From b069f2f48b6e1242499b5148ddd4ea6a5b614a1f Mon Sep 17 00:00:00 2001
From: Shaun <67600586+Fruggg@users.noreply.github.com>
Date: Fri, 15 Mar 2024 12:00:49 -0400
Subject: [PATCH 01/10] Fixed Drivetrain

---
 src/main/java/frc/robot/Robot.java          |  3 ++-
 src/main/java/frc/robot/RobotContainer.java | 16 +++++++++-------
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 6a41b62..1814a8f 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -23,7 +23,8 @@ public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
-    SignalLogger.setPath("/media/sda1/");
+    //DO NOT LEAVE THIS UNCOMMENTED DURING COMPETITION
+    // SignalLogger.setPath("/media/sda1/");
     // SignalLogger.start();
     CameraServer.startAutomaticCapture();
     // Creates the CvSink and connects it to the UsbCamera
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a4aa187..008f84d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -77,9 +77,9 @@ public class RobotContainer {
   };
 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
-      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-      .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
-                                                               // driving in open loop
+  .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+  .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
+                                                           // driving in open loop
   private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
   private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
   private final Telemetry logger = new Telemetry(MaxSpeed);
@@ -137,11 +137,13 @@ private void configureBindings() {
             .withRotationalRate(-m_driverController.getRightX() * MaxAngularRate) // Drive counterclockwise with
                                                                                   // negative X (left)
         ;
-    drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
+        drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
         // Drive forward with negative Y (forward)
-
-        drivetrain.applyRequest(() -> driveRequest));
-
+        drivetrain.applyRequest(() -> drive.withVelocityX(-m_driverController.getLeftY() * MaxSpeed)
+            .withVelocityY(-m_driverController.getLeftX() * MaxSpeed) // Drive left with negative X (left)
+            .withRotationalRate(-m_driverController.getRightX() * MaxAngularRate) // Drive counterclockwise with
+                                                                                  // negative X (left)
+        ));
     // m_driverController.a().whileTrue(drivetrain.applyRequest(() -> brake));
     /*
      * m_driverController.b().whileTrue(drivetrain

From ba1d060404edca5b02620e0e33679e7eeff4e1dd Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Fri, 15 Mar 2024 12:15:42 -0400
Subject: [PATCH 02/10] tweaks to auton 3

---
 src/main/deploy/pathplanner/paths/Approach8-N8.path    | 4 ++--
 src/main/deploy/pathplanner/paths/N1-N8.path           | 4 ++--
 src/main/deploy/pathplanner/paths/PoseC-Approach8.path | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/Approach8-N8.path b/src/main/deploy/pathplanner/paths/Approach8-N8.path
index 619a8d7..4437386 100644
--- a/src/main/deploy/pathplanner/paths/Approach8-N8.path
+++ b/src/main/deploy/pathplanner/paths/Approach8-N8.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.19745075853788,
+        "x": 6.5,
         "y": 0.76
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.552678820371882,
+        "x": 6.855228061834001,
         "y": 0.76
       },
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/N1-N8.path b/src/main/deploy/pathplanner/paths/N1-N8.path
index dc420dd..82eac1f 100644
--- a/src/main/deploy/pathplanner/paths/N1-N8.path
+++ b/src/main/deploy/pathplanner/paths/N1-N8.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 7.19745075853788,
+        "x": 6.5,
         "y": 0.76
       },
       "prevControl": {
-        "x": 4.2868820283095115,
+        "x": 3.589431269771631,
         "y": 1.375697231394462
       },
       "nextControl": null,
diff --git a/src/main/deploy/pathplanner/paths/PoseC-Approach8.path b/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
index 5bf58fb..83ee0e4 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.19745075853788,
+        "x": 6.5,
         "y": 0.76
       },
       "prevControl": {
-        "x": 6.283186062972795,
-        "y": 0.76
+        "x": 3.667897778020947,
+        "y": 0.8256861256661172
       },
       "nextControl": null,
       "isLocked": false,

From 1928489ef7f7acd7bd3e27d47e4c7e5098711d75 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Fri, 15 Mar 2024 12:21:10 -0400
Subject: [PATCH 03/10] moved to experimental

