diff --git a/src/main/deploy/choreo/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj
index 87edf75b..ca0bc25b 100644
--- a/src/main/deploy/choreo/DBtoFL.traj
+++ b/src/main/deploy/choreo/DBtoFL.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
@@ -18,7 +18,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.712236404418945 m", "val":4.712236404418945}, "y":{"exp":"5.845959186553955 m", "val":5.845959186553955}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
@@ -37,151 +37,153 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.93265,2.62505,3.34621,4.76684,5.57573],
+  "waypoints":[0.0,1.93267,2.62507,3.34617,4.76179,5.56579],
   "samples":[
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diff --git a/src/main/deploy/choreo/DLOtoDLT.traj b/src/main/deploy/choreo/DLOtoDLT.traj
index 08fd6406..799e0861 100644
--- a/src/main/deploy/choreo/DLOtoDLT.traj
+++ b/src/main/deploy/choreo/DLOtoDLT.traj
@@ -29,31 +29,31 @@
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+    "y":0.2761996
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+   "gearing":7.03,
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+   "cof":2.25,
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-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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diff --git a/src/main/deploy/choreo/DLTtoDRO.traj b/src/main/deploy/choreo/DLTtoDRO.traj
index 8a442a8a..ba5663d0 100644
--- a/src/main/deploy/choreo/DLTtoDRO.traj
+++ b/src/main/deploy/choreo/DLTtoDRO.traj
@@ -3,7 +3,7 @@
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  "snapshot":{
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -29,44 +29,45 @@
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+    {"t":0.37439, "x":8.02291, "y":2.22799, "heading":1.80539, "vx":-1.48541, "vy":-0.19768, "omega":-7.99045, "ax":-0.43149, "ay":7.82436, "alpha":31.12293, "fx":[-101.59515,128.60039,55.17774,-108.83731], "fy":[20.73364,71.10906,210.90753,180.58253]},
+    {"t":0.40319, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":-1.49783, "vy":0.02765, "omega":-7.09413, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/DLTtoSRB.traj b/src/main/deploy/choreo/DLTtoSRB.traj
index 1d0b70be..c74ac2dc 100644
--- a/src/main/deploy/choreo/DLTtoSRB.traj
+++ b/src/main/deploy/choreo/DLTtoSRB.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.8596649169921875, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.331108093261719, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -16,7 +16,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.8596649169921875 m", "val":5.8596649169921875}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.331108093261719 m", "val":4.331108093261719}, "y":{"exp":"2.6069321632385254 m", "val":2.6069321632385254}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -33,112 +33,113 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.83347,2.85279,3.88415],
+  "waypoints":[0.0,1.83348,2.8528,3.88416],
   "samples":[
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+    {"t":3.88416, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49938, "vy":-0.00549, "omega":-0.00244, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/DLTtoSRT.traj b/src/main/deploy/choreo/DLTtoSRT.traj
index 04ce0841..5617b4f6 100644
--- a/src/main/deploy/choreo/DLTtoSRT.traj
+++ b/src/main/deploy/choreo/DLTtoSRT.traj
@@ -33,118 +33,118 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
   "waypoints":[0.0,2.19865,3.14963,4.09962],
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diff --git a/src/main/deploy/choreo/DROtoDRT.traj b/src/main/deploy/choreo/DROtoDRT.traj
index a5eefa2d..29f1f27c 100644
--- a/src/main/deploy/choreo/DROtoDRT.traj
+++ b/src/main/deploy/choreo/DROtoDRT.traj
@@ -29,31 +29,31 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
   "waypoints":[0.0,2.43484],
   "samples":[
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@@ -101,7 +101,7 @@
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-    {"t":2.38515, "x":7.97995, "y":5.80253, "heading":1.57527, "vx":0.0, "vy":1.4997, "omega":0.0, "ax":0.0, "ay":-0.00608, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.07884,-0.07884,-0.07884,-0.07884]},
+    {"t":2.38515, "x":7.97995, "y":5.80253, "heading":1.57527, "vx":0.0, "vy":1.4997, "omega":0.0, "ax":0.0, "ay":-0.00608, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.09385,-0.09385,-0.09385,-0.09385]},
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diff --git a/src/main/deploy/choreo/DRTtoDLO.traj b/src/main/deploy/choreo/DRTtoDLO.traj
index a236d462..e05eb152 100644
--- a/src/main/deploy/choreo/DRTtoDLO.traj
+++ b/src/main/deploy/choreo/DRTtoDLO.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -29,44 +29,45 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
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-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.39996],
+  "waypoints":[0.0,0.40311],
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+    {"t":0.08638, "x":8.10843, "y":5.88876, "heading":2.26207, "vx":1.4982, "vy":0.01971, "omega":7.40933, "ax":-0.11952, "ay":-4.28484, "alpha":1.05036, "fx":[-2.24977,2.54407,-1.43858,-6.23908], "fy":[-70.23331,-66.57394,-62.09186,-65.78742]},
+    {"t":0.11518, "x":8.15152, "y":5.88755, "heading":2.47542, "vx":1.49476, "vy":-0.10366, "omega":7.43957, "ax":-0.42399, "ay":-3.95058, "alpha":8.56207, "fx":[-2.27939,29.1139,-11.27512,-41.7504], "fy":[-93.8271,-57.80908,-27.10114,-65.30089]},
+    {"t":0.14397, "x":8.19439, "y":5.88293, "heading":2.68963, "vx":1.48256, "vy":-0.21742, "omega":7.6861, "ax":-0.38163, "ay":-2.27342, "alpha":14.51237, "fx":[12.95141,50.86873,-26.32924,-61.06511], "fy":[-89.41636,-17.00682,20.59087,-54.60306]},
+    {"t":0.17276, "x":8.23692, "y":5.87572, "heading":2.91094, "vx":1.47157, "vy":-0.28288, "omega":8.10397, "ax":0.93691, "ay":9.93216, "alpha":2.59186, "fx":[21.61406,24.79655,7.65767,3.80723], "fy":[146.01729,157.48913,160.68374,149.34714]},
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+    {"t":0.25914, "x":8.36528, "y":5.88098, "heading":-2.67178, "vx":1.49107, "vy":0.14767, "omega":7.61257, "ax":0.24737, "ay":-4.4005, "alpha":-7.02935, "fx":[-24.55314,-5.17388,31.56106,13.44658], "fy":[-59.93758,-93.64712,-76.63301,-41.61348]},
+    {"t":0.28794, "x":8.40831, "y":5.88341, "heading":-2.45258, "vx":1.49819, "vy":0.02096, "omega":7.41017, "ax":-0.11559, "ay":-4.27927, "alpha":0.96856, "fx":[2.26179,-1.40018,-5.83485,-2.16702], "fy":[-66.46411,-62.32459,-65.72233,-69.83113]},
+    {"t":0.31673, "x":8.4514, "y":5.88224, "heading":-2.23922, "vx":1.49486, "vy":-0.10226, "omega":7.43806, "ax":-0.41928, "ay":-3.94403, "alpha":8.4719, "fx":[28.81234,-11.06401,-41.32058,-2.32782], "fy":[-57.80649,-27.352,-65.0788,-93.3966]},
+    {"t":0.34553, "x":8.49427, "y":5.87766, "heading":-2.02505, "vx":1.48279, "vy":-0.21582, "omega":7.68199, "ax":-0.36238, "ay":-2.18744, "alpha":14.30679, "fx":[50.32604,-25.53673,-60.04243,12.86772], "fy":[-15.9962,21.17602,-52.87891,-87.42536]},
+    {"t":0.37432, "x":8.53682, "y":5.87054, "heading":-1.80385, "vx":1.47235, "vy":-0.2788, "omega":8.09394, "ax":0.86808, "ay":8.0571, "alpha":-32.20249, "fx":[-128.24051,115.46054,117.47529,-51.0714], "fy":[74.93352,21.01393,184.25156,217.51028]},
+    {"t":0.40311, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":1.49735, "vy":-0.04681, "omega":7.16671, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/DRTtoSLB.traj b/src/main/deploy/choreo/DRTtoSLB.traj
index 29fdb83a..3f5a244f 100644
--- a/src/main/deploy/choreo/DRTtoSLB.traj
+++ b/src/main/deploy/choreo/DRTtoSLB.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.891683101654053, "y":5.438096523284912, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.515060901641846, "y":5.411875247955322, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -16,7 +16,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.891683101654053 m", "val":5.891683101654053}, "y":{"exp":"5.438096523284912 m", "val":5.438096523284912}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.515060901641846 m", "val":4.515060901641846}, "y":{"exp":"5.411875247955322 m", "val":5.411875247955322}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -33,105 +33,106 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.42304,2.34126,3.49547],
+  "waypoints":[0.0,1.42305,2.34127,3.49547],
   "samples":[
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diff --git a/src/main/deploy/choreo/DRTtoSLT.traj b/src/main/deploy/choreo/DRTtoSLT.traj
index 5237ee29..5dfa17b8 100644
--- a/src/main/deploy/choreo/DRTtoSLT.traj
+++ b/src/main/deploy/choreo/DRTtoSLT.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
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diff --git a/src/main/deploy/choreo/DTtoFL.traj b/src/main/deploy/choreo/DTtoFL.traj
index 4db63682..9b9dd7b1 100644
--- a/src/main/deploy/choreo/DTtoFL.traj
+++ b/src/main/deploy/choreo/DTtoFL.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":0.8050751090049744, "y":6.312607765197754, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.8226280212402344, "y":6.886133193969727, "heading":-1.2008906955338798, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -18,7 +18,7 @@
  },
  "params":{
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@@ -37,181 +37,183 @@
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+    {"t":5.47604, "x":7.80973, "y":5.91989, "heading":-1.56329, "vx":0.2897, "vy":-1.47134, "omega":-0.20442, "ax":0.00252, "ay":0.01183, "alpha":0.08943, "fx":[0.29178,-0.2199,-0.21399,0.29769], "fy":[0.44156,0.43565,-0.07602,-0.07011]},
+    {"t":5.51274, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.28979, "vy":-1.47091, "omega":-0.20114, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DTtoRL.traj
index f6511a96..9ffe0897 100644
--- a/src/main/deploy/choreo/DTtoRL.traj
+++ b/src/main/deploy/choreo/DTtoRL.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":3.0073800086975098, "y":7.3907060623168945, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.603864669799805, "y":7.405058860778809, "heading":0.0, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -15,7 +15,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"3.0073800086975098 m", "val":3.0073800086975098}, "y":{"exp":"7.3907060623168945 m", "val":7.3907060623168945}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.603864669799805 m", "val":4.603864669799805}, "y":{"exp":"7.405058860778809 m", "val":7.405058860778809}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -31,90 +31,92 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.63281,2.69797],
+  "waypoints":[0.0,1.63283,2.69796],
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/FLMtoCL.traj b/src/main/deploy/choreo/FLMtoCL.traj
index eec37f5b..6205be7a 100644
--- a/src/main/deploy/choreo/FLMtoCL.traj
+++ b/src/main/deploy/choreo/FLMtoCL.traj
@@ -3,30 +3,36 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.016256809234619, "y":7.323315143585205, "heading":3.1172067680459215, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.617038249969482, "y":7.365917682647705, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.261221170425415, "y":7.2484235763549805, "heading":3.1415912186228, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+    {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
+    {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
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     {"x":{"exp":"6.016256809234619 m", "val":6.016256809234619}, "y":{"exp":"7.323315143585205 m", "val":7.323315143585205}, "heading":{"exp":"3.1172067680459215 rad", "val":3.1172067680459215}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.617038249969482 m", "val":4.617038249969482}, "y":{"exp":"7.365917682647705 m", "val":7.365917682647705}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":{"exp":"4.617038249969482 m", "val":4.617038249969482}, "y":{"exp":"7.365917682647705 m", "val":7.365917682647705}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.2658567428588867 m", "val":3.2658567428588867}, "y":{"exp":"7.07125997543335 m", "val":7.07125997543335}, "heading":{"exp":"-2.58609898068092 rad", "val":-2.58609898068092}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.9777511358261108 m", "val":1.9777511358261108}, "y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.4044795036315918 m", "val":1.4044795036315918}, "y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
+    {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -35,163 +41,199 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
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+    {"t":7.89891, "x":0.75034, "y":4.74371, "heading":1.57292, "vx":-0.97948, "vy":-0.20058, "omega":-0.00132, "ax":19.07814, "ay":3.90692, "alpha":0.0258, "fx":[294.62935,294.67097,294.62565,294.58397], "fy":[60.23092,60.18628,60.43978,60.48459]},
+    {"t":7.95025, "x":0.72519, "y":4.73856, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/FLMtoEL.traj b/src/main/deploy/choreo/FLMtoEL.traj
index cd03f22d..30be2a89 100644
--- a/src/main/deploy/choreo/FLMtoEL.traj
+++ b/src/main/deploy/choreo/FLMtoEL.traj
@@ -5,7 +5,7 @@
   "waypoints":[
     {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.11699104309082, "y":7.238004684448242, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.219851016998291, "y":7.297757148742676, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.219851016998291, "y":7.297757148742676, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -18,7 +18,7 @@
   "waypoints":[
     {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.11699104309082 m", "val":6.11699104309082}, "y":{"exp":"7.238004684448242 m", "val":7.238004684448242}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.219851016998291 m", "val":4.219851016998291}, "y":{"exp":"7.297757148742676 m", "val":7.297757148742676}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.219851016998291 m", "val":4.219851016998291}, "y":{"exp":"7.297757148742676 m", "val":7.297757148742676}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"ELL.x", "val":2.1214685440063477}, "y":{"exp":"ELL.y", "val":7.046450138092041}, "heading":{"exp":"ELL.heading", "val":-1.573056098378181}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -33,134 +33,135 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.15107,3.41976,4.82906],
+  "waypoints":[0.0,2.15113,3.41964,4.82895],
   "samples":[
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+    {"t":4.78491, "x":2.18703, "y":7.05438, "heading":-1.61415, "vx":-1.48881, "vy":-0.1801, "omega":0.93301, "ax":0.00768, "ay":0.00093, "alpha":-2.60965, "fx":[-7.66439,7.25447,7.90156,-7.0172], "fy":[-7.1216,-7.76851,7.15007,7.79744]},
+    {"t":4.82895, "x":2.12147, "y":7.04645, "heading":-1.57306, "vx":-1.48847, "vy":-0.18006, "omega":0.81808, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FLMtoML.traj b/src/main/deploy/choreo/FLMtoML.traj
index 473ec801..03fc7f5e 100644
--- a/src/main/deploy/choreo/FLMtoML.traj
+++ b/src/main/deploy/choreo/FLMtoML.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.521002769470215, "y":7.377725124359131, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.544271945953369, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -16,7 +16,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"MLL.x", "val":4.544271945953369}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -33,103 +33,104 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
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+    {"t":1.96959, "x":6.62011, "y":7.20244, "heading":-3.07638, "vx":-0.6094, "vy":1.37027, "omega":-0.58085, "ax":-0.00081, "ay":-0.00036, "alpha":2.00658, "fx":[6.09025,5.34263,-6.11512,-5.36752], "fy":[-5.36031,6.09713,5.34928,-6.10823]},
+    {"t":2.0154, "x":6.59219, "y":7.2652, "heading":-3.10299, "vx":-0.60943, "vy":1.37026, "omega":-0.48894, "ax":-0.21023, "ay":-0.0944, "alpha":2.94894, "fx":[5.51005,4.83918,-12.0071,-11.32842], "fy":[-9.5876,7.30353,6.66158,-10.20913]},
+    {"t":2.0612, "x":6.56406, "y":7.32787, "heading":-3.12538, "vx":-0.61906, "vy":1.36593, "omega":-0.35387, "ax":-14.01312, "ay":-12.11406, "alpha":0.75247, "fx":[-212.95031,-216.04767,-219.83735,-216.79444], "fy":[-190.93902,-186.15082,-183.21528,-188.01404]},
+    {"t":2.10701, "x":6.521, "y":7.37773, "heading":3.14159, "vx":-1.26093, "vy":0.81106, "omega":-0.3194, "ax":-4.86107, "ay":-15.64213, "alpha":0.9698, "fx":[-70.20622,-71.86274,-80.01368,-78.19926], "fy":[-243.92831,-240.93657,-239.16567,-242.22746]},
+    {"t":2.15599, "x":6.45341, "y":7.39869, "heading":3.12595, "vx":-1.49902, "vy":0.04491, "omega":-0.2719, "ax":-0.0031, "ay":-0.10996, "alpha":2.21988, "fx":[6.20634,6.40802,-6.30504,-6.50101], "fy":[-8.14382,4.54791,4.74749,-7.94425]},
+    {"t":2.20497, "x":6.37999, "y":7.40076, "heading":3.11263, "vx":-1.49917, "vy":0.03953, "omega":-0.16317, "ax":-0.00001, "ay":-0.00034, "alpha":1.47222, "fx":[4.08846,4.33196,-4.08873,-4.33226], "fy":[-4.33749,4.08336,4.32687,-4.09397]},
+    {"t":2.25395, "x":6.30656, "y":7.40269, "heading":3.10464, "vx":-1.49917, "vy":0.03951, "omega":-0.09106, "ax":0.0, "ay":0.0, "alpha":0.97465, "fx":[2.68378,2.8895,-2.68378,-2.8895], "fy":[-2.88952,2.68377,2.88949,-2.6838]},
+    {"t":2.30293, "x":6.23313, "y":7.40463, "heading":3.10018, "vx":-1.49917, "vy":0.03951, "omega":-0.04333, "ax":0.0, "ay":0.0, "alpha":0.64581, "fx":[1.76974,1.92252,-1.76974,-1.92252], "fy":[-1.92252,1.76974,1.92252,-1.76974]},
+    {"t":2.35191, "x":6.1597, "y":7.40656, "heading":3.09806, "vx":-1.49917, "vy":0.03951, "omega":-0.01169, "ax":0.0, "ay":0.0, "alpha":0.42742, "fx":[1.16858,1.27488,-1.16858,-1.27488], "fy":[-1.27488,1.16858,1.27488,-1.16858]},
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+    {"t":2.54782, "x":5.86598, "y":7.4143, "heading":3.10065, "vx":-1.49917, "vy":0.03951, "omega":0.03835, "ax":0.0, "ay":0.0, "alpha":0.0821, "fx":[0.22509,0.2443,-0.22509,-0.2443], "fy":[-0.2443,0.22509,0.2443,-0.22509]},
