diff --git a/src/main/deploy/pathplanner/autos/Blah Blah.auto b/src/main/deploy/pathplanner/autos/Blah Blah.auto
new file mode 100644
index 0000000..81a12fe
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Blah Blah.auto	
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Move Down "
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Olivia's Test Autos ",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Cal being indecisive smh .auto b/src/main/deploy/pathplanner/autos/Cal being indecisive smh .auto
new file mode 100644
index 0000000..06dff9e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Cal being indecisive smh .auto	
@@ -0,0 +1,45 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Move Down "
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ReadyUp"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Olivia's Test Autos ",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Depot-Climb1.path b/src/main/deploy/pathplanner/paths/Depot-Climb1.path
index ca333f2..482fa46 100644
--- a/src/main/deploy/pathplanner/paths/Depot-Climb1.path
+++ b/src/main/deploy/pathplanner/paths/Depot-Climb1.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Depot-Shoot1.path b/src/main/deploy/pathplanner/paths/Depot-Shoot1.path
index 650b756..81a6195 100644
--- a/src/main/deploy/pathplanner/paths/Depot-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/Depot-Shoot1.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Depot-Shoot2.path b/src/main/deploy/pathplanner/paths/Depot-Shoot2.path
index acc1efe..1994377 100644
--- a/src/main/deploy/pathplanner/paths/Depot-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/Depot-Shoot2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Depot-Shoot3.path b/src/main/deploy/pathplanner/paths/Depot-Shoot3.path
index d2fa138..c7decbd 100644
--- a/src/main/deploy/pathplanner/paths/Depot-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/Depot-Shoot3.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/JustClimb1.path b/src/main/deploy/pathplanner/paths/JustClimb1.path
index 32581dd..9b384c2 100644
--- a/src/main/deploy/pathplanner/paths/JustClimb1.path
+++ b/src/main/deploy/pathplanner/paths/JustClimb1.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/JustClimb2.path b/src/main/deploy/pathplanner/paths/JustClimb2.path
index dec627e..0912397 100644
--- a/src/main/deploy/pathplanner/paths/JustClimb2.path
+++ b/src/main/deploy/pathplanner/paths/JustClimb2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-Climb.path b/src/main/deploy/pathplanner/paths/LBump-Climb.path
index 13b50f6..4761cc3 100644
--- a/src/main/deploy/pathplanner/paths/LBump-Climb.path
+++ b/src/main/deploy/pathplanner/paths/LBump-Climb.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-Main3.path b/src/main/deploy/pathplanner/paths/LBump-Main3.path
index 9f43872..fb84f24 100644
--- a/src/main/deploy/pathplanner/paths/LBump-Main3.path
+++ b/src/main/deploy/pathplanner/paths/LBump-Main3.path
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-Main4.path b/src/main/deploy/pathplanner/paths/LBump-Main4.path
index 73857e7..91b0f21 100644
--- a/src/main/deploy/pathplanner/paths/LBump-Main4.path
+++ b/src/main/deploy/pathplanner/paths/LBump-Main4.path
@@ -40,8 +40,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-Shoot2.path b/src/main/deploy/pathplanner/paths/LBump-Shoot2.path
index 18d30a8..75761f4 100644
--- a/src/main/deploy/pathplanner/paths/LBump-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/LBump-Shoot2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-Shoot3.path b/src/main/deploy/pathplanner/paths/LBump-Shoot3.path
index 714bdd1..79c65a3 100644
--- a/src/main/deploy/pathplanner/paths/LBump-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/LBump-Shoot3.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-SweepUp-Shoot1.path b/src/main/deploy/pathplanner/paths/LBump-SweepUp-Shoot1.path
index 4cba3c5..cacd00f 100644