---
 .../frc/robot/{ => experimental}/ChargeIntakeCommand.java.txt     | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename src/main/java/frc/robot/{ => experimental}/ChargeIntakeCommand.java.txt (100%)

diff --git a/src/main/java/frc/robot/ChargeIntakeCommand.java.txt b/src/main/java/frc/robot/experimental/ChargeIntakeCommand.java.txt
similarity index 100%
rename from src/main/java/frc/robot/ChargeIntakeCommand.java.txt
rename to src/main/java/frc/robot/experimental/ChargeIntakeCommand.java.txt

From dc17a1779cee016ea99480fb4c7c3921dc2bf1c0 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Fri, 15 Mar 2024 12:49:50 -0400
Subject: [PATCH 04/10] Update S2-0-2.path

---
 src/main/deploy/pathplanner/paths/S2-0-2.path | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/S2-0-2.path b/src/main/deploy/pathplanner/paths/S2-0-2.path
index bed70be..d82243f 100644
--- a/src/main/deploy/pathplanner/paths/S2-0-2.path
+++ b/src/main/deploy/pathplanner/paths/S2-0-2.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file

From 60ca92cf5bbdf5481dd1584e047993cb936bea82 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Fri, 15 Mar 2024 14:14:33 -0400
Subject: [PATCH 05/10] renoved signal logger import

---
 src/main/java/frc/robot/Robot.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 1814a8f..56fe110 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.SignalLogger;
+// import com.ctre.phoenix6.SignalLogger;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSink;

From 6971bdf48fcd88dd3bfdb57d7eaf76457d71a400 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Sat, 16 Mar 2024 08:52:26 -0400
Subject: [PATCH 06/10] Update N3-PoseB.path

---
 src/main/deploy/pathplanner/paths/N3-PoseB.path | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/N3-PoseB.path b/src/main/deploy/pathplanner/paths/N3-PoseB.path
index 1efc4c8..e4b974c 100644
--- a/src/main/deploy/pathplanner/paths/N3-PoseB.path
+++ b/src/main/deploy/pathplanner/paths/N3-PoseB.path
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 1.3,
+        "x": 1.1,
         "y": 5.65
       },
       "prevControl": {
-        "x": 1.8520741952238022,
+        "x": 1.6520741952238023,
         "y": 5.77451654592646
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "PoseB"
+      "linkedName": null
     }
   ],
   "rotationTargets": [],

From 31bc0567ed0f71aaf33540922809ab5d4e67e78f Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Sat, 16 Mar 2024 13:10:05 -0400
Subject: [PATCH 07/10] Updated kSlipCurrentA value to 65.0

---
 src/main/java/frc/robot/generated/TunerConstants.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
index e1f6a7f..2ba7180 100644
--- a/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -35,7 +35,7 @@ public class TunerConstants {
 
     // The stator current at which the wheels start to slip;
     // This needs to be tuned to your individual robot
-    private static final double kSlipCurrentA = 300.0;
+    private static final double kSlipCurrentA = 65.0; 
 
     // Theoretical free speed (m/s) at 12v applied output;
     // This needs to be tuned to your individual robot

From e840d6e00d5daaeae5929ffb378a8219d008e5b6 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Sat, 16 Mar 2024 14:39:52 -0400
Subject: [PATCH 08/10] Adjustments coming from Note 8