+    {"t":2.5968, "x":5.79256, "y":7.41624, "heading":3.10253, "vx":-1.49917, "vy":0.03951, "omega":0.04237, "ax":0.0, "ay":0.0, "alpha":0.054, "fx":[0.14835,0.16041,-0.14835,-0.16041], "fy":[-0.16041,0.14835,0.16041,-0.14835]},
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+    {"t":2.74374, "x":5.57227, "y":7.42204, "heading":3.1091, "vx":-1.49917, "vy":0.03951, "omega":0.04791, "ax":0.0, "ay":0.0, "alpha":0.01528, "fx":[0.04227,0.04511,-0.04227,-0.04511], "fy":[-0.04511,0.04227,0.04511,-0.04227]},
+    {"t":2.79272, "x":5.49884, "y":7.42398, "heading":3.11144, "vx":-1.49917, "vy":0.03951, "omega":0.04865, "ax":0.0, "ay":0.0, "alpha":0.00948, "fx":[0.02628,0.02792,-0.02628,-0.02792], "fy":[-0.02792,0.02628,0.02792,-0.02628]},
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+    {"t":2.89068, "x":5.35198, "y":7.42785, "heading":3.11623, "vx":-1.49917, "vy":0.03951, "omega":0.0494, "ax":0.0, "ay":0.0, "alpha":0.00259, "fx":[0.00722,0.00759,-0.00722,-0.00759], "fy":[-0.00759,0.00722,0.00759,-0.00722]},
+    {"t":2.93966, "x":5.27855, "y":7.42978, "heading":3.11865, "vx":-1.49917, "vy":0.03951, "omega":0.04953, "ax":0.0, "ay":0.0, "alpha":0.0002, "fx":[0.00057,0.00059,-0.00057,-0.00059], "fy":[-0.00059,0.00057,0.00059,-0.00057]},
+    {"t":2.98864, "x":5.20512, "y":7.43172, "heading":3.12108, "vx":-1.49917, "vy":0.03951, "omega":0.04954, "ax":0.0, "ay":0.0, "alpha":-0.00237, "fx":[-0.00665,-0.00693,0.00665,0.00693], "fy":[0.00693,-0.00665,-0.00693,0.00665]},
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+    {"t":3.18456, "x":4.91141, "y":7.43946, "heading":3.13072, "vx":-1.49917, "vy":0.03951, "omega":0.04802, "ax":0.0, "ay":0.0, "alpha":-0.02214, "fx":[-0.06264,-0.06402,0.06264,0.06402], "fy":[0.06402,-0.06264,-0.06402,0.06264]},
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+    {"t":3.3315, "x":4.69112, "y":7.44526, "heading":3.13759, "vx":-1.49917, "vy":0.03951, "omega":0.04278, "ax":0.0, "ay":0.0, "alpha":-0.07745, "fx":[-0.2207,-0.22247,0.2207,0.22247], "fy":[0.22247,-0.2207,-0.22247,0.2207]},
+    {"t":3.38048, "x":4.61769, "y":7.4472, "heading":3.13968, "vx":-1.49917, "vy":0.03951, "omega":0.03898, "ax":0.00624, "ay":-0.00016, "alpha":-0.11704, "fx":[-0.23791,-0.23919,0.43052,0.4318], "fy":[0.33296,-0.33676,-0.33803,0.33168]},
+    {"t":3.42946, "x":4.54427, "y":7.44913, "heading":-3.14159, "vx":-1.49887, "vy":0.0395, "omega":0.03325, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FLMtoSLB.traj b/src/main/deploy/choreo/FLMtoSLB.traj
index 629c6d8f..3d7f1b70 100644
--- a/src/main/deploy/choreo/FLMtoSLB.traj
+++ b/src/main/deploy/choreo/FLMtoSLB.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.8075175285339355, "y":5.39786434173584, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -16,7 +16,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.8075175285339355 m", "val":5.8075175285339355}, "y":{"exp":"5.39786434173584 m", "val":5.39786434173584}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.29819393157959 m", "val":4.29819393157959}, "y":{"exp":"5.418973922729492 m", "val":5.418973922729492}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -33,105 +33,106 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.46922,2.47623,3.48597],
+  "waypoints":[0.0,1.46923,2.47623,3.48596],
   "samples":[
-    {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-1.36757, "vy":0.61306, "omega":-1.21673, "ax":-0.01947, "ay":0.00873, "alpha":0.00635, "fx":[-0.23466,-0.27066,-0.27066,-0.23466], "fy":[0.13126,0.13126,0.09526,0.09526]},
-    {"t":0.04591, "x":7.75756, "y":4.53173, "heading":-1.62666, "vx":-1.36846, "vy":0.61346, "omega":-1.21644, "ax":0.0, "ay":0.0, "alpha":0.01272, "fx":[0.03804,-0.03401,-0.03804,0.03401], "fy":[0.03401,0.03804,-0.03401,-0.03804]},
-    {"t":0.09183, "x":7.69473, "y":4.5599, "heading":-1.68251, "vx":-1.36846, "vy":0.61346, "omega":-1.21586, "ax":0.0, "ay":0.0, "alpha":0.01939, "fx":[0.06078,-0.04852,-0.06078,0.04852], "fy":[0.04852,0.06078,-0.04852,-0.06078]},
-    {"t":0.13774, "x":7.6319, "y":4.58806, "heading":-1.73833, "vx":-1.36846, "vy":0.61346, "omega":-1.21497, "ax":0.0, "ay":0.0, "alpha":0.0265, "fx":[0.08664,-0.06157,-0.08664,0.06157], "fy":[0.06157,0.08664,-0.06157,-0.08664]},
-    {"t":0.18365, "x":7.56907, "y":4.61623, "heading":-1.79412, "vx":-1.36846, "vy":0.61346, "omega":-1.21375, "ax":0.0, "ay":0.0, "alpha":0.0342, "fx":[0.11607,-0.07311,-0.11607,0.07311], "fy":[0.07311,0.11607,-0.07311,-0.11607]},
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-    {"t":0.27548, "x":7.44341, "y":4.67256, "heading":-1.9055, "vx":-1.36846, "vy":0.61346, "omega":-1.21022, "ax":0.0, "ay":0.0, "alpha":0.05212, "fx":[0.18818,-0.09106,-0.18818,0.09106], "fy":[0.09106,0.18818,-0.09106,-0.18818]},
-    {"t":0.32139, "x":7.38058, "y":4.70073, "heading":-1.96106, "vx":-1.36846, "vy":0.61346, "omega":-1.20783, "ax":0.0, "ay":0.0, "alpha":0.0628, "fx":[0.23247,-0.09695,-0.23247,0.09695], "fy":[0.09695,0.23247,-0.09695,-0.23247]},
-    {"t":0.3673, "x":7.31775, "y":4.72889, "heading":-2.01652, "vx":-1.36846, "vy":0.61346, "omega":-1.20495, "ax":0.0, "ay":0.0, "alpha":0.07476, "fx":[0.28273,-0.0999,-0.28273,0.0999], "fy":[0.0999,0.28273,-0.0999,-0.28273]},
-    {"t":0.41322, "x":7.25491, "y":4.75706, "heading":-2.07184, "vx":-1.36846, "vy":0.61346, "omega":-1.20151, "ax":0.0, "ay":0.0, "alpha":0.08859, "fx":[0.34106,-0.09968,-0.34106,0.09968], "fy":[0.09968,0.34106,-0.09968,-0.34106]},
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-    {"t":0.50504, "x":7.12925, "y":4.81339, "heading":-2.18199, "vx":-1.36846, "vy":0.61346, "omega":-1.19266, "ax":0.0, "ay":0.0, "alpha":0.12239, "fx":[0.48349,-0.08508,-0.48349,0.08508], "fy":[0.08508,0.48349,-0.08508,-0.48349]},
-    {"t":0.55096, "x":7.06642, "y":4.84156, "heading":-2.23674, "vx":-1.36846, "vy":0.61346, "omega":-1.18704, "ax":0.0, "ay":0.0, "alpha":0.14298, "fx":[0.56941,-0.06833,-0.56941,0.06833], "fy":[0.06833,0.56941,-0.06833,-0.56941]},
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+    {"t":2.86089, "x":3.72151, "y":5.40465, "heading":-3.13875, "vx":-1.49918, "vy":-0.03891, "omega":-0.00376, "ax":0.0, "ay":0.0, "alpha":-0.00932, "fx":[-0.02675,-0.0266,0.02675,0.0266], "fy":[0.0266,-0.02675,-0.0266,0.02675]},
+    {"t":2.90897, "x":3.64943, "y":5.40278, "heading":-3.13893, "vx":-1.49918, "vy":-0.03891, "omega":-0.0042, "ax":0.0, "ay":0.0, "alpha":-0.00614, "fx":[-0.01762,-0.01753,0.01762,0.01753], "fy":[0.01753,-0.01762,-0.01753,0.01762]},
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+    {"t":3.00514, "x":3.50526, "y":5.39904, "heading":-3.13935, "vx":-1.49918, "vy":-0.03891, "omega":-0.00469, "ax":0.0, "ay":0.0, "alpha":-0.00248, "fx":[-0.00712,-0.00709,0.00712,0.00709], "fy":[0.00709,-0.00712,-0.00709,0.00712]},
+    {"t":3.05322, "x":3.43317, "y":5.39717, "heading":-3.13957, "vx":-1.49918, "vy":-0.03891, "omega":-0.00481, "ax":0.0, "ay":0.0, "alpha":-0.0014, "fx":[-0.00401,-0.004,0.00401,0.004], "fy":[0.004,-0.00401,-0.004,0.00401]},
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+    {"t":3.43788, "x":2.85649, "y":5.3822, "heading":-3.1414, "vx":-1.49918, "vy":-0.03891, "omega":-0.00397, "ax":0.00649, "ay":0.00017, "alpha":0.01178, "fx":[0.1339,0.13388,0.06649,0.06651], "fy":[-0.03109,0.0363,0.03629,-0.0311]},
+    {"t":3.48596, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-1.49887, "vy":-0.0389, "omega":-0.00341, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FLMtoSLT.traj b/src/main/deploy/choreo/FLMtoSLT.traj
index f424a3eb..207cad5a 100644
--- a/src/main/deploy/choreo/FLMtoSLT.traj
+++ b/src/main/deploy/choreo/FLMtoSLT.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":215, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":219, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":112, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -16,7 +16,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":215, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":219, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.714456081390381 m", "val":6.714456081390381}, "y":{"exp":"7.341778755187988 m", "val":7.341778755187988}, "heading":{"exp":"-3.116906638819587 rad", "val":-3.116906638819587}, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"3.127229582083786 rad", "val":3.127229582083786}, "intervals":112, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -33,510 +33,514 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.03678,3.54175,4.64371],
+  "waypoints":[0.0,2.03549,3.5392,4.64117],
   "samples":[
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diff --git a/src/main/deploy/choreo/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj
index ca7e8e58..b630bc0d 100644
--- a/src/main/deploy/choreo/FLtoFLM.traj
+++ b/src/main/deploy/choreo/FLtoFLM.traj
@@ -29,31 +29,31 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
   "waypoints":[0.0,0.90843],
   "samples":[
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@@ -71,7 +71,7 @@
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-    {"t":0.86062, "x":7.82037, "y":4.57527, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "omega":0.0, "ax":0.0, "ay":0.00656, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.08516,0.08516,0.08516,0.08516]},
+    {"t":0.86062, "x":7.82037, "y":4.57527, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "omega":0.0, "ax":0.0, "ay":0.00656, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.10137,0.10137,0.10137,0.10137]},
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diff --git a/src/main/deploy/choreo/FLtoSL.traj b/src/main/deploy/choreo/FLtoSL.traj
index 220db679..896b622c 100644
--- a/src/main/deploy/choreo/FLtoSL.traj
+++ b/src/main/deploy/choreo/FLtoSL.traj
@@ -31,109 +31,109 @@
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-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
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-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
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-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
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-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
-  "waypoints":[0.0,1.34216,3.70339],
+  "waypoints":[0.0,1.33981,3.69811],
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+    {"t":3.31308, "x":3.39182, "y":7.3147, "heading":-3.14159, "vx":-1.49914, "vy":0.0406, "omega":-0.00004, "ax":0.00011, "ay":0.00406, "alpha":0.00071, "fx":[0.00812,-0.00066,-0.00472,0.00406], "fy":[0.06508,0.06915,0.06036,0.05629]},
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+    {"t":3.40934, "x":3.24752, "y":7.31863, "heading":3.14159, "vx":-1.49913, "vy":0.041, "omega":-0.00003, "ax":0.00011, "ay":0.0041, "alpha":0.00058, "fx":[0.00648,0.00031,-0.00301,0.00316], "fy":[0.0648,0.06813,0.06196,0.05864]},
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+    {"t":3.60185, "x":2.95892, "y":7.3266, "heading":3.14159, "vx":-1.49911, "vy":0.04179, "omega":0.00002, "ax":0.00012, "ay":0.00419, "alpha":0.00048, "fx":[0.00403,0.00234,-0.00042,0.00127], "fy":[0.06413,0.06689,0.06521,0.06244]},
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+    {"t":3.69811, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49879, "vy":0.04209, "omega":0.00008, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FRMtoCR.traj b/src/main/deploy/choreo/FRMtoCR.traj
index 58c9edf0..4ae15621 100644
--- a/src/main/deploy/choreo/FRMtoCR.traj
+++ b/src/main/deploy/choreo/FRMtoCR.traj
@@ -3,11 +3,11 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.002846717834473, "y":0.6756622195243835, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.641608238220215, "y":0.6834654211997986, "heading":3.1309276014165053, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7568485736846924, "y":3.397829055786133, "heading":3.141592653589793, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -17,11 +17,11 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CR.x", "val":1.7568485736846924}, "y":{"exp":"CR.y", "val":3.397829055786133}, "heading":{"exp":"CR.heading", "val":3.141592653589793}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -35,158 +35,154 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.27478,3.18562,4.15222,6.19959],
+  "waypoints":[0.0,2.2747,3.18537,4.15151,5.76241],
   "samples":[
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+    {"t":5.76241, "x":1.94294, "y":2.7734, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FRMtoER.traj b/src/main/deploy/choreo/FRMtoER.traj
index 171b8a21..47f932d8 100644
--- a/src/main/deploy/choreo/FRMtoER.traj
+++ b/src/main/deploy/choreo/FRMtoER.traj
@@ -5,7 +5,7 @@
   "waypoints":[
     {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -18,7 +18,7 @@
   "waypoints":[
     {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.02736234664917 m", "val":6.02736234664917}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"ER.heading", "val":1.5718817860612435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -33,133 +33,134 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.24657,3.23592,4.8137],
+  "waypoints":[0.0,2.24665,3.23575,4.81354],
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+    {"t":4.81354, "x":2.19743, "y":0.97641, "heading":1.57188, "vx":-1.48967, "vy":0.16994, "omega":-0.72027, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj
index 1de2e620..ca96c5b8 100644
--- a/src/main/deploy/choreo/FRMtoMR.traj
+++ b/src/main/deploy/choreo/FRMtoMR.traj
@@ -31,106 +31,106 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.00226,3.58063],
+  "waypoints":[0.0,2.00159,3.57913],
   "samples":[
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   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/FRMtoSR.traj b/src/main/deploy/choreo/FRMtoSR.traj
index e9600fed..30440a62 100644
--- a/src/main/deploy/choreo/FRMtoSR.traj
+++ b/src/main/deploy/choreo/FRMtoSR.traj
@@ -3,20 +3,20 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.502653121948242, "y":0.7615315914154053, "heading":-3.128260189486699, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.8253278732299805, "y":0.7128239274024963, "heading":-3.138122385310093, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.03554674983024597, "w":16.541, "h":8.0692}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.502653121948242 m", "val":6.502653121948242}, "y":{"exp":"0.7615315914154053 m", "val":0.7615315914154053}, "heading":{"exp":"-3.128260189486699 rad", "val":-3.128260189486699}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.8253278732299805 m", "val":4.8253278732299805}, "y":{"exp":"0.7128239274024963 m", "val":0.7128239274024963}, "heading":{"exp":"-3.138122385310093 rad", "val":-3.138122385310093}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -33,126 +33,127 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.11783,3.24059,4.66423],
+  "waypoints":[0.0,2.06444,3.1868,4.55826],
   "samples":[
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+    {"t":3.138, "x":4.8985, "y":0.71378, "heading":-3.13836, "vx":-1.49941, "vy":-0.02924, "omega":0.0049, "ax":0.00113, "ay":0.39329, "alpha":-0.20261, "fx":[-0.5643,-0.56062,0.59916,0.59534], "fy":[6.65126,5.49229,5.49604,6.65501]},
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+    {"t":3.28476, "x":4.67843, "y":0.71324, "heading":-3.13883, "vx":-1.49967, "vy":0.00895, "omega":-0.01072, "ax":-0.00003, "ay":-0.00508, "alpha":0.01032, "fx":[0.02915,0.02899,-0.03007,-0.02991], "fy":[-0.10786,-0.0488,-0.04896,-0.10802]},
+    {"t":3.33374, "x":4.60497, "y":0.71368, "heading":-3.13936, "vx":-1.49967, "vy":0.0087, "omega":-0.01022, "ax":-0.00003, "ay":-0.00507, "alpha":0.02726, "fx":[0.07771,0.07737,-0.07861,-0.07826], "fy":[-0.15617,-0.00019,-0.00054,-0.15651]},
+    {"t":3.38272, "x":4.53152, "y":0.7141, "heading":-3.13986, "vx":-1.49967, "vy":0.00845, "omega":-0.00888, "ax":-0.00003, "ay":-0.00507, "alpha":0.03288, "fx":[0.0938,0.09348,-0.09468,-0.09435], "fy":[-0.17215,0.01601,0.01568,-0.17247]},
+    {"t":3.4317, "x":4.45806, "y":0.71451, "heading":-3.14029, "vx":-1.49967, "vy":0.0082, "omega":-0.00727, "ax":-0.00003, "ay":-0.00506, "alpha":0.03223, "fx":[0.0919,0.09166,-0.09274,-0.0925], "fy":[-0.1702,0.0142,0.01396,-0.17044]},
+    {"t":3.48069, "x":4.38461, "y":0.7149, "heading":-3.14065, "vx":-1.49967, "vy":0.00796, "omega":-0.0057, "ax":-0.00003, "ay":-0.00505, "alpha":0.02849, "fx":[0.08117,0.08102,-0.08199,-0.08183], "fy":[-0.15944,0.00357,0.00341,-0.15959]},
+    {"t":3.52967, "x":4.31115, "y":0.71528, "heading":-3.14093, "vx":-1.49967, "vy":0.00771, "omega":-0.0043, "ax":-0.00003, "ay":-0.00504, "alpha":0.02359, "fx":[0.06716,0.06707,-0.06795,-0.06786], "fy":[-0.14537,-0.01035,-0.01044,-0.14546]},
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+    {"t":3.97049, "x":3.65005, "y":0.71819, "heading":3.14159, "vx":-1.49968, "vy":0.0055, "omega":-0.00006, "ax":-0.00002, "ay":-0.00499, "alpha":0.00083, "fx":[0.0021,0.0021,-0.00265,-0.00265], "fy":[-0.07949,-0.07473,-0.07473,-0.07949]},
+    {"t":4.01947, "x":3.5766, "y":0.71846, "heading":3.14159, "vx":-1.49968, "vy":0.00525, "omega":-0.00001, "ax":-0.00002, "ay":-0.00499, "alpha":0.00045, "fx":[0.00103,0.00103,-0.00156,-0.00156], "fy":[-0.07834,-0.07575,-0.07575,-0.07834]},
+    {"t":4.06845, "x":3.50314, "y":0.71871, "heading":3.14159, "vx":-1.49969, "vy":0.00501, "omega":0.00001, "ax":-0.00002, "ay":-0.00498, "alpha":0.00021, "fx":[0.00036,0.00036,-0.00087,-0.00087], "fy":[-0.07759,-0.07636,-0.07636,-0.07759]},
+    {"t":4.11744, "x":3.42968, "y":0.71895, "heading":3.14159, "vx":-1.49969, "vy":0.00476, "omega":0.00002, "ax":-0.00002, "ay":-0.00498, "alpha":0.00007, "fx":[-0.00003,-0.00003,-0.00045,-0.00045], "fy":[-0.07712,-0.0767,-0.0767,-0.07712]},
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+    {"t":4.4603, "x":2.91549, "y":0.72029, "heading":3.14159, "vx":-1.49969, "vy":0.00306, "omega":0.00001, "ax":-0.00001, "ay":-0.00495, "alpha":-0.00003, "fx":[-0.00024,-0.00024,-0.00007,-0.00007], "fy":[-0.07634,-0.07651,-0.07651,-0.07634]},
