diff --git a/autonomous/autonomous.py b/autonomous/autonomous.py
index 746e6abf..75e705d5 100644
--- a/autonomous/autonomous.py
+++ b/autonomous/autonomous.py
@@ -175,7 +175,14 @@ class Centre5Centre4(AutoBase):
 
     def __init__(self) -> None:
         note_paths = [
-            Path([NotePositions.Centre5], face_target=False),
+            Path(
+                [
+                    PathPositions.avoid_starting_faults,
+                    PathPositions.avoid_stage_S,
+                    NotePositions.Centre5,
+                ],
+                face_target=False,
+            ),
             Path(
                 [
                     PathPositions.avoid_stage_S,
@@ -186,7 +193,10 @@ def __init__(self) -> None:
         ]
 
         shoot_paths = [
-            Path([ShootingPositions.source_side], face_target=True),
+            Path(
+                [PathPositions.avoid_stage_S, ShootingPositions.source_side],
+                face_target=True,
+            ),
             Path(
                 [
                     PathPositions.avoid_stage_S,
@@ -195,7 +205,7 @@ def __init__(self) -> None:
                 face_target=True,
             ),
         ]
-        sim_start_pos = Translation2d(15.4, 2.94)
+        sim_start_pos = ShootingPositions.source_side
         rotation = rotation_to_red_speaker(sim_start_pos)
         sim_start_pose = Pose2d(sim_start_pos, rotation)
         super().__init__(note_paths, shoot_paths, sim_start_pose)
@@ -207,7 +217,14 @@ class Centre5Centre4Centre3(AutoBase):
 
     def __init__(self) -> None:
         note_paths = [
-            Path([NotePositions.Centre5], face_target=False),
+            Path(
+                [
+                    PathPositions.avoid_starting_faults,
+                    PathPositions.avoid_stage_S,
+                    NotePositions.Centre5,
+                ],
+                face_target=False,
+            ),
             Path(
                 [
                     PathPositions.avoid_stage_S,
@@ -226,7 +243,10 @@ def __init__(self) -> None:
         ]
 
         shoot_paths = [
-            Path([ShootingPositions.source_side], face_target=True),
+            Path(
+                [PathPositions.avoid_stage_S, ShootingPositions.source_side],
+                face_target=True,
+            ),
             Path(
                 [
                     PathPositions.avoid_stage_S,
@@ -243,7 +263,7 @@ def __init__(self) -> None:
                 face_target=True,
             ),
         ]
-        sim_start_pos = Translation2d(15.4, 2.94)
+        sim_start_pos = ShootingPositions.source_side
         rotation = rotation_to_red_speaker(sim_start_pos)
         sim_start_pose = Pose2d(sim_start_pos, rotation)
         super().__init__(note_paths, shoot_paths, sim_start_pose)
diff --git a/robot.py b/robot.py
index 8b6c3112..fab311ed 100644
--- a/robot.py
+++ b/robot.py
@@ -22,7 +22,7 @@
 from utilities.game import is_red
 from utilities.scalers import rescale_js
 from utilities.functions import clamp
-from utilities.position import on_same_side_of_stage, y_close_to_stage
+from utilities.position import distance_between
 
 
 class MyRobot(magicbot.MagicRobot):
@@ -47,6 +47,8 @@ class MyRobot(magicbot.MagicRobot):
     vision_port: VisualLocalizer
     vision_starboard: VisualLocalizer
 
+    START_POS_TOLERANCE = 1
+
     def createObjects(self) -> None:
         self.data_log = wpilib.DataLogManager.getLog()
 
@@ -71,7 +73,7 @@ def createObjects(self) -> None:
         )
 
     def teleopInit(self) -> None:
-        pass
+        self.field.getObject("Intended start pos").setPoses([])
 
     def teleopPeriodic(self) -> None:
         if self.climber.should_lock_mechanisms():
@@ -204,6 +206,7 @@ def disabledPeriodic(self) -> None:
         if (
             not self.vision_port.sees_target()
             and not self.vision_starboard.sees_target()
+            and not self.isSimulation()
         ):
             self.status_lights.no_vision()
         else:
@@ -213,11 +216,14 @@ def disabledPeriodic(self) -> None:
                 intended_start_pose = selected_auto.get_starting_pose()
                 current_pose = self.chassis.get_pose()
                 if intended_start_pose is not None:
-                    if on_same_side_of_stage(intended_start_pose, current_pose):
-                        if y_close_to_stage(current_pose):
-                            self.status_lights.too_close_to_stage()
-                        else:
-                            self.status_lights.rainbow()
+                    self.field.getObject("Intended start pos").setPose(
+                        intended_start_pose
+                    )
+                    if (
+                        distance_between(intended_start_pose, current_pose)
+                        < self.START_POS_TOLERANCE
+                    ):
+                        self.status_lights.rainbow()
                     else:
                         self.status_lights.invalid_start()
                 else:
@@ -226,7 +232,7 @@ def disabledPeriodic(self) -> None:
                 self.status_lights.missing_start_pose()
 
     def autonomousInit(self) -> None:
-        pass
+        self.field.getObject("Intended start pos").setPoses([])
 
 
 if __name__ == "__main__":
diff --git a/utilities/position.py b/utilities/position.py
index 030fcfe1..a3d3c2a0 100644
--- a/utilities/position.py
+++ b/utilities/position.py
@@ -66,7 +66,7 @@ class ShootingPositions:
     amp_speaker_bounce = Translation2d(
         14.7, (NotePositions.amp.y + NotePositions.speaker.y) / 2
     )
-    source_side = Translation2d(14.7, 2.8)
+    source_side = Translation2d(15.556, 4.034)
 
 
 class TeamPoses:
@@ -76,15 +76,8 @@ class TeamPoses:
     RED_PODIUM = field_flip_pose2d(BLUE_PODIUM)
 
 
-def on_same_side_of_stage(intended_start_pose: Pose2d, current_pose: Pose2d) -> bool:
-    return not (
-        (intended_start_pose.y > TeamPoses.BLUE_PODIUM.y)
-        ^ (current_pose.y > TeamPoses.BLUE_PODIUM.y)
-    )
-
-
-def y_close_to_stage(pose: Pose2d) -> bool:
-    return abs(pose.y - TeamPoses.BLUE_PODIUM.y) < 0.9
+def distance_between(intended_start_pose: Pose2d, current_pose: Pose2d) -> float:
+    return (intended_start_pose.translation() - current_pose.translation()).norm()
 
 
 class PathPositions:
@@ -93,3 +86,4 @@ class PathPositions:
     stage_transition_S_entry = Translation2d(13.0, 2.5)
     avoid_wall = Translation2d(10.80, 6.55)
     avoid_stage_S = Translation2d(10.66, 1.40)
+    avoid_starting_faults = Translation2d(14.429, 2.946)