Out at 4 reduced to 3.5;
Reduced speed from 5 to 4 coming back
---
 .../pathplanner/paths/Approach8-N8.path       |  4 ++--
 src/main/deploy/pathplanner/paths/N8-N7.path  |  4 ++--
 .../deploy/pathplanner/paths/N8-PoseC.path    | 20 +++++++++----------
 .../pathplanner/paths/PoseC-Approach8.path    |  6 +++---
 .../deploy/pathplanner/paths/PoseC-N8.path    |  4 ++--
 5 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/Approach8-N8.path b/src/main/deploy/pathplanner/paths/Approach8-N8.path
index 4437386..f9b4782 100644
--- a/src/main/deploy/pathplanner/paths/Approach8-N8.path
+++ b/src/main/deploy/pathplanner/paths/Approach8-N8.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 8.5,
+        "x": 8.25,
         "y": 0.7649571662779697
       },
       "prevControl": {
-        "x": 8.126384016654201,
+        "x": 7.876384016654201,
         "y": 0.7649571662779697
       },
       "nextControl": null,
diff --git a/src/main/deploy/pathplanner/paths/N8-N7.path b/src/main/deploy/pathplanner/paths/N8-N7.path
index e2c33d2..879f152 100644
--- a/src/main/deploy/pathplanner/paths/N8-N7.path
+++ b/src/main/deploy/pathplanner/paths/N8-N7.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.5,
+        "x": 8.25,
         "y": 0.7649571662779697
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.203304315699541,
+        "x": 6.953304315699541,
         "y": 2.593391368600919
       },
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/N8-PoseC.path b/src/main/deploy/pathplanner/paths/N8-PoseC.path
index 484ac6f..880ffe3 100644
--- a/src/main/deploy/pathplanner/paths/N8-PoseC.path
+++ b/src/main/deploy/pathplanner/paths/N8-PoseC.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.5,
+        "x": 8.25,
         "y": 0.7649571662779697
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.378444041363286,
+        "x": 7.128444041363286,
         "y": 0.7649571662779696
       },
       "isLocked": false,
@@ -16,24 +16,24 @@
     },
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.787031987758696,
+        "y": 4.391563704668065
       },
       "prevControl": {
-        "x": 1.040478444593253,
-        "y": 3.274389821506916
+        "x": 0.9275104323519487,
+        "y": 3.3212331676900417
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "PoseC"
+      "linkedName": null
     }
   ],
   "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
-    "maxAcceleration": 5.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PoseC-Approach8.path b/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
index 83ee0e4..650cee5 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 3.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
@@ -54,5 +54,5 @@
     "rotation": 122.0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PoseC-N8.path b/src/main/deploy/pathplanner/paths/PoseC-N8.path
index 28a4e3b..ab20624 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-N8.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-N8.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 8.5,
+        "x": 8.25,
         "y": 0.7649571662779697
       },
       "prevControl": {
-        "x": 5.014643980785821,
+        "x": 4.764643980785821,
         "y": 0.7074143739780144
       },
       "nextControl": null,

From 321906b8c3c328185e796c7b7311d0efc1485c29 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Sat, 16 Mar 2024 15:24:45 -0400
Subject: [PATCH 09/10] updates to auton

---
 src/main/deploy/pathplanner/autos/Start3.0-8.auto   | 6 ++++++
 src/main/deploy/pathplanner/paths/Approach8-N8.path | 4 ++--
 src/main/deploy/pathplanner/paths/N8-N7.path        | 4 ++--
 src/main/deploy/pathplanner/paths/N8-PoseC.path     | 4 ++--
 src/main/deploy/pathplanner/paths/PoseC-N8.path     | 4 ++--
 5 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/Start3.0-8.auto b/src/main/deploy/pathplanner/autos/Start3.0-8.auto
index 8ff7d1e..e801f5d 100644
--- a/src/main/deploy/pathplanner/autos/Start3.0-8.auto
+++ b/src/main/deploy/pathplanner/autos/Start3.0-8.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "path",
           "data": {
diff --git a/src/main/deploy/pathplanner/paths/Approach8-N8.path b/src/main/deploy/pathplanner/paths/Approach8-N8.path
index f9b4782..4437386 100644
--- a/src/main/deploy/pathplanner/paths/Approach8-N8.path
+++ b/src/main/deploy/pathplanner/paths/Approach8-N8.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 8.25,
+        "x": 8.5,
         "y": 0.7649571662779697
       },
       "prevControl": {
-        "x": 7.876384016654201,
+        "x": 8.126384016654201,
         "y": 0.7649571662779697
       },
       "nextControl": null,
diff --git a/src/main/deploy/pathplanner/paths/N8-N7.path b/src/main/deploy/pathplanner/paths/N8-N7.path
index 879f152..e2c33d2 100644
--- a/src/main/deploy/pathplanner/paths/N8-N7.path
+++ b/src/main/deploy/pathplanner/paths/N8-N7.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.25,
+        "x": 8.5,
         "y": 0.7649571662779697
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.953304315699541,
+        "x": 7.203304315699541,
         "y": 2.593391368600919
       },
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/N8-PoseC.path b/src/main/deploy/pathplanner/paths/N8-PoseC.path
index 880ffe3..acf2d04 100644
--- a/src/main/deploy/pathplanner/paths/N8-PoseC.path
+++ b/src/main/deploy/pathplanner/paths/N8-PoseC.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.25,
+        "x": 8.5,
         "y": 0.7649571662779697
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.128444041363286,
+        "x": 7.378444041363286,
         "y": 0.7649571662779696
       },
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/PoseC-N8.path b/src/main/deploy/pathplanner/paths/PoseC-N8.path
index ab20624..28a4e3b 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-N8.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-N8.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 8.25,
+        "x": 8.5,
         "y": 0.7649571662779697
       },
       "prevControl": {
-        "x": 4.764643980785821,
+        "x": 5.014643980785821,
         "y": 0.7074143739780144
       },
       "nextControl": null,