+    {"t":4.50928, "x":2.84204, "y":0.72043, "heading":3.14159, "vx":-1.49969, "vy":0.00282, "omega":0.00001, "ax":0.00625, "ay":-0.00248, "alpha":-0.00002, "fx":[0.09643,0.09643,0.09656,0.09656], "fy":[-0.03825,-0.03838,-0.03838,-0.03825]},
+    {"t":4.55826, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49939, "vy":0.0027, "omega":0.00001, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FRMtoSRB.traj b/src/main/deploy/choreo/FRMtoSRB.traj
index 3528a0d5..37cca46f 100644
--- a/src/main/deploy/choreo/FRMtoSRB.traj
+++ b/src/main/deploy/choreo/FRMtoSRB.traj
@@ -4,7 +4,7 @@
  "snapshot":{
   "waypoints":[
     {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.760607719421387, "y":2.6101491451263428, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.859950542449951, "y":2.5344107151031494, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.438337326049805, "y":2.5778985023498535, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -17,7 +17,7 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.760607719421387 m", "val":5.760607719421387}, "y":{"exp":"2.6101491451263428 m", "val":2.6101491451263428}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.859950542449951 m", "val":5.859950542449951}, "y":{"exp":"2.5344107151031494 m", "val":2.5344107151031494}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.438337326049805 m", "val":4.438337326049805}, "y":{"exp":"2.5778985023498535 m", "val":2.5778985023498535}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -33,105 +33,107 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.51217,2.39462,3.49759],
+  "waypoints":[0.0,1.47519,2.42433,3.5273],
   "samples":[
-    {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-1.35964, "vy":-0.63043, "omega":1.18232, "ax":-0.01943, "ay":-0.00901, "alpha":-0.00548, "fx":[-0.23664,-0.26772,-0.26772,-0.23664], "fy":[-0.10139,-0.10139,-0.13247,-0.13247]},
-    {"t":0.04582, "x":7.75804, "y":3.52808, "heading":1.62497, "vx":-1.36053, "vy":-0.63085, "omega":1.18207, "ax":0.0, "ay":0.0, "alpha":-0.01097, "fx":[0.02938,-0.03275,-0.02938,0.03275], "fy":[0.03275,0.02938,-0.03275,-0.02938]},
-    {"t":0.09165, "x":7.6957, "y":3.49918, "heading":1.67914, "vx":-1.36053, "vy":-0.63085, "omega":1.18157, "ax":0.0, "ay":0.0, "alpha":-0.01671, "fx":[0.04199,-0.05224,-0.04199,0.05224], "fy":[0.05224,0.04199,-0.05224,-0.04199]},
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diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj
index 3af49c90..af79c52d 100644
--- a/src/main/deploy/choreo/FRtoFRM.traj
+++ b/src/main/deploy/choreo/FRtoFRM.traj
@@ -29,31 +29,31 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
   "waypoints":[0.0,0.67018],
   "samples":[
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@@ -66,7 +66,7 @@
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-    {"t":0.62231, "x":7.82037, "y":3.46127, "heading":1.5708, "vx":0.0, "vy":1.99958, "omega":0.0, "ax":0.0, "ay":-0.00873, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.11331,-0.11331,-0.11331,-0.11331]},
+    {"t":0.62231, "x":7.82037, "y":3.46127, "heading":1.5708, "vx":0.0, "vy":1.99958, "omega":0.0, "ax":0.0, "ay":-0.00874, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.13491,-0.13491,-0.13491,-0.13491]},
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diff --git a/src/main/deploy/choreo/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj
index b89f5f9f..962194a1 100644
--- a/src/main/deploy/choreo/FRtoSRT.traj
+++ b/src/main/deploy/choreo/FRtoSRT.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.078125953674316, "y":0.7482186555862427, "heading":2.690139597310213, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -16,7 +16,7 @@
  },
  "params":{
   "waypoints":[
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+    {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.078125953674316 m", "val":7.078125953674316}, "y":{"exp":"0.7482186555862427 m", "val":0.7482186555862427}, "heading":{"exp":"2.690139597310213 rad", "val":2.690139597310213}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.742544174194336 m", "val":4.742544174194336}, "y":{"exp":"0.6929386258125305 m", "val":0.6929386258125305}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
@@ -33,115 +33,116 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
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-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.1009,2.66242,3.9788],
+  "waypoints":[0.0,1.10072,2.66177,3.97816],
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diff --git a/src/main/deploy/choreo/MLtoCL.traj b/src/main/deploy/choreo/MLtoCL.traj
index 0cb267bd..515c0a4d 100644
--- a/src/main/deploy/choreo/MLtoCL.traj
+++ b/src/main/deploy/choreo/MLtoCL.traj
@@ -3,26 +3,32 @@
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+    {"from":"first", "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
+    {"from":2, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
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@@ -31,100 +37,130 @@
  "trajectory":{
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+    "x":0.2761996,
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+    "side":0.44196,
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj
index c8d731f2..72f72075 100644
--- a/src/main/deploy/choreo/MLtoSL.traj
+++ b/src/main/deploy/choreo/MLtoSL.traj
@@ -29,31 +29,31 @@
  "trajectory":{
   "config":{
    "frontLeft":{
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+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
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-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
   "waypoints":[0.0,1.15606],
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+    {"t":0.0, "x":4.54427, "y":7.44913, "heading":-3.14159, "vx":-1.49525, "vy":-0.10244, "omega":0.0, "ax":-0.01935, "ay":-0.00133, "alpha":0.0, "fx":[-0.2988,-0.2988,-0.2988,-0.2988], "fy":[-0.02047,-0.02047,-0.02047,-0.02047]},
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@@ -76,7 +76,7 @@
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-    {"t":1.10789, "x":2.88669, "y":7.33557, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "omega":0.0, "ax":0.00645, "ay":0.00044, "alpha":0.0, "fx":[0.08371,0.08371,0.08371,0.08371], "fy":[0.00573,0.00574,0.00574,0.00573]},
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diff --git a/src/main/deploy/choreo/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj
index 7cfac334..9de690e4 100644
--- a/src/main/deploy/choreo/MRtoCR.traj
+++ b/src/main/deploy/choreo/MRtoCR.traj
@@ -4,8 +4,8 @@
  "snapshot":{
   "waypoints":[
     {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.0365591049194336, "y":0.6721228361129761, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7568485736846924, "y":3.397829055786133, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.0365591049194336, "y":0.6721228361129761, "heading":-3.128402086626287, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -16,8 +16,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"MR.x", "val":4.557889461517334}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.0365591049194336 m", "val":3.0365591049194336}, "y":{"exp":"0.6721228361129761 m", "val":0.6721228361129761}, "heading":{"exp":"CR.heading", "val":3.141592653589793}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CR.x", "val":1.7568485736846924}, "y":{"exp":"CR.y", "val":3.397829055786133}, "heading":{"exp":"CR.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"3.0365591049194336 m", "val":3.0365591049194336}, "y":{"exp":"0.6721228361129761 m", "val":0.6721228361129761}, "heading":{"exp":"-3.128402086626287 rad", "val":-3.128402086626287}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -31,93 +31,87 @@
  "trajectory":{
   "config":{
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-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
-  "waypoints":[0.0,1.01866,3.08332],
+  "waypoints":[0.0,1.018,2.63918],
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diff --git a/src/main/deploy/choreo/MRtoSR.traj b/src/main/deploy/choreo/MRtoSR.traj
index 8ab7da53..f21c3802 100644
--- a/src/main/deploy/choreo/MRtoSR.traj
+++ b/src/main/deploy/choreo/MRtoSR.traj
@@ -29,31 +29,31 @@
  "trajectory":{
   "config":{
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-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
   "waypoints":[0.0,1.19332],
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@@ -76,7 +76,7 @@
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-    {"t":1.1436, "x":2.84314, "y":0.71922, "heading":3.14159, "vx":-1.49945, "vy":0.02712, "omega":0.0, "ax":0.00607, "ay":-0.00011, "alpha":0.0, "fx":[0.07873,0.07873,0.07873,0.07873], "fy":[-0.00142,-0.00142,-0.00142,-0.00142]},
+    {"t":1.1436, "x":2.84314, "y":0.71922, "heading":3.14159, "vx":-1.49945, "vy":0.02712, "omega":0.0, "ax":0.00607, "ay":-0.00011, "alpha":0.0, "fx":[0.09371,0.09371,0.09371,0.09371], "fy":[-0.00169,-0.00169,-0.00169,-0.00169]},
     {"t":1.19332, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49915, "vy":0.02711, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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diff --git a/src/main/deploy/choreo/OBtoFR.traj b/src/main/deploy/choreo/OBtoFR.traj
index 1145345c..35583893 100644
--- a/src/main/deploy/choreo/OBtoFR.traj
+++ b/src/main/deploy/choreo/OBtoFR.traj
@@ -3,10 +3,10 @@
  "version":3,
  "snapshot":{
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+    {"x":0.8321799635887146, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"x":5.747344017028809, "y":2.2745471000671387, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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   "constraints":[
@@ -18,10 +18,10 @@
  },
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+    {"x":{"exp":"3.276200771331787 m", "val":3.276200771331787}, "y":{"exp":"2.27546763420105 m", "val":2.27546763420105}, "heading":{"exp":"19.997046130278527 mrad", "val":0.01999704613027853}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.610086917877197 m", "val":4.610086917877197}, "y":{"exp":"2.263561964035034 m", "val":2.263561964035034}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.747344017028809 m", "val":5.747344017028809}, "y":{"exp":"2.2745471000671387 m", "val":2.2745471000671387}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.615586757659912 m", "val":7.615586757659912}, "y":{"exp":"1.221225380897522 m", "val":1.221225380897522}, "heading":{"exp":"1.2220250433790707 rad", "val":1.2220250433790707}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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@@ -37,153 +37,158 @@
  "trajectory":{
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-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
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    "backLeft":{
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-    "y":0.2571369
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-   "gearing":5.902777777777778,
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+   "mass":61.77279533029374,
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+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
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+    "front":0.44196,
+    "side":0.44196,
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   "sampleType":"Swerve",
-  "waypoints":[0.0,1.93288,2.8233,3.5505,5.01408,5.70709],
+  "waypoints":[0.0,1.93285,2.82324,3.58247,5.02506,5.71422],
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diff --git a/src/main/deploy/choreo/OTtoFR.traj b/src/main/deploy/choreo/OTtoFR.traj
index d7688a46..99e5d7d9 100644
--- a/src/main/deploy/choreo/OTtoFR.traj
+++ b/src/main/deploy/choreo/OTtoFR.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":2.405749559402466, "y":0.7364640235900879, "heading":0.8728935406274366, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.405749559402466, "y":0.7364640235900879, "heading":0.8728935406274366, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.684704303741455, "y":0.7244694828987122, "heading":0.008196575740831446, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":6.24398946762085, "y":0.7484585046768188, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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@@ -18,8 +18,8 @@
  },
  "params":{
   "waypoints":[
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-    {"x":{"exp":"2.405749559402466 m", "val":2.405749559402466}, "y":{"exp":"0.7364640235900879 m", "val":0.7364640235900879}, "heading":{"exp":"0.8728935406274366 rad", "val":0.8728935406274366}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.7321799635887146 m", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.405749559402466 m", "val":2.405749559402466}, "y":{"exp":"0.7364640235900879 m", "val":0.7364640235900879}, "heading":{"exp":"0.8728935406274366 rad", "val":0.8728935406274366}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"4.684704303741455 m", "val":4.684704303741455}, "y":{"exp":"0.7244694828987122 m", "val":0.7244694828987122}, "heading":{"exp":"8.196575740831445 mrad", "val":0.008196575740831446}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"6.24398946762085 m", "val":6.24398946762085}, "y":{"exp":"0.7484585046768188 m", "val":0.7484585046768188}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"7.509115219116211 m", "val":7.509115219116211}, "y":{"exp":"1.1714202165603638 m", "val":1.1714202165603638}, "heading":{"exp":"1.0370889895879676 rad", "val":1.0370889895879676}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
@@ -37,145 +37,148 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
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-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
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-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.04938,2.56903,3.60917,4.50177,5.23187],
+  "waypoints":[0.0,1.11606,2.63573,3.67587,4.56831,5.29841],
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+    {"t":5.20715, "x":7.78331, "y":2.0852, "heading":1.52208, "vx":0.40601, "vy":1.44367, "omega":0.55676, "ax":0.00018, "ay":-0.00005, "alpha":-1.00573, "fx":[3.01689,-2.73122,-3.01146,2.73665], "fy":[2.73317,3.01341,-2.73471,-3.01494]},
+    {"t":5.25278, "x":7.80184, "y":2.15108, "heading":1.54748, "vx":0.40602, "vy":1.44366, "omega":0.51087, "ax":-0.00186, "ay":-0.00694, "alpha":-1.44543, "fx":[4.20219,-4.06662,-4.25952,4.00911], "fy":[3.93073,4.12371,-4.14498,-4.338]},
+    {"t":5.29841, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.40594, "vy":1.44335, "omega":0.44491, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/OTtoRR.traj b/src/main/deploy/choreo/OTtoRR.traj
index e5dcf1d8..1bbe7f15 100644
--- a/src/main/deploy/choreo/OTtoRR.traj
+++ b/src/main/deploy/choreo/OTtoRR.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.8321799635887146, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.8321799635887146, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":3.388601064682007, "y":0.7079737186431885, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":4.659694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -15,7 +15,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"O.x", "val":0.8321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.8321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"3.388601064682007 m", "val":3.388601064682007}, "y":{"exp":"0.7079737186431885 m", "val":0.7079737186431885}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"RR.x", "val":4.659694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -31,88 +31,89 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.70472,2.55347],
+  "waypoints":[0.0,1.70473,2.55348],
   "samples":[
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-    {"t":0.04371, "x":0.89771, "y":0.71977, "heading":-3.0439, "vx":1.49966, "vy":-0.0019, "omega":2.2499, "ax":0.0, "ay":-0.00045, "alpha":0.78567, "fx":[2.23411,2.24484,-2.23438,-2.24464], "fy":[-2.25043,2.22833,2.2389,-2.24025]},
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+    {"t":2.55348, "x":4.65969, "y":0.64155, "heading":0.0, "vx":1.49716, "vy":-0.08134, "omega":-0.04264, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/PLBtoDLO.traj b/src/main/deploy/choreo/PLBtoDLO.traj
index 5ba95cb5..bcf0647b 100644
--- a/src/main/deploy/choreo/PLBtoDLO.traj
+++ b/src/main/deploy/choreo/PLBtoDLO.traj
@@ -33,118 +33,118 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.42619,3.34456,4.23863],
+  "waypoints":[0.0,1.41228,3.32637,4.21646],
   "samples":[
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-    {"t":0.35655, "x":4.16529, "y":5.53491, "heading":0.00583, "vx":1.49968, "vy":-0.00834, "omega":0.04805, "ax":0.0, "ay":0.0, "alpha":0.09041, "fx":[-0.25682,-0.25603,0.25682,0.25603], "fy":[0.25603,-0.25682,-0.25603,0.25682]},
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+    {"t":4.21646, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.4435, "vy":-1.43227, "omega":-0.51085, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/PLTtoD.traj b/src/main/deploy/choreo/PLTtoD.traj
index 74d85c49..e7ee5eae 100644
--- a/src/main/deploy/choreo/PLTtoD.traj
+++ b/src/main/deploy/choreo/PLTtoD.traj
@@ -31,75 +31,75 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.33764,2.2148],
+  "waypoints":[0.0,1.32401,2.20118],
   "samples":[
