diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index 88fd1cd..7d057b5 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -9,7 +9,7 @@
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 1.0,
-  "defaultMaxAngVel": 90.0,
-  "defaultMaxAngAccel": 45.0,
+  "defaultMaxAngVel": 480.0,
+  "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 4.5
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/3 Note Auto.auto b/src/main/deploy/pathplanner/autos/3 Note Auto.auto
deleted file mode 100644
index c4c6fc6..0000000
--- a/src/main/deploy/pathplanner/autos/3 Note Auto.auto	
+++ /dev/null
@@ -1,76 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": null,
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        },
-        {
-          "type": "race",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Move To 2'nd"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        },
-        {
-          "type": "race",
-          "data": {
-            "commands": [
-              {
-                "type": "parallel",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "Move To 3'rd"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "Intake"
-                      }
-                    }
-                  ]
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Blue 1.auto b/src/main/deploy/pathplanner/autos/Blue 1.auto
deleted file mode 100644
index 856cb08..0000000
--- a/src/main/deploy/pathplanner/autos/Blue 1.auto	
+++ /dev/null
@@ -1,50 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 1.04490083756554,
-      "y": 6.5938713630557855
-    },
-    "rotation": 0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              },
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Goto Note 0"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Test Auto (Forward).auto b/src/main/deploy/pathplanner/autos/Rotate Around Auto.auto
similarity index 75%
rename from src/main/deploy/pathplanner/autos/Test Auto (Forward).auto
rename to src/main/deploy/pathplanner/autos/Rotate Around Auto.auto
index 506a963..0488dc1 100644
--- a/src/main/deploy/pathplanner/autos/Test Auto (Forward).auto	
+++ b/src/main/deploy/pathplanner/autos/Rotate Around Auto.auto	
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.9173805620338513,
-      "y": 2.015009120927333
+      "x": 4.0,
+      "y": 6.75
     },
     "rotation": 0
   },
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Forward Path"
+            "pathName": "Rotate Around"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/Rotate Bigger.auto b/src/main/deploy/pathplanner/autos/Rotate Bigger.auto
new file mode 100644
index 0000000..c9e595c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Rotate Bigger.auto	
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 4.0,
+      "y": 7.4
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Rotate Around Bigger"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Rotate Around Bigger"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Rotate Around Bigger"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/S Auto.auto b/src/main/deploy/pathplanner/autos/S Auto.auto
new file mode 100644
index 0000000..7bbc3d0
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/S Auto.auto	
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Dodge HellCat"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HellCat's REVENGE"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Wierd Far Auto.auto b/src/main/deploy/pathplanner/autos/Wierd Far Auto.auto
deleted file mode 100644
index e138d15..0000000
--- a/src/main/deploy/pathplanner/autos/Wierd Far Auto.auto	
+++ /dev/null
@@ -1,50 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": null,
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        },
-        {
-          "type": "race",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "Intake"
-                }
-              },
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Move to last"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Back To Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot To Speaker"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Back To Shoot.path b/src/main/deploy/pathplanner/paths/Back To Shoot.path
index d1be194..d8ec25d 100644
--- a/src/main/deploy/pathplanner/paths/Back To Shoot.path	
+++ b/src/main/deploy/pathplanner/paths/Back To Shoot.path	
@@ -34,8 +34,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 1.0,
-    "maxAngularVelocity": 90.0,
-    "maxAngularAcceleration": 45.0
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Big S.path b/src/main/deploy/pathplanner/paths/Big S.path
new file mode 100644
index 0000000..0185cbf
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Big S.path	
@@ -0,0 +1,100 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 5.542617023343522,
+        "y": 5.0
+      },
+      "nextControl": {
+        "x": 6.513998881307243,
+        "y": 5.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 9.0,
+        "y": 9.0
+      },
+      "prevControl": {
+        "x": 8.525393149871316,
+        "y": 9.0
+      },
+      "nextControl": {
+        "x": 9.571988002890738,
+        "y": 9.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 12.0,
+        "y": 6.872899327194004
+      },
+      "prevControl": {
+        "x": 11.926571588384679,
+        "y": 6.9022706918401315
