "vx":-3.39757, "vy":-0.00111, "omega":0.0, "ax":-6.27107, "ay":-0.00205, "alpha":0.0, "fx":[-102.52008,-102.52008,-102.52008,-102.52008], "fy":[-0.03357,-0.03357,-0.03357,-0.03357]},
+    {"t":0.58069, "x":1.69184, "y":0.72022, "heading":3.14159, "vx":-3.70103, "vy":-0.00121, "omega":0.0, "ax":6.27107, "ay":0.00205, "alpha":0.0, "fx":[102.52008,102.52008,102.52008,102.52008], "fy":[0.03357,0.03357,0.03357,0.03357]},
+    {"t":0.62908, "x":1.52008, "y":0.72016, "heading":3.14159, "vx":-3.39757, "vy":-0.00111, "omega":0.0, "ax":6.35469, "ay":0.00208, "alpha":0.0, "fx":[103.88711,103.88711,103.88711,103.88711], "fy":[0.03402,0.03402,0.03402,0.03402]},
+    {"t":0.67748, "x":1.36311, "y":0.72011, "heading":3.14159, "vx":-3.09006, "vy":-0.00101, "omega":0.0, "ax":6.37154, "ay":0.00209, "alpha":0.0, "fx":[104.16258,104.16258,104.16258,104.16258], "fy":[0.03411,0.03411,0.03411,0.03411]},
+    {"t":0.72587, "x":1.22104, "y":0.72006, "heading":3.14159, "vx":-2.78173, "vy":-0.00091, "omega":0.0, "ax":6.37878, "ay":0.00209, "alpha":0.0, "fx":[104.28084,104.28084,104.28084,104.28084], "fy":[0.03415,0.03415,0.03415,0.03415]},
+    {"t":0.77426, "x":1.0939, "y":0.72002, "heading":3.14159, "vx":-2.47305, "vy":-0.00081, "omega":0.0, "ax":6.3828, "ay":0.00209, "alpha":0.0, "fx":[104.34658,104.34658,104.34658,104.34658], "fy":[0.03417,0.03417,0.03417,0.03417]},
+    {"t":0.82265, "x":0.9817, "y":0.71998, "heading":3.14159, "vx":-2.16418, "vy":-0.00071, "omega":0.0, "ax":6.38536, "ay":0.00209, "alpha":0.0, "fx":[104.38842,104.38842,104.38842,104.38842], "fy":[0.03418,0.03418,0.03418,0.03418]},
+    {"t":0.87104, "x":0.88445, "y":0.71995, "heading":3.14159, "vx":-1.85519, "vy":-0.00061, "omega":0.0, "ax":6.38713, "ay":0.00209, "alpha":0.0, "fx":[104.4174,104.4174,104.4174,104.4174], "fy":[0.03419,0.03419,0.03419,0.03419]},
+    {"t":0.91943, "x":0.80215, "y":0.71992, "heading":3.14159, "vx":-1.54611, "vy":-0.00051, "omega":0.0, "ax":6.38843, "ay":0.00209, "alpha":0.0, "fx":[104.43865,104.43865,104.43865,104.43865], "fy":[0.0342,0.0342,0.0342,0.0342]},
+    {"t":0.96782, "x":0.73481, "y":0.7199, "heading":3.14159, "vx":-1.23697, "vy":-0.00041, "omega":0.0, "ax":6.38942, "ay":0.00209, "alpha":0.0, "fx":[104.45491,104.45491,104.45491,104.45491], "fy":[0.0342,0.0342,0.0342,0.0342]},
+    {"t":1.01621, "x":0.68244, "y":0.71989, "heading":3.14159, "vx":-0.92777, "vy":-0.0003, "omega":0.0, "ax":6.39021, "ay":0.00209, "alpha":0.0, "fx":[104.46774,104.46774,104.46774,104.46774], "fy":[0.03421,0.03421,0.03421,0.03421]},
+    {"t":1.0646, "x":0.64502, "y":0.71987, "heading":3.14159, "vx":-0.61855, "vy":-0.0002, "omega":0.0, "ax":6.39084, "ay":0.00209, "alpha":0.0, "fx":[104.47813,104.47813,104.47813,104.47813], "fy":[0.03421,0.03421,0.03421,0.03421]},
+    {"t":1.113, "x":0.62257, "y":0.71987, "heading":3.14159, "vx":-0.30929, "vy":-0.0001, "omega":0.0, "ax":6.39137, "ay":0.00209, "alpha":0.0, "fx":[104.48671,104.48671,104.48671,104.48671], "fy":[0.03422,0.03422,0.03422,0.03422]},
+    {"t":1.16139, "x":0.61509, "y":0.71986, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor
new file mode 100644
index 0000000..58a8a34
--- /dev/null
+++ b/src/main/deploy/choreo/rebuiltChoreo.chor
@@ -0,0 +1,254 @@
+{
+ "name":"rebuiltChoreo",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{
+   "slow":{
+    "dimension":"LinVel",
+    "var":{
+     "exp":"1.15 m / s",
+     "val":1.15
+    }
+   },
+   "slowaccel":{
+    "dimension":"LinAcc",
+    "var":{
+     "exp":"1.5 m / s ^ 2",
+     "val":1.5
+    }
+   }
+  },
+  "poses":{
+   "CL":{
+    "x":{
+     "exp":"1.7636412382125854 m",
+     "val":1.7636412382125854
+    },
+    "y":{
+     "exp":"4.111053943634033 m",
+     "val":4.111053943634033
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "CM":{