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-    {"t":0.36013, "x":3.37032, "y":7.11169, "heading":3.14159, "vx":-1.27095, "vy":-0.79611, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.41158, "x":3.30494, "y":7.07073, "heading":3.14159, "vx":-1.27095, "vy":-0.79611, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":1.6164, "x":1.68675, "y":6.32616, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.66513, "x":1.61367, "y":6.32503, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.71386, "x":1.5406, "y":6.3239, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.76259, "x":1.46753, "y":6.32277, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.81132, "x":1.39445, "y":6.32164, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":2.00625, "x":1.10216, "y":6.31713, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.05498, "x":1.02908, "y":6.316, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.10371, "x":0.95601, "y":6.31487, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.15244, "x":0.88294, "y":6.31374, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.00631, "ay":0.0001, "alpha":0.0, "fx":[0.09746,0.09746,0.09746,0.09746], "fy":[0.00151,0.00151,0.00151,0.00151]},
+    {"t":2.20118, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":-1.49921, "vy":-0.02317, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/PLTtoDRO.traj b/src/main/deploy/choreo/PLTtoDRO.traj
index 26ead5ba..580a7438 100644
--- a/src/main/deploy/choreo/PLTtoDRO.traj
+++ b/src/main/deploy/choreo/PLTtoDRO.traj
@@ -4,8 +4,8 @@
  "snapshot":{
   "waypoints":[
     {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592690548533, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -17,8 +17,8 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"PLT.x", "val":3.7620644569396977}, "y":{"exp":"PLT.y", "val":7.357067584991455}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, "y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, "y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -33,114 +33,116 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.43734,3.16068,4.04381],
+  "waypoints":[0.0,1.42367,3.14546,4.0268],
   "samples":[
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+    {"t":3.09893, "x":8.3488, "y":7.19552, "heading":-2.30904, "vx":1.49462, "vy":-0.12298, "omega":0.70218, "ax":-8.70015, "ay":-19.47874, "alpha":0.07384, "fx":[-133.88263,-134.58947,-134.83278,-134.1276], "fy":[-301.01689,-300.69222,-300.61136,-300.93588]},
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+    {"t":3.54206, "x":8.49902, "y":6.5883, "heading":-1.96242, "vx":0.16618, "vy":-1.49042, "omega":0.85042, "ax":0.0, "ay":0.0, "alpha":0.01064, "fx":[0.03974,-0.01651,-0.03974,0.01651], "fy":[0.01651,0.03974,-0.01651,-0.03974]},
+    {"t":3.58613, "x":8.50634, "y":6.52262, "heading":-1.92495, "vx":0.16618, "vy":-1.49042, "omega":0.85089, "ax":0.0, "ay":0.0, "alpha":-0.02661, "fx":[-0.09781,0.045,0.09781,-0.045], "fy":[-0.045,-0.09781,0.045,0.09781]},
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+    {"t":3.67426, "x":8.52099, "y":6.39127, "heading":-1.85001, "vx":0.16618, "vy":-1.49042, "omega":0.84673, "ax":0.0, "ay":0.0, "alpha":-0.11854, "fx":[-0.4195,0.23255,0.4195,-0.23255], "fy":[-0.23255,-0.4195,0.23255,0.4195]},
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+    {"t":3.93866, "x":8.56493, "y":5.9972, "heading":-1.63317, "vx":0.16618, "vy":-1.49042, "omega":0.73637, "ax":0.0, "ay":0.0, "alpha":-1.3009, "fx":[-3.94673,3.48274,3.94673,-3.48274], "fy":[-3.48274,-3.94673,3.48274,3.94673]},
+    {"t":3.98273, "x":8.57225, "y":5.93152, "heading":-1.60072, "vx":0.16618, "vy":-1.49042, "omega":0.67904, "ax":-0.00085, "ay":0.00765, "alpha":-1.89436, "fx":[-5.59288,5.24223,5.56642,-5.26845], "fy":[-5.13721,-5.46154,5.37347,5.69776]},
+    {"t":4.0268, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.16614, "vy":-1.49009, "omega":0.59556, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/PRBtoDRO.traj b/src/main/deploy/choreo/PRBtoDRO.traj
index 71591b03..54e2eac9 100644
--- a/src/main/deploy/choreo/PRBtoDRO.traj
+++ b/src/main/deploy/choreo/PRBtoDRO.traj
@@ -5,7 +5,7 @@
   "waypoints":[
     {"x":3.700773715972901, "y":2.531209707260132, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -18,7 +18,7 @@
   "waypoints":[
     {"x":{"exp":"PRB.x", "val":3.700773715972901}, "y":{"exp":"PRB.y", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.691983699798584 m", "val":5.691983699798584}, "y":{"exp":"2.531209707260132 m", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.24791955947876 m", "val":7.24791955947876}, "y":{"exp":"1.0617146492004395 m", "val":1.0617146492004397}, "heading":{"exp":"0.5880028060704902 rad", "val":0.5880028060704902}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.24791955947876 m", "val":7.24791955947876}, "y":{"exp":"1.0617146492004395 m", "val":1.0617146492004397}, "heading":{"exp":"0.5880028060704902 rad", "val":0.5880028060704902}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -33,108 +33,109 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.38171,2.82433,3.75454],
+  "waypoints":[0.0,1.36785,2.80667,3.73297],
   "samples":[
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-    {"t":0.05117, "x":3.71975, "y":2.53136, "heading":0.0, "vx":0.74161, "vy":0.00568, "omega":-0.00001, "ax":14.47993, "ay":0.11087, "alpha":-0.00037, "fx":[187.92321,187.92318,187.92317,187.9232], "fy":[1.43679,1.44098,1.44101,1.43682]},
-    {"t":0.10235, "x":3.77666, "y":2.53179, "heading":0.0, "vx":1.48262, "vy":0.01135, "omega":-0.00003, "ax":0.33302, "ay":0.00255, "alpha":-0.18799, "fx":[4.85492,4.85491,3.78911,3.78912], "fy":[-0.5003,0.56648,0.56663,-0.50043]},
-    {"t":0.15352, "x":3.85297, "y":2.53238, "heading":0.0, "vx":1.49966, "vy":0.01148, "omega":-0.00965, "ax":0.0, "ay":0.0, "alpha":-0.15489, "fx":[0.43929,0.43929,-0.43928,-0.43928], "fy":[-0.43929,0.43928,0.43929,-0.43928]},
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+    {"t":3.29187, "x":7.64532, "y":1.65495, "heading":1.094, "vx":0.75866, "vy":1.2936, "omega":1.154, "ax":0.0, "ay":0.0, "alpha":-0.02844, "fx":[0.10965,-0.03495,-0.10965,0.03495], "fy":[0.03495,0.10965,-0.03495,-0.10965]},
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+    {"t":3.64475, "x":7.91303, "y":2.11143, "heading":1.49044, "vx":0.75866, "vy":1.2936, "omega":1.00053, "ax":0.0, "ay":0.0, "alpha":-1.76804, "fx":[5.44823,-4.63616,-5.44822,4.63616], "fy":[4.63616,5.44822,-4.63616,-5.44822]},
+    {"t":3.68886, "x":7.94649, "y":2.16849, "heading":1.53458, "vx":0.75866, "vy":1.2936, "omega":0.92254, "ax":-0.00389, "ay":-0.00664, "alpha":-2.5833, "fx":[7.59383,-7.17873,-7.71383,7.05832], "fy":[7.01609,7.5513,-7.22095,-7.75636]},
+    {"t":3.73297, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.75849, "vy":1.29331, "omega":0.80859, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/PRTtoDRO.traj b/src/main/deploy/choreo/PRTtoDRO.traj
index 732909c0..fd847fa1 100644
--- a/src/main/deploy/choreo/PRTtoDRO.traj
+++ b/src/main/deploy/choreo/PRTtoDRO.traj
@@ -4,7 +4,7 @@
  "snapshot":{
   "waypoints":[
     {"x":3.7242095470428462, "y":0.7309682965278625, "heading":3.141592690548533, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.997579574584961, "y":0.722095251083374, "heading":3.141592690548533, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.997579574584961, "y":0.722095251083374, "heading":3.141592690548533, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.710022926330566, "y":0.8485172390937805, "heading":1.867343098442764, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -17,7 +17,7 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.710022926330566 m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -33,107 +33,108 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.56821,2.71925,3.66091],
+  "waypoints":[0.0,1.5542,2.70391,3.64448],
   "samples":[
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+    {"t":3.5034, "x":7.94262, "y":2.01729, "heading":1.60261, "vx":0.26462, "vy":1.47615, "omega":-0.20692, "ax":0.0, "ay":0.0, "alpha":0.24126, "fx":[-0.66784,0.712,0.66784,-0.712], "fy":[-0.712,-0.66784,0.712,0.66784]},
+    {"t":3.55043, "x":7.95507, "y":2.08671, "heading":1.59288, "vx":0.26462, "vy":1.47615, "omega":-0.19557, "ax":0.0, "ay":0.0, "alpha":0.35492, "fx":[-0.99267,1.03775,0.99267,-1.03775], "fy":[-1.03775,-0.99267,1.03775,0.99267]},
+    {"t":3.59745, "x":7.96751, "y":2.15613, "heading":1.58368, "vx":0.26462, "vy":1.47615, "omega":-0.17888, "ax":-0.00119, "ay":-0.00665, "alpha":0.52523, "fx":[-1.50155,1.50365,1.46476,-1.54045], "fy":[-1.62468,-1.58579,1.41941,1.38053]},
+    {"t":3.64448, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.26456, "vy":1.47584, "omega":-0.15418, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/PRTtoO.traj b/src/main/deploy/choreo/PRTtoO.traj
index 8e9b86bf..f7a2ac33 100644
--- a/src/main/deploy/choreo/PRTtoO.traj
+++ b/src/main/deploy/choreo/PRTtoO.traj
@@ -31,71 +31,71 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.37522,1.98063],
+  "waypoints":[0.0,1.36136,1.96677],
   "samples":[
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+    {"t":1.96677, "x":0.83218, "y":0.71986, "heading":3.14159, "vx":-1.49922, "vy":-0.02027, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/RLtoFL.traj b/src/main/deploy/choreo/RLtoFL.traj
index 671b084b..17cb98ca 100644
--- a/src/main/deploy/choreo/RLtoFL.traj
+++ b/src/main/deploy/choreo/RLtoFL.traj
@@ -33,90 +33,90 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.78851,1.89722,2.73096],
+  "waypoints":[0.0,0.78852,1.89694,2.73065],
   "samples":[
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+    {"t":2.68677, "x":7.79725, "y":5.9275, "heading":-1.53238, "vx":0.52692, "vy":-1.40404, "omega":-0.8756, "ax":-0.00273, "ay":0.00727, "alpha":2.44059, "fx":[6.66711,-7.28784,-6.7516,7.20373], "fy":[7.35812,6.82163,-7.13344,-6.59707]},
+    {"t":2.73065, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.5268, "vy":-1.40372, "omega":-0.76851, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/RRtoFR.traj b/src/main/deploy/choreo/RRtoFR.traj
index 18865cc8..6c0b7efc 100644
--- a/src/main/deploy/choreo/RRtoFR.traj
+++ b/src/main/deploy/choreo/RRtoFR.traj
@@ -33,90 +33,90 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.84967,1.97537,2.69902],
+  "waypoints":[0.0,0.84967,1.97524,2.69876],
   "samples":[
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diff --git a/src/main/deploy/choreo/RUNtoTEST.traj b/src/main/deploy/choreo/RUNtoTEST.traj
new file mode 100644
index 00000000..5d56cdf5
--- /dev/null
+++ b/src/main/deploy/choreo/RUNtoTEST.traj
@@ -0,0 +1,139 @@
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+    {"t":3.45545, "x":2.34304, "y":0.88365, "heading":1.58328, "vx":1.1285, "vy":-3.71638, "omega":-0.03482, "ax":-6.39187, "ay":21.04977, "alpha":0.19483, "fx":[-100.03166,-97.98167,-97.39545,-99.43482], "fy":[324.67181,325.29482,325.476,324.86026]},
+    {"t":3.51425, "x":2.39834, "y":0.70153, "heading":1.58123, "vx":0.75267, "vy":-2.47871, "omega":-0.02337, "ax":-6.39929, "ay":21.0742, "alpha":0.19815, "fx":[-100.17212,-98.08614,-97.48432,-99.55933], "fy":[325.04213,325.6769,325.86019,325.23298]},
+    {"t":3.57304, "x":2.43154, "y":0.59221, "heading":1.57985, "vx":0.37641, "vy":-1.23959, "omega":-0.01172, "ax":-6.40176, "ay":21.08234, "alpha":0.1993, "fx":[-100.21979,-98.12174,-97.51308,-99.60005], "fy":[325.16529,325.80402,325.98847,325.35742]},
+    {"t":3.63184, "x":2.4426, "y":0.55577, "heading":1.57916, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/SLBtoCL.traj b/src/main/deploy/choreo/SLBtoCL.traj
index 7153659b..5cedec67 100644
--- a/src/main/deploy/choreo/SLBtoCL.traj
+++ b/src/main/deploy/choreo/SLBtoCL.traj
@@ -3,24 +3,26 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7636412382125854, "y":4.111053943634033, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CL.x", "val":1.7636412382125854}, "y":{"exp":"CL.y", "val":4.111053943634033}, "heading":{"exp":"CL.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -29,53 +31,78 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.08612],
+  "waypoints":[0.0,1.28043,2.16693],
   "samples":[
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+    {"t":2.11768, "x":0.77356, "y":4.74777, "heading":1.56946, "vx":-0.98217, "vy":-0.18692, "omega":0.06885, "ax":0.00405, "ay":0.00077, "alpha":-0.18376, "fx":[0.58899,-0.46252,-0.46392,0.58759], "fy":[0.53696,0.53837,-0.51316,-0.51456]},
+    {"t":2.16693, "x":0.72519, "y":4.73856, "heading":1.57285, "vx":-0.98197, "vy":-0.18689, "omega":0.0598, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SLTtoEL.traj b/src/main/deploy/choreo/SLTtoEL.traj
index a7671317..6a59561a 100644
--- a/src/main/deploy/choreo/SLTtoEL.traj
+++ b/src/main/deploy/choreo/SLTtoEL.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"2.1214685440063477 m", "val":2.1214685440063477}, "y":{"exp":"7.046450138092041 m", "val":7.046450138092041}, "heading":{"exp":"-1.573056098378181 rad", "val":-1.573056098378181}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -29,44 +29,45 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.49959],
+  "waypoints":[0.0,0.4996],
   "samples":[
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-    {"t":0.03843, "x":2.76133, "y":7.30878, "heading":-3.01872, "vx":-1.38752, "vy":-0.56887, "omega":3.19557, "ax":0.0, "ay":0.0, "alpha":-0.13103, "fx":[-0.41395,-0.32379,0.41395,0.32379], "fy":[0.32379,-0.41395,-0.3238,0.41394]},
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+    {"t":0.4996, "x":2.12147, "y":7.04645, "heading":-1.57306, "vx":-1.38711, "vy":-0.5687, "omega":2.46501, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SLTtoFL.traj b/src/main/deploy/choreo/SLTtoFL.traj
index 4c975177..910b16da 100644
--- a/src/main/deploy/choreo/SLTtoFL.traj
+++ b/src/main/deploy/choreo/SLTtoFL.traj
@@ -33,117 +33,117 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.66073,3.31065,4.07449],
+  "waypoints":[0.0,1.66074,3.30916,4.07183],
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+    {"t":4.07183, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.07502, "vy":-1.4975, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/SLtoCL.traj b/src/main/deploy/choreo/SLtoCL.traj
index 3a7b4064..87e65e28 100644
--- a/src/main/deploy/choreo/SLtoCL.traj
+++ b/src/main/deploy/choreo/SLtoCL.traj
@@ -3,24 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7636412382125854, "y":4.111053943634033, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.2315946817398071, "y":4.864363193511963, "heading":1.5728533535678788, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}],
+    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
+    {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CL.x", "val":1.7636412382125854}, "y":{"exp":"CL.y", "val":4.111053943634033}, "heading":{"exp":"CL.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.2315946817398071 m", "val":1.2315946817398071}, "y":{"exp":"4.864363193511963 m", "val":4.864363193511963}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.25 m / s", "val":1.25}}}, "enabled":true}],
+    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
+    {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -29,86 +35,103 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.75604],
+  "waypoints":[0.0,1.63614,2.85019,3.39707],
   "samples":[
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+    {"t":3.39707, "x":0.72519, "y":4.73856, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SLtoCM.traj b/src/main/deploy/choreo/SLtoCM.traj
index b6690a39..da05f889 100644
--- a/src/main/deploy/choreo/SLtoCM.traj
+++ b/src/main/deploy/choreo/SLtoCM.traj
@@ -29,81 +29,81 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.53379],
+  "waypoints":[0.0,2.51981],
   "samples":[
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+    {"t":1.76387, "x":2.05793, "y":4.79592, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.81427, "x":2.03631, "y":4.7235, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.86466, "x":2.01469, "y":4.65108, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.91506, "x":1.99307, "y":4.57866, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":1.96545, "x":1.97145, "y":4.50624, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.01585, "x":1.94983, "y":4.43381, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.06625, "x":1.92821, "y":4.36139, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.11664, "x":1.90659, "y":4.28897, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.16704, "x":1.88497, "y":4.21655, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.21744, "x":1.86335, "y":4.14413, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.26783, "x":1.84173, "y":4.07171, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.31823, "x":1.82011, "y":3.99929, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.36862, "x":1.79849, "y":3.92687, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.00008,0.00008,0.00008,0.00008]},
+    {"t":2.41902, "x":1.77687, "y":3.85445, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":2.21174, "ay":7.40871, "alpha":0.0, "fx":[34.1564,34.1564,34.1564,34.1564], "fy":[114.41412,114.41412,114.41412,114.41412]},
+    {"t":2.46942, "x":1.75806, "y":3.79143, "heading":3.14159, "vx":-0.31754, "vy":-1.06366, "omega":0.0, "ax":6.30083, "ay":21.10597, "alpha":0.0, "fx":[97.30494,97.30494,97.30494,97.30494], "fy":[325.94364,325.94364,325.94364,325.94364]},
+    {"t":2.51981, "x":1.75006, "y":3.76463, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SRBtoCR.traj b/src/main/deploy/choreo/SRBtoCR.traj
index 12f48d91..c057bfe2 100644
--- a/src/main/deploy/choreo/SRBtoCR.traj
+++ b/src/main/deploy/choreo/SRBtoCR.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7568485736846924, "y":3.397829055786133, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,8 +14,8 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CR.x", "val":1.7568485736846924}, "y":{"exp":"CR.y", "val":3.397829055786133}, "heading":{"exp":"CR.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -29,49 +29,46 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.91903],
+  "waypoints":[0.0,0.60946],
   "samples":[
-    {"t":0.0, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.18458, "vy":0.91823, "omega":0.0, "ax":-0.01398, "ay":0.01083, "alpha":0.0, "fx":[-0.1814,-0.1814,-0.1814,-0.1814], "fy":[0.14061,0.14061,0.14061,0.14061]},