--- a/src/main/deploy/pathplanner/paths/LBump-SweepUp-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/LBump-SweepUp-Shoot1.path
@@ -129,8 +129,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LBump-SweepUp.path b/src/main/deploy/pathplanner/paths/LBump-SweepUp.path
index 6819b10..ca8d19f 100644
--- a/src/main/deploy/pathplanner/paths/LBump-SweepUp.path
+++ b/src/main/deploy/pathplanner/paths/LBump-SweepUp.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LTrench-Climb2.path b/src/main/deploy/pathplanner/paths/LTrench-Climb2.path
index 0188f32..369f579 100644
--- a/src/main/deploy/pathplanner/paths/LTrench-Climb2.path
+++ b/src/main/deploy/pathplanner/paths/LTrench-Climb2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LTrench-Shoot3.path b/src/main/deploy/pathplanner/paths/LTrench-Shoot3.path
index 3fa73b3..8f18008 100644
--- a/src/main/deploy/pathplanner/paths/LTrench-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/LTrench-Shoot3.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main1-Climb1.path b/src/main/deploy/pathplanner/paths/Main1-Climb1.path
index 4ac9697..35a1e4a 100644
--- a/src/main/deploy/pathplanner/paths/Main1-Climb1.path
+++ b/src/main/deploy/pathplanner/paths/Main1-Climb1.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main1-Shoot1.path b/src/main/deploy/pathplanner/paths/Main1-Shoot1.path
index e2959bf..364f8be 100644
--- a/src/main/deploy/pathplanner/paths/Main1-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/Main1-Shoot1.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main1-Shoot2.path b/src/main/deploy/pathplanner/paths/Main1-Shoot2.path
index 521a288..8431473 100644
--- a/src/main/deploy/pathplanner/paths/Main1-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/Main1-Shoot2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main2-Climb1.path b/src/main/deploy/pathplanner/paths/Main2-Climb1.path
index 1c03ea5..b3db7d4 100644
--- a/src/main/deploy/pathplanner/paths/Main2-Climb1.path
+++ b/src/main/deploy/pathplanner/paths/Main2-Climb1.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main2-Shoot1.path b/src/main/deploy/pathplanner/paths/Main2-Shoot1.path
index d62b805..e765140 100644
--- a/src/main/deploy/pathplanner/paths/Main2-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/Main2-Shoot1.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main2-Shoot2.path b/src/main/deploy/pathplanner/paths/Main2-Shoot2.path
index 3807627..cff8acd 100644
--- a/src/main/deploy/pathplanner/paths/Main2-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/Main2-Shoot2.path
@@ -8,7 +8,7 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.9426265060240966,
+        "x": 3.942626506024097,
         "y": 5.521168674698794
       },
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main3-Climb2.path b/src/main/deploy/pathplanner/paths/Main3-Climb2.path
index ae6f2e8..7f778d0 100644
--- a/src/main/deploy/pathplanner/paths/Main3-Climb2.path
+++ b/src/main/deploy/pathplanner/paths/Main3-Climb2.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main3-Shoot2.path b/src/main/deploy/pathplanner/paths/Main3-Shoot2.path
index 77b6b93..7627d06 100644
--- a/src/main/deploy/pathplanner/paths/Main3-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/Main3-Shoot2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main3-Shoot3.path b/src/main/deploy/pathplanner/paths/Main3-Shoot3.path
index 59577a1..53aa1e4 100644
--- a/src/main/deploy/pathplanner/paths/Main3-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/Main3-Shoot3.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main4-Climb2.path b/src/main/deploy/pathplanner/paths/Main4-Climb2.path
index b44f772..5369cff 100644
--- a/src/main/deploy/pathplanner/paths/Main4-Climb2.path
+++ b/src/main/deploy/pathplanner/paths/Main4-Climb2.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main4-Shoot2.path b/src/main/deploy/pathplanner/paths/Main4-Shoot2.path
index 2ee2cae..e2cafa1 100644