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 30.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": -30.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Dodge HellCat.path b/src/main/deploy/pathplanner/paths/Dodge HellCat.path
new file mode 100644
index 0000000..b14ca84
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Dodge HellCat.path	
@@ -0,0 +1,242 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.010668021336048,
+        "y": 6.9685732098698985
+      },
+      "isLocked": false,
+      "linkedName": "Cone 1"
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 2.3,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 3.7,
+        "y": 6.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 4.0,
+        "y": 6.5
+      },
+      "nextControl": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "isLocked": false,
+      "linkedName": "Cone 2"
+    },
+    {
+      "anchor": {
+        "x": 5.0,
+        "y": 8.0
+      },
+      "prevControl": {
+        "x": 4.3,
+        "y": 8.0
+      },
+      "nextControl": {
+        "x": 5.7,
+        "y": 8.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 6.0,
+        "y": 7.5
+      },
+      "nextControl": {
+        "x": 6.0,
+        "y": 6.5
+      },
+      "isLocked": false,
+      "linkedName": "Cone 3"
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 6.3,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 7.7,
+        "y": 6.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 8.0,
+        "y": 6.5
+      },
+      "nextControl": {
+        "x": 8.0,
+        "y": 7.5
+      },
+      "isLocked": false,
+      "linkedName": "Cone 4"
+    },
+    {
+      "anchor": {
+        "x": 9.0,
+        "y": 8.0
+      },
+      "prevControl": {
+        "x": 8.3,
+        "y": 8.0
+      },
+      "nextControl": {
+        "x": 9.7,
+        "y": 8.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 10.0,
+        "y": 7.5
+      },
+      "nextControl": {
+        "x": 10.0,
+        "y": 6.5
+      },
+      "isLocked": false,
+      "linkedName": "Cone 5"
+    },
+    {
+      "anchor": {
+        "x": 11.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 10.3,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 11.7,
+        "y": 6.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 12.25,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 12.25,
+        "y": 6.5
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Cone 6"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.0,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2.0,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 4,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 5,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 6,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 7,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 8,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 9,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Goto Note 0.path b/src/main/deploy/pathplanner/paths/Goto Note 0.path
index 71d2f0e..efce640 100644
--- a/src/main/deploy/pathplanner/paths/Goto Note 0.path	
+++ b/src/main/deploy/pathplanner/paths/Goto Note 0.path	
@@ -40,8 +40,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 1.0,
-    "maxAngularVelocity": 90.0,
-    "maxAngularAcceleration": 45.0
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/HellCat's REVENGE.path b/src/main/deploy/pathplanner/paths/HellCat's REVENGE.path
new file mode 100644
index 0000000..9ceb9cb
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/HellCat's REVENGE.path	
@@ -0,0 +1,242 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 12.25,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 12.25,
+        "y": 8.0
+      },
+      "isLocked": false,
+      "linkedName": "Cone 6"
+    },
+    {
+      "anchor": {
+        "x": 11.0,
+        "y": 8.25
+      },
+      "prevControl": {
+        "x": 11.621898554830288,
+        "y": 8.25
+      },
+      "nextControl": {
+        "x": 10.378101445169712,
+        "y": 8.25
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 10.0,
+        "y": 7.699999999999999
+      },
+      "nextControl": {
+        "x": 10.0,
+        "y": 6.300000000000001
+      },
+      "isLocked": false,
+      "linkedName": "Cone 5"
+    },
+    {
+      "anchor": {
+        "x": 9.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 9.7,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 8.3,
+        "y": 6.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 8.0,
+        "y": 6.5
+      },
+      "nextControl": {
+        "x": 8.0,
+        "y": 7.7
+      },
+      "isLocked": false,
+      "linkedName": "Cone 4"
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 8.0
+      },
+      "prevControl": {
+        "x": 7.699999999999996,
+        "y": 8.0
+      },
+      "nextControl": {
+        "x": 6.367179320975425,
+        "y": 8.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 6.0,
+        "y": 7.5
+      },
+      "nextControl": {
+        "x": 6.0,
+        "y": 6.5
+      },
+      "isLocked": false,
+      "linkedName": "Cone 3"
+    },
+    {
+      "anchor": {
+        "x": 5.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 5.7,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 4.3,
+        "y": 6.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 4.0,
+        "y": 6.5
+      },
+      "nextControl": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "isLocked": false,
+      "linkedName": "Cone 2"
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 8.0