-    {"t":0.05106, "x":2.72391, "y":2.64821, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.10211, "x":2.6634, "y":2.69512, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.15317, "x":2.60288, "y":2.74203, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.20423, "x":2.54236, "y":2.78894, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":0.3574, "x":2.3608, "y":2.92967, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":0.45952, "x":2.23977, "y":3.02349, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.51057, "x":2.17925, "y":3.0704, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":0.66375, "x":1.9977, "y":3.21114, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.7148, "x":1.93718, "y":3.25805, "heading":3.14159, "vx":-1.1853, "vy":0.91879, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":0.04063, "x":2.72474, "y":2.61351, "heading":-3.00265, "vx":-1.46923, "vy":0.30047, "omega":3.42218, "ax":0.0, "ay":0.0, "alpha":-0.58759, "fx":[-1.92821,-1.39179,1.92822,1.39179], "fy":[1.39181,-1.92819,-1.39176,1.92824]},
+    {"t":0.08126, "x":2.66504, "y":2.62572, "heading":-2.8636, "vx":-1.46923, "vy":0.30047, "omega":3.39831, "ax":0.0, "ay":0.00001, "alpha":0.89994, "fx":[3.23136,1.68158,-3.23132,-1.68154], "fy":[-1.68146,3.23144,1.68165,-3.23125]},
+    {"t":0.12189, "x":2.60535, "y":2.63793, "heading":-2.72553, "vx":-1.46923, "vy":0.30047, "omega":3.43487, "ax":0.0, "ay":0.00001, "alpha":-2.19175, "fx":[-8.29318,-3.14194,8.29325,3.14202], "fy":[3.14217,-8.29303,-3.1418,8.29339]},
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+    {"t":0.5282, "x":2.00839, "y":2.76001, "heading":-1.59585, "vx":-1.46923, "vy":0.30047, "omega":0.53837, "ax":14.59248, "ay":-2.9841, "alpha":-13.14481, "fx":[194.93063,242.62081,254.26246,209.6045], "fy":[-108.19133,-88.15039,3.83809,8.1675]},
+    {"t":0.56883, "x":1.96074, "y":2.76976, "heading":-1.57397, "vx":-0.87633, "vy":0.17922, "omega":0.00428, "ax":21.56807, "ay":-4.41101, "alpha":-0.10546, "fx":[332.93675,332.987,333.22256,333.1738], "fy":[-68.81585,-68.58171,-67.42601,-67.65684]},
+    {"t":0.60946, "x":1.94294, "y":2.7734, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SRTtoCR.traj b/src/main/deploy/choreo/SRTtoCR.traj
index bc3906fa..aebdbf48 100644
--- a/src/main/deploy/choreo/SRTtoCR.traj
+++ b/src/main/deploy/choreo/SRTtoCR.traj
@@ -3,8 +3,8 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7531986236572266, "y":3.3997113704681396, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.7531986236572266, "y":3.3997113704681396, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -14,8 +14,8 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.7531986236572266 m", "val":1.7531986236572266}, "y":{"exp":"3.3997113704681396 m", "val":3.3997113704681396}, "heading":{"exp":"CR.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.7531986236572266 m", "val":1.7531986236572266}, "y":{"exp":"3.3997113704681396 m", "val":3.3997113704681396}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -29,70 +29,73 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.96288],
+  "waypoints":[0.0,1.94848],
   "samples":[
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+    {"t":1.90209, "x":1.7616, "y":3.37755, "heading":-1.57397, "vx":-0.36208, "vy":0.95535, "omega":0.00376, "ax":7.80465, "ay":-20.59287, "alpha":-0.08108, "fx":[119.97155,120.77756,121.08778,120.27828], "fy":[-318.23181,-317.92793,-317.80675,-318.11267]},
+    {"t":1.94848, "x":1.7532, "y":3.39971, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SRTtoER.traj b/src/main/deploy/choreo/SRTtoER.traj
index 49fac07e..4656a775 100644
--- a/src/main/deploy/choreo/SRTtoER.traj
+++ b/src/main/deploy/choreo/SRTtoER.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"1.5718817860612435 rad", "val":1.5718817860612435}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -29,42 +29,43 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.41736],
+  "waypoints":[0.0,0.41737],
   "samples":[
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-    {"t":0.03794, "x":2.71668, "y":0.74382, "heading":2.99346, "vx":-1.36858, "vy":0.61303, "omega":-3.87926, "ax":0.00004, "ay":0.0001, "alpha":0.88343, "fx":[2.52811,2.53819,-2.52693,-2.53703], "fy":[-2.5363,2.52882,2.53891,-2.52621]},
-    {"t":0.07588, "x":2.66476, "y":0.76708, "heading":2.84628, "vx":-1.36858, "vy":0.61303, "omega":-3.84574, "ax":-0.00001, "ay":-0.00002, "alpha":0.62402, "fx":[1.21127,2.19042,-1.21155,-2.1907], "fy":[-2.19087,1.2111,2.19026,-1.21172]},
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+    {"t":0.41737, "x":2.19743, "y":0.97641, "heading":1.57188, "vx":-1.36815, "vy":0.61284, "omega":-3.00054, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SRtoCM.traj b/src/main/deploy/choreo/SRtoCM.traj
index 7a80e703..d4d5354d 100644
--- a/src/main/deploy/choreo/SRtoCM.traj
+++ b/src/main/deploy/choreo/SRtoCM.traj
@@ -29,74 +29,74 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.19252],
+  "waypoints":[0.0,2.17869],
   "samples":[
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+    {"t":0.76001, "x":2.40693, "y":1.80144, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":0.91201, "x":2.3346, "y":2.01761, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.96268, "x":2.31049, "y":2.08967, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":1.21602, "x":2.18994, "y":2.44997, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":2.12803, "x":1.75903, "y":3.73782, "heading":3.14159, "vx":-0.35412, "vy":1.05836, "omega":0.0, "ax":6.98918, "ay":-20.88838, "alpha":0.0, "fx":[107.93523,107.93523,107.93523,107.93523], "fy":[-322.58348,-322.58348,-322.58348,-322.58348]},
+    {"t":2.17869, "x":1.75006, "y":3.76463, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SRtoFR.traj b/src/main/deploy/choreo/SRtoFR.traj
index 6496adb9..453954a7 100644
--- a/src/main/deploy/choreo/SRtoFR.traj
+++ b/src/main/deploy/choreo/SRtoFR.traj
@@ -4,7 +4,7 @@
  "snapshot":{
   "waypoints":[
     {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -17,7 +17,7 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.382783889770508 m", "val":5.382783889770508}, "y":{"exp":"0.7094446420669556 m", "val":0.7094446420669556}, "heading":{"exp":"-3.126526630663652 rad", "val":-3.126526630663652}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.382783889770508 m", "val":5.382783889770508}, "y":{"exp":"0.7094446420669556 m", "val":0.7094446420669556}, "heading":{"exp":"-3.126526630663652 rad", "val":-3.126526630663652}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.713675022125244 m", "val":7.713675022125244}, "y":{"exp":"0.7875750660896301 m", "val":0.7875750660896301}, "heading":{"exp":"2.261243128434208 rad", "val":2.261243128434208}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -33,129 +33,130 @@
  "trajectory":{
   "config":{
    "frontLeft":{
-    "x":0.2571369,
-    "y":0.2571369
+    "x":0.2761996,
+    "y":0.2761996
    },
    "backLeft":{
-    "x":-0.2571369,
-    "y":0.2571369
+    "x":-0.2761996,
+    "y":0.2761996
    },
-   "mass":51.91273956176,
-   "inertia":5.834321946299203,
-   "gearing":5.902777777777778,
-   "radius":0.050165,
-   "vmax":668.1120376634293,
+   "mass":61.77279533029374,
+   "inertia":6.32183239342448,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":607.3745796940267,
    "tmax":54.79744136460554,
-   "cof":1.48,
+   "cof":2.25,
    "bumper":{
-    "front":0.42037,
-    "side":0.42037,
-    "back":0.42037
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
    },
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,3.93342,7.86224,12.74557],
+  "waypoints":[0.0,1.94012,3.71138,4.88536],
   "samples":[
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-    {"t":0.10086, "x":2.85299, "y":0.76984, "heading":-3.12648, "vx":0.84074, "vy":0.48887, "omega":0.14936, "ax":0.07311, "ay":-0.07063, "alpha":-0.0093, "fx":[0.92223,0.92259,0.97534,0.97498], "fy":[-0.89047,-0.94322,-0.94287,-0.89012]},
-    {"t":0.20172, "x":2.93816, "y":0.81879, "heading":-3.11142, "vx":0.84811, "vy":0.48175, "omega":0.14842, "ax":0.02872, "ay":-0.14082, "alpha":-0.01479, "fx":[0.33024,0.33129,0.41519,0.41414], "fy":[-1.78618,-1.87008,-1.86904,-1.78514]},
-    {"t":0.30257, "x":3.02384, "y":0.86666, "heading":-3.09645, "vx":0.85101, "vy":0.46754, "omega":0.14693, "ax":-0.00962, "ay":-0.20532, "alpha":-0.02029, "fx":[-0.18351,-0.18144,-0.06631,-0.06838], "fy":[-2.60813,-2.72326,-2.72119,-2.60606]},
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-    {"t":0.80686, "x":3.44726, "y":1.06797, "heading":-3.02495, "vx":0.81788, "vy":0.31194, "omega":0.13157, "ax":-0.12842, "ay":-0.40694, "alpha":-0.04526, "fx":[-1.80121,-1.78935,-1.53223,-1.54409], "fy":[-5.15875,-5.41585,-5.40402,-5.14692]},
-    {"t":0.90772, "x":3.52909, "y":1.09736, "heading":-3.01168, "vx":0.80492, "vy":0.27089, "omega":0.127, "ax":-0.14095, "ay":-0.40811, "alpha":-0.05048, "fx":[-1.98007,-1.96532,-1.67844,-1.6932], "fy":[-5.16047,-5.44732,-5.4326,-5.14575]},
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+    {"t":4.11972, "x":7.92797, "y":1.19579, "heading":1.95041, "vx":0.17643, "vy":1.30954, "omega":-0.64235, "ax":-1.30501, "ay":0.51372, "alpha":0.52982, "fx":[-20.86813,-18.12727,-19.43894,-22.17977], "fy":[5.90724,7.21889,9.95964,8.64801]},
+    {"t":4.17077, "x":7.93527, "y":1.26331, "heading":1.91763, "vx":0.10982, "vy":1.33576, "omega":-0.61531, "ax":-1.1849, "ay":0.25458, "alpha":0.5101, "fx":[-19.04959,-16.37111,-17.54761,-20.22608], "fy":[2.00407,3.18055,5.85894,4.68247]},
+    {"t":4.22181, "x":7.93933, "y":1.33182, "heading":1.88622, "vx":0.04934, "vy":1.34875, "omega":-0.58927, "ax":-1.06617, "ay":0.01669, "alpha":0.49623, "fx":[-17.25348,-14.61348,-15.67666,-18.31665], "fy":[-1.59381,-0.53067,2.10925,1.04612]},
+    {"t":4.27285, "x":7.94046, "y":1.40068, "heading":1.85614, "vx":-0.00508, "vy":1.34961, "omega":-0.56394, "ax":-0.95031, "ay":-0.0195, "alpha":0.46407, "fx":[-15.4671,-12.96841,-13.88451,-16.38319], "fy":[-2.00852,-1.09246,1.40615,0.4901]},
+    {"t":4.3239, "x":7.93896, "y":1.46955, "heading":1.82736, "vx":-0.05359, "vy":1.34861, "omega":-0.54025, "ax":-0.84267, "ay":-0.04864, "alpha":0.44319, "fx":[-13.81823,-11.40676,-12.20872,-14.62018], "fy":[-2.35789,-1.55596,0.85543,0.05352]},
+    {"t":4.37494, "x":7.93513, "y":1.53832, "heading":1.79978, "vx":-0.0966, "vy":1.34613, "omega":-0.51763, "ax":-0.74271, "ay":-0.06365, "alpha":0.403, "fx":[-12.24554,-10.032,-10.69411,-12.90765], "fy":[-2.42082,-1.75874,0.45475,-0.20733]},
+    {"t":4.42598, "x":7.92923, "y":1.60695, "heading":1.77336, "vx":-0.13451, "vy":1.34288, "omega":-0.49706, "ax":-0.6498, "ay":-0.07207, "alpha":0.37462, "fx":[-10.79539,-8.72069,-9.27445,-11.34916], "fy":[-2.42714,-1.8734,0.20125,-0.35249]},
+    {"t":4.47702, "x":7.92152, "y":1.6754, "heading":1.74799, "vx":-0.16768, "vy":1.3392, "omega":-0.47794, "ax":-0.56221, "ay":-0.07658, "alpha":0.32982, "fx":[-9.38546,-7.54573,-7.97904,-9.81877], "fy":[-2.31918,-1.88589,-0.0462,-0.47949]},
+    {"t":4.52807, "x":7.91223, "y":1.74365, "heading":1.72359, "vx":-0.19638, "vy":1.33529, "omega":-0.46111, "ax":-0.47957, "ay":-0.07381, "alpha":0.2942, "fx":[-8.0626,-6.41134,-6.74949,-8.40076], "fy":[-2.13452,-1.79638,-0.14515,-0.48329]},
+    {"t":4.57911, "x":7.90158, "y":1.81171, "heading":1.70006, "vx":-0.22085, "vy":1.33152, "omega":-0.44609, "ax":-0.40154, "ay":-0.06973, "alpha":0.24724, "fx":[-6.77669,-5.38171,-5.62557,-7.02056], "fy":[-1.89625,-1.6524,-0.25743,-0.50129]},
+    {"t":4.63015, "x":7.88978, "y":1.87959, "heading":1.67729, "vx":-0.24135, "vy":1.32796, "omega":-0.43347, "ax":-0.32676, "ay":-0.06088, "alpha":0.20562, "fx":[-5.54421,-4.379,-4.54809,-5.71329], "fy":[-1.60738,-1.4383,-0.2731,-0.44218]},
+    {"t":4.68119, "x":7.87704, "y":1.94729, "heading":1.65516, "vx":-0.25803, "vy":1.32486, "omega":-0.42297, "ax":-0.25405, "ay":-0.0514, "alpha":0.15814, "fx":[-4.32095,-3.42162,-3.52585,-4.42517], "fy":[-1.29557,-1.19134,-0.29203,-0.39625]},
+    {"t":4.73224, "x":7.86354, "y":2.01485, "heading":1.63357, "vx":-0.271, "vy":1.32223, "omega":-0.4149, "ax":-0.1825, "ay":-0.03689, "alpha":0.11266, "fx":[-3.11174,-2.4693,-2.52501,-3.16745], "fy":[-0.91883,-0.86311,-0.22067,-0.27639]},
+    {"t":4.78328, "x":7.84947, "y":2.08229, "heading":1.61239, "vx":-0.28031, "vy":1.32035, "omega":-0.40915, "ax":-0.11242, "ay":-0.02329, "alpha":0.06565, "fx":[-1.91288,-1.53781,-1.55944,-1.93451], "fy":[-0.55803,-0.5364,-0.16133,-0.18296]},
+    {"t":4.83432, "x":7.83501, "y":2.14965, "heading":1.59151, "vx":-0.28605, "vy":1.31916, "omega":-0.4058, "ax":-0.03704, "ay":-0.03111, "alpha":0.01907, "fx":[-0.62495,-0.5159,-0.51899,-0.62805], "fy":[-0.53658,-0.53348,-0.42443,-0.42752]},
+    {"t":4.88536, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":-0.28794, "vy":1.31757, "omega":-0.40483, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor
index 4555b910..483e64a5 100644
--- a/src/main/deploy/choreo/rebuiltChoreo.chor
+++ b/src/main/deploy/choreo/rebuiltChoreo.chor
@@ -22,16 +22,16 @@
   "poses":{
    "CL":{
     "x":{
-     "exp":"1.7636412382125854 m",
-     "val":1.7636412382125854
+     "exp":"0.7251942157745361 m",
+     "val":0.7251942157745361
     },
     "y":{
-     "exp":"4.111053943634033 m",
-     "val":4.111053943634033
+     "exp":"4.738563060760498 m",
+     "val":4.738563060760498
     },
     "heading":{
-     "exp":"3.141592653589793 rad",
-     "val":3.141592653589793
+     "exp":"1.5728533535678788 rad",
+     "val":1.5728533535678788
     }
    },
    "CM":{
@@ -50,16 +50,16 @@
    },
    "CR":{
     "x":{
-     "exp":"1.7568485736846924 m",
-     "val":1.7568485736846924
+     "exp":"1.9429377317428589 m",
+     "val":1.9429377317428589
     },
     "y":{
-     "exp":"3.397829055786133 m",
-     "val":3.397829055786133
+     "exp":"2.7734005451202393 m",
+     "val":2.7734005451202393
     },
     "heading":{
-     "exp":"3.141592653589793 rad",
-     "val":3.141592653589793
+     "exp":"-1.5737992594811685 rad",
+     "val":-1.5737992594811685
     }
    },
    "D":{
@@ -403,64 +403,64 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"20.247 / 2 in",
-    "val":0.2571369
+    "exp":"21.748 / 2 in",
+    "val":0.2761996
    },
    "y":{
-    "exp":"20.247 / 2 in",
-    "val":0.2571369
+    "exp":"21.748 / 2 in",
+    "val":0.2761996
    }
   },
   "backLeft":{
    "x":{
-    "exp":"-20.247 / 2 in",
-    "val":-0.2571369
+    "exp":"-21.748 / 2 in",
+    "val":-0.2761996
    },
    "y":{
-    "exp":"20.247 / 2 in",
-    "val":0.2571369
+    "exp":"21.748 / 2 in",
+    "val":0.2761996
    }
   },
   "mass":{
-   "exp":"114.448 lb",
-   "val":51.91273956176
+   "exp":"136.185702 lb",
+   "val":61.77279533029374
   },
   "inertia":{
-   "exp":"19936.881 in ^ 2 lb",
-   "val":5.834321946299203
+   "exp":"21602.788 in ^ 2 lb",
+   "val":6.32183239342448
   },
   "gearing":{
-   "exp":"(50 / 16) * (17 / 27) * (45 / 15)",
-   "val":5.902777777777778
+   "exp":"7.03",
+   "val":7.03
   },
   "radius":{
-   "exp":"1.975 in",
-   "val":0.050165
+   "exp":"2 in",
+   "val":0.0508
   },
   "vmax":{
-   "exp":"6380 RPM",
-   "val":668.1120376634293
+   "exp":"5800 RPM",
+   "val":607.3745796940267
   },
   "tmax":{
    "exp":"257 / 4.69 N * m",
    "val":54.79744136460554
   },
   "cof":{
-   "exp":"1.48",
-   "val":1.48
+   "exp":"2.25",
+   "val":2.25
   },
   "bumper":{
    "front":{
-    "exp":"33.1 / 2 in",
-    "val":0.42037
+    "exp":"34.8 / 2 in",
+    "val":0.44196
    },
    "side":{
-    "exp":"33.1 / 2 in",
-    "val":0.42037
+    "exp":"34.8 / 2 in",
+    "val":0.44196
    },
    "back":{
-    "exp":"33.1 / 2 in",
-    "val":0.42037
+    "exp":"34.8 / 2 in",
+    "val":0.44196
    }
   },
   "differentialTrackWidth":{
diff --git a/src/main/deploy/choreo/test.traj b/src/main/deploy/choreo/test.traj
deleted file mode 100644
index 53b3960f..00000000
--- a/src/main/deploy/choreo/test.traj
+++ /dev/null
@@ -1,30 +0,0 @@
-{
- "name":"test",
- "version":3,
- "snapshot":{
-  "waypoints":[],
-  "constraints":[],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"0.8321799635887146 m", "val":0.8321799635887146}, "y":{"exp":"0.7060884237289429 m", "val":0.7060884237289429}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.659694671630859 m", "val":4.659694671630859}, "y":{"exp":"0.6415539979934692 m", "val":0.6415539979934692}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":null,
-  "sampleType":null,
-  "waypoints":[],
-  "samples":[],
-  "splits":[]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj
new file mode 100644
index 00000000..423fee55
--- /dev/null
+++ b/src/main/deploy/choreo/testposes.traj
@@ -0,0 +1,32 @@
+{
+ "name":"testposes",
+ "version":3,
+ "snapshot":{
+  "waypoints":[],
+  "constraints":[],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.705504417419434 m", "val":4.705504417419434}, "y":{"exp":"7.340907096862793 m", "val":7.340907096862793}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":null,
+  "sampleType":null,
+  "waypoints":[],
+  "samples":[],
+  "splits":[]
+ },
+ "events":[]
+}
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index e7d3f717..606c0dd6 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -7,26 +7,30 @@
 import choreo.auto.AutoFactory;
 import choreo.auto.AutoRoutine;
 import choreo.auto.AutoTrajectory;
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
+import frc.robot.utils.FieldUtils;
+import frc.robot.utils.FieldUtils.ClimbTargets;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 /** Add your docs here. */
 public class Autos {
+  private final SwerveSubsystem swerve;
   private final AutoFactory factory;
-  // Declare triggers
-  // mehhhhhhh
   private static boolean autoFeed;
   private static boolean autoIntake;
   private static boolean autoScore;
+  private static boolean autoPreClimb;
   private static boolean autoClimb;
-
-  // private static boolean autoIntakeAlgae;
+  private static boolean autoFlow;
+  // private static boolean autoAlignClimb;
+  private static boolean leftClimbAuto;
 