--- a/src/main/deploy/pathplanner/paths/Main4-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/Main4-Shoot2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Main4-Shoot3.path b/src/main/deploy/pathplanner/paths/Main4-Shoot3.path
index bc59ae1..5fce4f9 100644
--- a/src/main/deploy/pathplanner/paths/Main4-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/Main4-Shoot3.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Move Down .path b/src/main/deploy/pathplanner/paths/Move Down .path
index dd02f81..4e3566e 100644
--- a/src/main/deploy/pathplanner/paths/Move Down .path	
+++ b/src/main/deploy/pathplanner/paths/Move Down .path	
@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.344094151212553,
-        "y": 5.089500713266761
+        "x": 2.5262075134168156,
+        "y": 5.786
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.344094151212553,
-        "y": 5.339500713266761
+        "x": 2.5262075134168156,
+        "y": 5.451165697708541
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.344094151212553,
-        "y": 4.59
+        "x": 2.5262075134168156,
+        "y": 3.786
       },
       "prevControl": {
-        "x": 2.344094151212553,
-        "y": 4.84
+        "x": 2.5262075134168156,
+        "y": 4.036
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Top Position "
     }
   ],
   "rotationTargets": [],
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -47,7 +47,7 @@
   "reversed": false,
   "folder": "New Folder",
   "idealStartingState": {
-    "velocity": 0,
+    "velocity": 0.0,
     "rotation": 0.0
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/Move Up .path b/src/main/deploy/pathplanner/paths/Move Up .path
index ae4b778..b190ad7 100644
--- a/src/main/deploy/pathplanner/paths/Move Up .path	
+++ b/src/main/deploy/pathplanner/paths/Move Up .path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.033566333808844,
-        "y": 2.838174037089873
+        "x": 2.639785330948121,
+        "y": 4.28649373881932
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.004356021916995,
-        "y": 2.589886386009154
+        "x": 2.639542529386918,
+        "y": 4.816394912583497
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.033566333808844,
-        "y": 3.388
+        "x": 2.639785330948121,
+        "y": 6.286
       },
       "prevControl": {
-        "x": 2.019698828903213,
-        "y": 3.637615088301353
+        "x": 2.639472847563966,
+        "y": 5.762694956403431
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Rotating Cal rows his boat .path b/src/main/deploy/pathplanner/paths/Rotating Cal rows his boat .path
new file mode 100644
index 0000000..a2457af
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Rotating Cal rows his boat .path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6782110912343464,
+        "y": 6.1686404293381045
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.6781162799222873,
+        "y": 5.371914863241866
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.678,
+        "y": 4.169
+      },
+      "prevControl": {
+        "x": 3.705489649159504,
+        "y": 4.807769668377498
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "New Folder",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/SWERVE BEND THAT CORNER WHOAAA.path b/src/main/deploy/pathplanner/paths/SWERVE BEND THAT CORNER WHOAAA.path
new file mode 100644
index 0000000..40f2716
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/SWERVE BEND THAT CORNER WHOAAA.path	
@@ -0,0 +1,59 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.62953488372093,
+        "y": 5.260017889087655
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1205724508050086,
+        "y": 6.233542039355992
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.029194991055456,
+        "y": 3.994436493738819
+      },
+      "prevControl": {
+        "x": 2.866940966010733,
+        "y": 4.8868336314847935
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7192513368983966,