+    "x":{
+     "exp":"1.7500560283660889 m",
+     "val":1.7500560283660889
+    },
+    "y":{
+     "exp":"3.7646303176879883 m",
+     "val":3.764630317687988
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "CR":{
+    "x":{
+     "exp":"1.7568485736846924 m",
+     "val":1.7568485736846924
+    },
+    "y":{
+     "exp":"3.397829055786133 m",
+     "val":3.397829055786133
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "D":{
+    "x":{
+     "exp":"1.307854413986206 m",
+     "val":1.307854413986206
+    },
+    "y":{
+     "exp":"5.920979976654053 m",
+     "val":5.920979976654053
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "FL":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"5.865901947021484 m",
+     "val":5.865901947021484
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "FLM":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"4.503572463989258 m",
+     "val":4.503572463989258
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "FR":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"2.2169458866119385 m",
+     "val":2.2169458866119385
+    },
+    "heading":{
+     "exp":"1.5707963267948966 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "FRM":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"3.55698299407959 m",
+     "val":3.55698299407959
+    },
+    "heading":{
+     "exp":"1.5707963267948966 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "O":{
+    "x":{
+     "exp":"0.6150895357131958 m",
+     "val":0.6150895357131958
+    },
+    "y":{
+     "exp":"0.7198631167411804 m",
+     "val":0.7198631167411804
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "PLO":{
+    "x":{
+     "exp":"2.814626932144165 m",
+     "val":2.814626932144165
+    },
+    "y":{
+     "exp":"7.330637454986572 m",
+     "val":7.330637454986572
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "PR":{
+    "x":{
+     "exp":"2.768587827682495 m",
+     "val":2.768587827682495
+    },
+    "y":{
+     "exp":"0.7205682992935181 m",
+     "val":0.7205682992935181
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"23.75 / 2 in",
+    "val":0.301625
+   },
+   "y":{
+    "exp":"23.25 / 2 in",
+    "val":0.295275
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-23.75 / 2 in",
+    "val":-0.301625
+   },
+   "y":{
+    "exp":"23.25 / 2 in",
+    "val":0.295275
+   }
+  },
+  "mass":{
+   "exp":"144.1655226 lb",
+   "val":65.39238106842257
+  },
+  "inertia":{
+   "exp":"22520.847 in ^ 2 lb",
+   "val":6.590492861012039
+  },
+  "gearing":{
+   "exp":"(50 / 16) * (17 / 27) * (45 / 15)",
+   "val":5.902777777777778
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5000 RPM",
+   "val":523.5987755982989
+  },
+  "tmax":{
+   "exp":"0.9 N * m",
+   "val":0.9
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"36.7 / 2 in",
+    "val":0.46609
+   },
+   "side":{
+    "exp":"36.7 / 2 in",
+    "val":0.46609
+   },
+   "back":{
+    "exp":"36.7 / 2 in",
+    "val":0.46609
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt
deleted file mode 100644
index bb82515..0000000
--- a/src/main/deploy/example.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-Files placed in this directory will be deployed to the RoboRIO into the
-'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
-to get a proper path relative to the deploy directory.
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index ebad639..887d61a 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -12,6 +12,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+// import frc.robot.Autos.PathEndType;
 import frc.robot.Robot.RobotType;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
 import org.littletonrobotics.junction.AutoLogOutput;
@@ -23,43 +24,87 @@ public class Autos {
 