   @AutoLogOutput(key = "Superstructure/Auto Feed Request")
   public static Trigger autoFeedReq = new Trigger(() -> autoFeed).and(DriverStation::isAutonomous);
@@ -39,16 +43,32 @@ public class Autos {
   public static Trigger autoScoreReq =
       new Trigger(() -> autoScore).and(DriverStation::isAutonomous);
 
+  @AutoLogOutput(key = "Superstructure/Auto Pre Climb Request")
+  public static Trigger autoPreClimbReq =
+      new Trigger(() -> autoPreClimb).and(DriverStation::isAutonomous);
+
   @AutoLogOutput(key = "Superstructure/Auto Climb Request")
   public static Trigger autoClimbReq =
       new Trigger(() -> autoClimb).and(DriverStation::isAutonomous);
 
+  @AutoLogOutput(key = "Superstructure/Auto Climb Request")
+  public static Trigger autoFlowReq = new Trigger(() -> autoFlow).and(DriverStation::isAutonomous);
+
+  // @AutoLogOutput(key = "Superstructure/Auto Align Climb Request")
+  // public static Trigger autoAlignClimbReq =
+  //     new Trigger(() -> autoAlignClimb).and(DriverStation::isAutonomous);
+
+  @AutoLogOutput(key = "Superstructure/Auto Left Climb Request")
+  public static Trigger autoLeftClimbReq =
+      new Trigger(() -> leftClimbAuto).and(DriverStation::isAutonomous);
+
   public enum Action {
     FEED,
     INTAKE,
     SCORE,
     FLOW,
-    CLIMB;
+    CLIMB,
+    NOTHING;
   }
 