+      "rotationDegrees": -50.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "New Folder",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Shoot1-Center.path b/src/main/deploy/pathplanner/paths/Shoot1-Center.path
index a382388..e107b75 100644
--- a/src/main/deploy/pathplanner/paths/Shoot1-Center.path
+++ b/src/main/deploy/pathplanner/paths/Shoot1-Center.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot1-Climb1.path b/src/main/deploy/pathplanner/paths/Shoot1-Climb1.path
index 73eb355..b9d3c37 100644
--- a/src/main/deploy/pathplanner/paths/Shoot1-Climb1.path
+++ b/src/main/deploy/pathplanner/paths/Shoot1-Climb1.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot1-Depot.path b/src/main/deploy/pathplanner/paths/Shoot1-Depot.path
index 6cb664b..d9774fa 100644
--- a/src/main/deploy/pathplanner/paths/Shoot1-Depot.path
+++ b/src/main/deploy/pathplanner/paths/Shoot1-Depot.path
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot1-Main1.path b/src/main/deploy/pathplanner/paths/Shoot1-Main1.path
index 9a0207f..1750626 100644
--- a/src/main/deploy/pathplanner/paths/Shoot1-Main1.path
+++ b/src/main/deploy/pathplanner/paths/Shoot1-Main1.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot1-Main2.path b/src/main/deploy/pathplanner/paths/Shoot1-Main2.path
index f362f54..6b6de52 100644
--- a/src/main/deploy/pathplanner/paths/Shoot1-Main2.path
+++ b/src/main/deploy/pathplanner/paths/Shoot1-Main2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot1-SweepDown.path b/src/main/deploy/pathplanner/paths/Shoot1-SweepDown.path
index 7b461b7..5faa902 100644
--- a/src/main/deploy/pathplanner/paths/Shoot1-SweepDown.path
+++ b/src/main/deploy/pathplanner/paths/Shoot1-SweepDown.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-Climb1.path b/src/main/deploy/pathplanner/paths/Shoot2-Climb1.path
index 4b5f922..7a68c7b 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-Climb1.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-Climb1.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-Depot.path b/src/main/deploy/pathplanner/paths/Shoot2-Depot.path
index 128b7e0..93b9c6f 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-Depot.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-Depot.path
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-Main1.path b/src/main/deploy/pathplanner/paths/Shoot2-Main1.path
index 8bae84f..9cd0052 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-Main1.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-Main1.path
@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-Main2.path b/src/main/deploy/pathplanner/paths/Shoot2-Main2.path
index c91ee58..bdd1c7f 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-Main2.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-Main2.path
@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-Main3.path b/src/main/deploy/pathplanner/paths/Shoot2-Main3.path
index 13d8742..b2c9149 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-Main3.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-Main3.path
@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-Main4.path b/src/main/deploy/pathplanner/paths/Shoot2-Main4.path
index c422f4f..fc917d4 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-Main4.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-Main4.path
@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-SweepDown.path b/src/main/deploy/pathplanner/paths/Shoot2-SweepDown.path
index ab8992c..7a02ab3 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-SweepDown.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-SweepDown.path
@@ -70,8 +70,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot2-SweepUp.path b/src/main/deploy/pathplanner/paths/Shoot2-SweepUp.path
index ab50426..3451533 100644
--- a/src/main/deploy/pathplanner/paths/Shoot2-SweepUp.path
+++ b/src/main/deploy/pathplanner/paths/Shoot2-SweepUp.path
@@ -70,8 +70,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot3-Climb2.path b/src/main/deploy/pathplanner/paths/Shoot3-Climb2.path
index 6854f92..a1fb8c2 100644
--- a/src/main/deploy/pathplanner/paths/Shoot3-Climb2.path