   // Declare triggers
   // mehhhhhhh
-  private static boolean autoPreScore;
-  private static boolean autoScore;
-  private static boolean autoIntake;
   private static boolean autoFeed;
+  private static boolean autoIntake;
+  private static boolean autoScore;
+  private static boolean autoClimb;
 
   // private static boolean autoIntakeAlgae;
 
-  @AutoLogOutput(key = "Superstructure/Auto Pre Score Request")
-  public static Trigger autoPreScoreReq =
-      new Trigger(() -> autoPreScore).and(DriverStation::isAutonomous);
-
-  @AutoLogOutput(key = "Superstructure/Auto Score Request")
-  public static Trigger autoScoreReq =
-      new Trigger(() -> autoScore).and(DriverStation::isAutonomous);
+  @AutoLogOutput(key = "Superstructure/Auto Feed Request")
+  public static Trigger autoFeedReq = new Trigger(() -> autoFeed).and(DriverStation::isAutonomous);
 
   @AutoLogOutput(key = "Superstructure/Auto Intake Request")
   public static Trigger autoIntakeReq =
       new Trigger(() -> autoIntake).and(DriverStation::isAutonomous);
 
-  @AutoLogOutput(key = "Superstructure/Auto Feed Request")
-  public static Trigger autoFeedReq = new Trigger(() -> autoFeed).and(DriverStation::isAutonomous);
+  @AutoLogOutput(key = "Superstructure/Auto Score Request")
+  public static Trigger autoScoreReq =
+      new Trigger(() -> autoScore).and(DriverStation::isAutonomous);
 
-  public enum PathEndType {
-    PLACEHOLDER;
+  @AutoLogOutput(key = "Superstructure/Auto Climb Request")
+  public static Trigger autoClimbReq =
+      new Trigger(() -> autoClimb).and(DriverStation::isAutonomous);
+
+  public enum Action {
+    FEED,
+    INTAKE,
+    SCORE,
+    CLIMB;
   }
 
   public enum Path {
-    PLACEHOLDER("placeholder", "placeholder", PathEndType.PLACEHOLDER);
+    // R for right
+    // L for left
+    // M for middle
+    // P for park (starting pose but often used for scoring pose ig)
+    // D for depot
+    // O for outpost
+    // C for climb
+    // S  was going to  be for scoreing pos but i think we will just score
+    // F for feeding poses
+    // I for intake???
+
+    // may have to rethink naming to some extent and add more poses
+
+    DtoFL("D", "FL", Action.FEED),
+    FLMtoPL("FLM", "PL", Action.SCORE),
+    FLtoFLM("FL", "FLM", Action.FEED),
+    FLtoPL("FL", "PL", Action.SCORE),
+    FRMtoPR("FRM", "PR", Action.SCORE),
+    FRtoFRM("FR", "FRM", Action.FEED),
+    FRtoPR("FR", "PR", Action.SCORE),
+    OtoFR("O", "FR", Action.FEED),
+    PLtoCL("PL", "CL", Action.CLIMB),
+    PLtoCM("PL", "CM", Action.CLIMB),
+    PLtoD("PL", "D", Action.INTAKE),
+    PLtoFL("PL", "FL", Action.FEED),
+    PRtoCM("PR", "CM", Action.CLIMB),
+    PRtoCR("PR", "CR", Action.CLIMB),
+    PRtoFR("PR", "FR", Action.FEED),
+    PRtoO("PR", "O", Action.INTAKE),
+    // idk seperate intake and feed so action is included makes it easier for me but they use the
+    // same
+    // trajectories so i dont have to make new paths
+    DtoIL("D", "FL", Action.INTAKE),
+    ILMtoPL("FLM", "PL", Action.SCORE),
+    ILtoILM("FL", "FLM", Action.INTAKE),
+    ILtoPL("FL", "PL", Action.SCORE),
+    IRMtoPR("FRM", "PR", Action.SCORE),
+    IRtoIRM("FR", "FRM", Action.INTAKE),
+    IRtoPR("FR", "PR", Action.SCORE),
+    OtoIR("O", "FR", Action.INTAKE),
+    PLtoIL("PL", "FL", Action.INTAKE),
+    PRtoIR("PR", "FR", Action.INTAKE);
 
     private final String start;
     private final String end;
-    private final PathEndType type;
+    private final Action action;
 
-    private Path(String start, String end, PathEndType type) {
+    private Path(String start, String end, Action action) {
       this.start = start;
       this.end = end;
-      this.type = type;
+      this.action = action;
     }
 
     public AutoTrajectory getTrajectory(AutoRoutine routine) {
@@ -88,7 +133,6 @@ public Autos(SwerveSubsystem swerve) {
             });
   }
 