From 443678425e29dab7d05f271cb54cb9486d9c9322 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Sat, 16 Mar 2024 21:33:27 -0400
Subject: [PATCH 10/10] Much better PoseC

---
 src/main/deploy/pathplanner/paths/PoseC-8Sweep.path  |  8 ++++----
 .../deploy/pathplanner/paths/PoseC-Approach8.path    |  8 ++++----
 src/main/deploy/pathplanner/paths/PoseC-N1.path      |  8 ++++----
 src/main/deploy/pathplanner/paths/PoseC-N8.path      |  8 ++++----
 src/main/deploy/pathplanner/paths/S3-PoseC.path      | 12 ++++++------
 src/main/deploy/pathplanner/paths/ShotC-N7.path      |  8 ++++----
 6 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/PoseC-8Sweep.path b/src/main/deploy/pathplanner/paths/PoseC-8Sweep.path
index ed73544..44e0b66 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-8Sweep.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-8Sweep.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.7,
+        "y": 4.34
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5131038535971493,
-        "y": 2.9042874633538145
+        "x": 1.3131038535971493,
+        "y": 2.899567104868875
       },
       "isLocked": false,
       "linkedName": "PoseC"
diff --git a/src/main/deploy/pathplanner/paths/PoseC-Approach8.path b/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
index 650cee5..f80f348 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-Approach8.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.7,
+        "y": 4.34
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.5976327587462578,
-        "y": 2.1079505782406716
+        "x": 3.3976327587462576,
+        "y": 2.103230219755732
       },
       "isLocked": false,
       "linkedName": "PoseC"
diff --git a/src/main/deploy/pathplanner/paths/PoseC-N1.path b/src/main/deploy/pathplanner/paths/PoseC-N1.path
index 31bd9826..8cdc909 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-N1.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-N1.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.7,
+        "y": 4.34
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3296695684300457,
-        "y": 4.384510587202993
+        "x": 1.1296695684300455,
+        "y": 4.379790228718053
       },
       "isLocked": false,
       "linkedName": "PoseC"
diff --git a/src/main/deploy/pathplanner/paths/PoseC-N8.path b/src/main/deploy/pathplanner/paths/PoseC-N8.path
index 28a4e3b..9fb6b1d 100644
--- a/src/main/deploy/pathplanner/paths/PoseC-N8.path
+++ b/src/main/deploy/pathplanner/paths/PoseC-N8.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.7,
+        "y": 4.34
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.5976327587462578,
-        "y": 2.1079505782406716
+        "x": 3.3976327587462576,
+        "y": 2.103230219755732
       },
       "isLocked": false,
       "linkedName": "PoseC"
diff --git a/src/main/deploy/pathplanner/paths/S3-PoseC.path b/src/main/deploy/pathplanner/paths/S3-PoseC.path
index 8638110..9cedf78 100644
--- a/src/main/deploy/pathplanner/paths/S3-PoseC.path
+++ b/src/main/deploy/pathplanner/paths/S3-PoseC.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.7,
+        "y": 4.34
       },
       "prevControl": {
-        "x": 0.884333793113009,
-        "y": 4.371855024775093
+        "x": 0.6843337931130089,
+        "y": 4.367134666290154
       },
       "nextControl": null,
       "isLocked": false,
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
diff --git a/src/main/deploy/pathplanner/paths/ShotC-N7.path b/src/main/deploy/pathplanner/paths/ShotC-N7.path
index 479ab5c..d1c819d 100644
--- a/src/main/deploy/pathplanner/paths/ShotC-N7.path
+++ b/src/main/deploy/pathplanner/paths/ShotC-N7.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.9,
-        "y": 4.344720358484939
+        "x": 0.7,
+        "y": 4.34
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.1860900085436534,
-        "y": 0.708984690696655
+        "x": 2.9860900085436537,
+        "y": 0.7042643322117157
       },
       "isLocked": false,
       "linkedName": "PoseC"