   public enum Obstacle {
@@ -99,7 +119,8 @@ public enum Path {
     DtoRL("DT", "RL", Action.SCORE),
     RLtoFL("RL", "FL", Action.FEED),
     OtoRR("OT", "RR", Action.SCORE),
-    RRtoFR("RR", "FR", Action.FEED);
+    RRtoFR("RR", "FR", Action.FEED),
+    RUNtoTEST("RUN", "TEST", Action.NOTHING);
 
     private final String start;
     private final String end;
@@ -119,6 +140,7 @@ public AutoTrajectory getTrajectory(AutoRoutine routine) {
   }
 
   public Autos(SwerveSubsystem swerve) {
+    this.swerve = swerve;
     factory =
         new AutoFactory(
             swerve::getPose,
@@ -167,6 +189,8 @@ public Command runPath(Path path, AutoRoutine routine) {
         return climbPath(path, routine);
       case FLOW:
         return flowPath(path, routine);
+      case NOTHING:
+        return emptyPath(path, routine);
       default: // this should never happen
         return Commands.none();
     }
@@ -187,10 +211,24 @@ public Command climbPath(Path path, AutoRoutine routine) {
                         .atTime(
                             path.getTrajectory(routine).getRawTrajectory().getTotalTime()
                                 - (0.3)))),
-        setAutoScoreReqFalse(),
+        setAutoPreClimbReqTrue(),
+        swerve
+            .alignToClimb(() -> getClimbAutoTarget())
+            .until(() -> swerve.isInTolerance(getClimbAutoTarget().getPose(), 0.05, 0.05)),
         setAutoClimbReqTrue());
   }
 