+      },
+      "prevControl": {
+        "x": 3.7,
+        "y": 8.0
+      },
+      "nextControl": {
+        "x": 2.3,
+        "y": 8.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 2.0,
+        "y": 7.5
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Cone 1"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 3.0,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 4.0,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 5.0,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 6.0,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 7.0,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 8.0,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 9.0,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Move To 2'nd.path b/src/main/deploy/pathplanner/paths/Move To 2'nd.path
index 268b1b6..ed6f5a6 100644
--- a/src/main/deploy/pathplanner/paths/Move To 2'nd.path	
+++ b/src/main/deploy/pathplanner/paths/Move To 2'nd.path	
@@ -34,8 +34,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 1.0,
-    "maxAngularVelocity": 90.0,
-    "maxAngularAcceleration": 45.0
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Move To 3'rd.path b/src/main/deploy/pathplanner/paths/Move To 3'rd.path
index 47ae5be..157b41c 100644
--- a/src/main/deploy/pathplanner/paths/Move To 3'rd.path	
+++ b/src/main/deploy/pathplanner/paths/Move To 3'rd.path	
@@ -34,8 +34,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 1.0,
-    "maxAngularVelocity": 90.0,
-    "maxAngularAcceleration": 45.0
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Move to last.path b/src/main/deploy/pathplanner/paths/Move to last.path
index 7da9c4d..16faf1e 100644
--- a/src/main/deploy/pathplanner/paths/Move to last.path	
+++ b/src/main/deploy/pathplanner/paths/Move to last.path	
@@ -34,8 +34,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 1.0,
-    "maxAngularVelocity": 90.0,
-    "maxAngularAcceleration": 45.0
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
diff --git a/src/main/deploy/pathplanner/paths/Rotate Around Bigger.path b/src/main/deploy/pathplanner/paths/Rotate Around Bigger.path
new file mode 100644
index 0000000..945f46f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Rotate Around Bigger.path	
@@ -0,0 +1,121 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.4
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.25,
+        "y": 7.4
+      },
+      "isLocked": false,
+      "linkedName": "Start"
+    },
+    {
+      "anchor": {
+        "x": 6.4,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 6.4,
+        "y": 6.25
+      },
+      "nextControl": {
+        "x": 6.4,
+        "y": 3.75
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 2.6
+      },
+      "prevControl": {
+        "x": 5.25,
+        "y": 2.6
+      },
+      "nextControl": {
+        "x": 2.75,
+        "y": 2.6
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.6,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 1.6214903264651124,
+        "y": 3.7501847473052576
+      },
+      "nextControl": {
+        "x": 1.5785096735348878,
+        "y": 6.249815252694742
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.4
+      },
+      "prevControl": {
+        "x": 2.75,
+        "y": 7.4
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Start"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0,
+      "rotationDegrees": -90.0,
+      "rotateFast": true
+    },
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.8,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Rotate Around.path b/src/main/deploy/pathplanner/paths/Rotate Around.path
new file mode 100644
index 0000000..d1373bf
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Rotate Around.path	
@@ -0,0 +1,121 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.75
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.0,
+        "y": 6.75
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.75,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 5.75,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 5.75,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 3.25
+      },
+      "prevControl": {
+        "x": 5.0,
+        "y": 3.25
+      },
+      "nextControl": {
+        "x": 3.0,
+        "y": 3.25
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.25,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 2.26719226117209,
+        "y": 4.000147797844206
+      },
+      "nextControl": {
+        "x": 2.23280773882791,
+        "y": 5.999852202155794
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.75
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.75
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.8,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 480.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Test Slide.path b/src/main/deploy/pathplanner/paths/Test Slide.path
new file mode 100644
index 0000000..dbc436b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Test Slide.path	
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 6.8
+      },
+      "prevControl": {
+        "x": 1.9113560946263224,
+        "y": 6.761700222148208
+      },
+      "nextControl": {
+        "x": 4.097462927410059,
+        "y": 6.838610041458831
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 3.435669696336909,
+        "y": 7.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 90.0,
+    "maxAngularAcceleration": 45.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file