-  // TODO write leave auto
   public Command leaveAuto() {
     final AutoRoutine routine = factory.newRoutine("Leave Auto");
     Path[] paths = {};
@@ -104,29 +148,162 @@ public Command leaveAuto() {
   }
 
   public Command runPath(Path path, AutoRoutine routine) {
-    PathEndType type = path.type;
-    switch (type) {
+    Action action = path.action;
+    switch (action) {
+      case INTAKE:
+        return intakePath(path, routine);
+      case FEED:
+        return feedPath(path, routine);
+      case SCORE:
+        return scorePath(path, routine);
+      case CLIMB:
+        return climbPath(path, routine);
       default: // this should never happen
         return Commands.none();
     }
   }
 
-  public Command setAutoScoreReqTrue() {
-    return Commands.runOnce(
-        () -> {
-          autoScore = true;
-        });
+  // TODO aligning to climb pos correctly
+  public Command climbPath(Path path, AutoRoutine routine) {
+    // path align and climb
+    return Commands.sequence(
+        path.getTrajectory(routine)
+            .cmd()
+            .until(
+                routine.observe(
+                    path.getTrajectory(routine)
+                        .atTime(
+                            path.getTrajectory(routine).getRawTrajectory().getTotalTime()
+                                - (0.3)))),
+        setAutoClimbReqTrue());
+  }
+
+  public Command feedPath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        setAutoFeedReqTrue(),
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+        setAutoFeedReqFalse());
+  }
+
+  public Command scorePath(Path path, AutoRoutine routine) {
+    // path align and score
+    return Commands.sequence(
+        path.getTrajectory(routine)
+            .cmd()
+            .until(
+                routine.observe(
+                    path.getTrajectory(routine)
+                        .atTime(
+                            path.getTrajectory(routine).getRawTrajectory().getTotalTime()
+                                - (0.3)))),
+        setAutoScoreReqTrue(),
+        waitUntilEmpty(),
+        setAutoScoreReqFalse());
+  }
+
+  // feeding and intake could prob be improved
+  public Command intakePath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        setAutoIntakeReqTrue(),
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+        setAutoIntakeReqFalse());
   }
 
-  public Command setAutoPreScoreReqTrue() {
-    return Commands.runOnce(() -> autoPreScore = true);
+  public Command shootPreload() {
+    return Commands.sequence(setAutoScoreReqTrue(), waitUntilEmpty(), setAutoScoreReqFalse());
+  }
+
+  public Command setAutoIntakeReqTrue() {
+    return Commands.runOnce(() -> autoIntake = true);
+  }
+
+  public Command setAutoIntakeReqFalse() {
+    return Commands.runOnce(() -> autoIntake = false);
+  }
+
+  public Command setAutoScoreReqTrue() {
+    return Commands.runOnce(() -> autoScore = true);
   }
 
   public Command setAutoScoreReqFalse() {
-    return Commands.runOnce(
-        () -> {
-          autoScore = false;
-          autoPreScore = false;
-        });
+    return Commands.runOnce(() -> autoScore = false);
+  }
+
+  public Command setAutoFeedReqTrue() {
+    return Commands.runOnce(() -> autoFeed = true);
+  }
+
+  public Command setAutoFeedReqFalse() {
+    return Commands.runOnce(() -> autoFeed = false);
+  }
+
+  public Command setAutoClimbReqTrue() {
+    return Commands.runOnce(() -> autoClimb = true);
+  }
+
+  public Command setAutoClimbReqFalse() {
+    return Commands.runOnce(() -> autoClimb = false);
+  }
+
+  // TODO: score at the start of each auto
+  // specific paths:
+  // no idea what to name them
+  public Command getDepotScoreClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto");
+    Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL};
+    // Will always need to reset odo at the start of a routine
+    Command autoCommand =
+        paths[0]
+            .getTrajectory(routine)
+            .resetOdometry()
+            .andThen(shootPreload()); // shoot preload then do the paths
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    return routine.cmd();
+  }
+
+  public Command getOutpostScoreClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto");
+    Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR, Path.PRtoCR};
+    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    return routine.cmd();
+  }
+
+  public Command getDepotFeedClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto");
+    Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL};
+    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    return routine.cmd();
+  }
+
+  public Command getOutpostFeedClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto");
+    Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL};
+    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    return routine.cmd();
+  }
+
+  public Command waitUntilEmpty() {
+    // TODO wait till robot empty / done scoring
+    // return null;
+    return Commands.waitSeconds(0.5);
   }
 }