+++ b/src/main/deploy/pathplanner/paths/Shoot3-Climb2.path
@@ -24,7 +24,7 @@
         "y": 2.0946011699463005
       },
       "nextControl": {
-        "x": 0.48719889838116087,
+        "x": 0.4871988983811609,
         "y": 2.534262681236635
       },
       "isLocked": false,
@@ -36,7 +36,7 @@
         "y": 2.8801012661030256
       },
       "prevControl": {
-        "x": 0.44575903614457835,
+        "x": 0.44575903614457846,
         "y": 2.811096385542169
       },
       "nextControl": null,
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot3-Depot.path b/src/main/deploy/pathplanner/paths/Shoot3-Depot.path
index 8286d2c..7c09d37 100644
--- a/src/main/deploy/pathplanner/paths/Shoot3-Depot.path
+++ b/src/main/deploy/pathplanner/paths/Shoot3-Depot.path
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot3-Main3.path b/src/main/deploy/pathplanner/paths/Shoot3-Main3.path
index 294af81..c8d260a 100644
--- a/src/main/deploy/pathplanner/paths/Shoot3-Main3.path
+++ b/src/main/deploy/pathplanner/paths/Shoot3-Main3.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot3-Main4.path b/src/main/deploy/pathplanner/paths/Shoot3-Main4.path
index 4068130..4c6d738 100644
--- a/src/main/deploy/pathplanner/paths/Shoot3-Main4.path
+++ b/src/main/deploy/pathplanner/paths/Shoot3-Main4.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot3-SweepUp-Shoot1.path b/src/main/deploy/pathplanner/paths/Shoot3-SweepUp-Shoot1.path
index 5884144..d045f0f 100644
--- a/src/main/deploy/pathplanner/paths/Shoot3-SweepUp-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/Shoot3-SweepUp-Shoot1.path
@@ -139,8 +139,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Shoot3-SweepUp.path b/src/main/deploy/pathplanner/paths/Shoot3-SweepUp.path
index 00c6255..e27ce7f 100644
--- a/src/main/deploy/pathplanner/paths/Shoot3-SweepUp.path
+++ b/src/main/deploy/pathplanner/paths/Shoot3-SweepUp.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepDown-Climb2.path b/src/main/deploy/pathplanner/paths/SweepDown-Climb2.path
index f7a1e62..5b2f138 100644
--- a/src/main/deploy/pathplanner/paths/SweepDown-Climb2.path
+++ b/src/main/deploy/pathplanner/paths/SweepDown-Climb2.path
@@ -24,7 +24,7 @@
         "y": 2.2865662650602405
       },
       "nextControl": {
-        "x": 0.28312723263173406,
+        "x": 0.2831272326317341,
         "y": 2.364988790443167
       },
       "isLocked": false,
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepDown-LBump.path b/src/main/deploy/pathplanner/paths/SweepDown-LBump.path
index 6085d3b..13caef7 100644
--- a/src/main/deploy/pathplanner/paths/SweepDown-LBump.path
+++ b/src/main/deploy/pathplanner/paths/SweepDown-LBump.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepDown-Shoot2.path b/src/main/deploy/pathplanner/paths/SweepDown-Shoot2.path
index 039ea3f..86b6e97 100644
--- a/src/main/deploy/pathplanner/paths/SweepDown-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/SweepDown-Shoot2.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepDown-Shoot3.path b/src/main/deploy/pathplanner/paths/SweepDown-Shoot3.path
index d9e34f4..6c38dc9 100644
--- a/src/main/deploy/pathplanner/paths/SweepDown-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/SweepDown-Shoot3.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepDown.path b/src/main/deploy/pathplanner/paths/SweepDown.path
index 03b935d..4fbd5b1 100644
--- a/src/main/deploy/pathplanner/paths/SweepDown.path
+++ b/src/main/deploy/pathplanner/paths/SweepDown.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepUp-Climb.path b/src/main/deploy/pathplanner/paths/SweepUp-Climb.path
index 0a0dfd0..0816927 100644
--- a/src/main/deploy/pathplanner/paths/SweepUp-Climb.path
+++ b/src/main/deploy/pathplanner/paths/SweepUp-Climb.path
@@ -20,7 +20,7 @@
         "y": 4.599583975068654
       },
       "prevControl": {
-        "x": 3.280448600922838,
+        "x": 3.2804486009228384,
         "y": 4.638438076655999
       },
       "nextControl": null,
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepUp-Shoot1.path b/src/main/deploy/pathplanner/paths/SweepUp-Shoot1.path
index 2b5578d..98888b5 100644
--- a/src/main/deploy/pathplanner/paths/SweepUp-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/SweepUp-Shoot1.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepUp-Shoot2.path b/src/main/deploy/pathplanner/paths/SweepUp-Shoot2.path
index be6b606..c273453 100644
--- a/src/main/deploy/pathplanner/paths/SweepUp-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/SweepUp-Shoot2.path
@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepUp-UBump.path b/src/main/deploy/pathplanner/paths/SweepUp-UBump.path
index 6a677f5..3c0fc3c 100644
--- a/src/main/deploy/pathplanner/paths/SweepUp-UBump.path
+++ b/src/main/deploy/pathplanner/paths/SweepUp-UBump.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SweepUp.path b/src/main/deploy/pathplanner/paths/SweepUp.path
index 71d8f7b..5920899 100644
--- a/src/main/deploy/pathplanner/paths/SweepUp.path
+++ b/src/main/deploy/pathplanner/paths/SweepUp.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-Climb.path b/src/main/deploy/pathplanner/paths/UBump-Climb.path
index 30b22d0..fe2d6d0 100644
--- a/src/main/deploy/pathplanner/paths/UBump-Climb.path
+++ b/src/main/deploy/pathplanner/paths/UBump-Climb.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-Main1.path b/src/main/deploy/pathplanner/paths/UBump-Main1.path
index 4a0d7ca..36c940b 100644
--- a/src/main/deploy/pathplanner/paths/UBump-Main1.path
+++ b/src/main/deploy/pathplanner/paths/UBump-Main1.path
@@ -40,8 +40,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-Main2.path b/src/main/deploy/pathplanner/paths/UBump-Main2.path
index 5e718cf..0a66dcd 100644
--- a/src/main/deploy/pathplanner/paths/UBump-Main2.path
+++ b/src/main/deploy/pathplanner/paths/UBump-Main2.path
@@ -40,8 +40,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-Shoot1.path b/src/main/deploy/pathplanner/paths/UBump-Shoot1.path
index b795d94..3a1eb2d 100644
--- a/src/main/deploy/pathplanner/paths/UBump-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/UBump-Shoot1.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-Shoot2.path b/src/main/deploy/pathplanner/paths/UBump-Shoot2.path
index 13d3536..29a9187 100644
--- a/src/main/deploy/pathplanner/paths/UBump-Shoot2.path
+++ b/src/main/deploy/pathplanner/paths/UBump-Shoot2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-SweepDown-Shoot3.path b/src/main/deploy/pathplanner/paths/UBump-SweepDown-Shoot3.path
index aff3f32..640e7d7 100644
--- a/src/main/deploy/pathplanner/paths/UBump-SweepDown-Shoot3.path
+++ b/src/main/deploy/pathplanner/paths/UBump-SweepDown-Shoot3.path
@@ -139,8 +139,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UBump-SweepDown.path b/src/main/deploy/pathplanner/paths/UBump-SweepDown.path
index 8fffdd7..1145fca 100644
--- a/src/main/deploy/pathplanner/paths/UBump-SweepDown.path
+++ b/src/main/deploy/pathplanner/paths/UBump-SweepDown.path
@@ -38,8 +38,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UTrench-Climb1.path b/src/main/deploy/pathplanner/paths/UTrench-Climb1.path
index 97c258d..474bc98 100644
--- a/src/main/deploy/pathplanner/paths/UTrench-Climb1.path
+++ b/src/main/deploy/pathplanner/paths/UTrench-Climb1.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/UTrench-Shoot1.path b/src/main/deploy/pathplanner/paths/UTrench-Shoot1.path
index 4a0fcee..220fbd8 100644
--- a/src/main/deploy/pathplanner/paths/UTrench-Shoot1.path
+++ b/src/main/deploy/pathplanner/paths/UTrench-Shoot1.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index f48139e..fe7ea37 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -13,13 +13,13 @@
     "Sweep Paths ✔"
   ],
   "autoFolders": [
-    "New Folder",
+    "Olivia's Test Autos ",
     "Only Climb",
     "Shoot First",
     "Sweep First"
   ],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxVel": 0.5,
+  "defaultMaxAccel": 0.5,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,