+  public ClimbTargets getClimbAutoTarget() {
+    return ClimbTargets.CLIMB_TARGETS_LIST.stream()
+        .filter(target -> target.getLeftHanded() == leftClimbAuto)
+        .filter(
+            target ->
+                target.isBlueAlliance()
+                    == (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue))
+        .findFirst()
+        .get();
+  }
+
   public Command feedPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqFalse(),
@@ -215,6 +253,13 @@ public Command scorePath(Path path, AutoRoutine routine) {
     //   setAutoScoreReqFalse()));
   }
 
+  public Command emptyPath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()));
+    // Commands.sequence(path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+    //   setAutoScoreReqFalse()));
+  }
+
   public Command intakePath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqFalse(),
@@ -226,10 +271,20 @@ public Command intakePath(Path path, AutoRoutine routine) {
   public Command flowPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqTrue(),
+        setAutoFlowReqTrue(),
         setAutoIntakeReqTrue(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()));
   }
 
+  public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) {
+    routine
+        .observe(
+            () ->
+                swerve.getPose().getTranslation().minus(trench.getTranslation()).getNorm()
+                    < tolerance)
+        .whileTrue(Commands.run(() -> setAutoScoreReqFalse()));
+  }
+
   public Command shootPreload() {
     return Commands.sequence(setAutoScoreReqTrue(), waitUntilEmpty(), setAutoScoreReqFalse());
   }
@@ -258,6 +313,22 @@ public Command setAutoFeedReqFalse() {
     return Commands.runOnce(() -> autoFeed = false);
   }
 
+  public Command setAutoPreClimbReqTrue() {
+    return Commands.runOnce(() -> autoPreClimb = true);
+  }
+
+  public Command setAutoPreClimbReqFalse() {
+    return Commands.runOnce(() -> autoPreClimb = false);
+  }
+
+  public Command setAutoFlowReqTrue() {
+    return Commands.runOnce(() -> autoFlow = true);
+  }
+
+  public Command setAutoFlowReqFalse() {
+    return Commands.runOnce(() -> autoFlow = false);
+  }
+
   public Command setAutoClimbReqTrue() {
     return Commands.runOnce(() -> autoClimb = true);
   }
@@ -266,21 +337,50 @@ public Command setAutoClimbReqFalse() {
     return Commands.runOnce(() -> autoClimb = false);
   }
 
+  public Command setAllReqsFalse() {
+    return Commands.sequence(
+        setAutoIntakeReqFalse(),
+        setAutoScoreReqFalse(),
+        setAutoFeedReqFalse(),
+        setAutoPreClimbReqFalse(),
+        setAutoFlowReqFalse(),
+        setAutoClimbReqFalse());
+  }
+
+  // public Command setAutoAlignToClimbReqTrue() {
+  //   return Commands.runOnce(() -> autoAlignClimb = true);
+  // }
+
+  // public Command setAutoAlignToClimbReqFalse() {
+  //   return Commands.runOnce(() -> autoAlignClimb = true);
+  // }
+
+  public Command setleftClimbAutoTrue() {
+    return Commands.runOnce(() -> leftClimbAuto = true);
+  }
+
   public Command getDepotScoreClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto");
     Path[] paths = {
       Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoML, Path.MLtoCL
     }; // , Path.SLtoCL};
     Command autoCommand =
-        paths[0].getTrajectory(routine).resetOdometry(); // .andThen(shootPreload());
+        paths[0]
+            .getTrajectory(routine)
+            .resetOdometry()
+            .alongWith(setleftClimbAutoTrue()); // .andThen(shootPreload());
 
     for (Path p : paths) {
+      // TODO obvi fix bc its not alwasy blue i just need to test the locking
       autoCommand = autoCommand.andThen(runPath(p, routine));
     }
 
     routine.active().onTrue(autoCommand);
 
-    return routine.cmd();
+    return Commands.parallel(
+        routine.cmd(),
+        Commands.run(
+            () -> lockHoodUnderTrench(routine, FieldUtils.TrenchPoses.RED_LEFT.getPose(), 5)));
   }
 
   public Command getOutpostScoreClimbAuto() {
@@ -300,7 +400,8 @@ public Command getOutpostScoreClimbAuto() {
   public Command getDepotFeedClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto");
     Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoFL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL};
-    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry();
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue());
 
     for (Path p : paths) {
       autoCommand = autoCommand.andThen(runPath(p, routine));
@@ -326,8 +427,8 @@ public Command getOutpostFeedClimbAuto() {
   }
 
   public Command getTestAuto() {
-    final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto");
-    Path[] paths = {Path.PLtoD};
+    final AutoRoutine routine = factory.newRoutine("test auto");
+    Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST};
     Command autoCommand = paths[0].getTrajectory(routine).resetOdometry();
 
     for (Path p : paths) {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 73710ff0..f79f1287 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -210,6 +210,10 @@ public enum RobotEdition {
   @AutoLogOutput(key = "Superstructure/Autoaim Request")
   private Trigger autoAimReq;
 
+  // TODO
+  //   @AutoLogOutput(key = "Superstructure/Autoaim Request")
+  //   private Trigger climbAutoAlignInAutoReq;
+
   // Auto stuff
   private final Autos autos;
   private Optional<Alliance> lastAlliance = Optional.empty();
@@ -410,6 +414,8 @@ public Robot() {
                                 || Superstructure.getState() == SuperState.SCORE)
                     .and(() -> isTeleopEnabled()));
 
+    //  climbAutoAlignInAutoReq = Autos.autoAlignClimbReq;
+
     DriverStation.silenceJoystickConnectionWarning(true);
     SignalLogger.enableAutoLogging(false);
     RobotController.setBrownoutVoltage(6.0);
@@ -619,6 +625,44 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
                     ? AutoAim.ALPHA_HUB_SHOT_TREE
                     : AutoAim.COMP_HUB_SHOT_TREE));
 
+    // climbAutoAlignInAutoReq.whileTrue(
+    //     swerve.alignToClimb(
+    //         () ->
+    //             ClimbTargets.CLIMB_TARGETS_LIST.stream()
+    //                 .filter(target -> target.getLeftHanded() == leftClimbTarget)
+    //                 .filter(
+    //                     target ->
+    //                         target.isBlueAlliance()
+    //                             == (DriverStation.getAlliance().orElse(Alliance.Blue)
+    //                                 == Alliance.Blue))
+    //                 .findFirst()
+    //                 .get()));
+
+    // climbAutoAlignInAutoReq.whileTrue(
+    //     swerve.alignToClimb(
+    //         () ->
+    //             ClimbTargets.CLIMB_TARGETS_LIST.stream()
+    //                 .filter(target -> target.getLeftHanded() == leftClimbTarget)
+    //                 .filter(
+    //                     target ->
+    //                         target.isBlueAlliance()
+    //                             == (DriverStation.getAlliance().orElse(Alliance.Blue)
+    //                                 == Alliance.Blue))
+    //                 .findFirst()
+    //                 .get()));
+
+    new Trigger(swerve::isCloseToBump)
+        .whileTrue(
+            swerve.bumpAlign(
+                () ->
+                    -1
+                        * modifyJoystick(driver.getLeftY())
+                        * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(),
+                () ->
+                    -1
+                        * modifyJoystick(driver.getLeftX())
+                        * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed()));
+
     // TODO: autoaim (comp)
     // autoAimReq.and(() -> ROBOT_EDITION == RobotEdition.COMP).whileTrue();
 
@@ -633,7 +677,10 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
 
     // new Trigger(() -> intake.beambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5));
 
-    operator.leftBumper().onTrue(Commands.runOnce(() -> leftClimbTarget = true));
+    operator
+        .leftBumper()
+        .or(Autos.autoLeftClimbReq)
+        .onTrue(Commands.runOnce(() -> leftClimbTarget = true));
     operator.rightBumper().onTrue(Commands.runOnce(() -> leftClimbTarget = false));
 
     // TODO: ACTUAL BINDING LOL
diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java
index 6bd8c460..1e175538 100644
--- a/src/main/java/frc/robot/Superstructure.java
+++ b/src/main/java/frc/robot/Superstructure.java
@@ -112,7 +112,9 @@ public enum FeedTarget {
 
   @AutoLogOutput(key = "Superstructure/Score Request")
   private Trigger scoreReq =
-      new Trigger(() -> shotTarget == ShotTarget.SCORE).and(() -> canScore());
+      new Trigger(() -> shotTarget == ShotTarget.SCORE)
+          .and(() -> canScore())
+          .or(Autos.autoScoreReq);
 
   @AutoLogOutput(key = "Superstructure/Feed Request")
   private Trigger feedReq = new Trigger(() -> shotTarget == ShotTarget.FEED);
@@ -165,8 +167,16 @@ private void addTriggers() {
     operator.y().onTrue(Commands.runOnce(() -> shotTarget = ShotTarget.FEED));
 
     // toggle for flow state
-    operator.a().onTrue(Commands.runOnce(() -> flowState = true));
-    operator.b().onTrue(Commands.runOnce(() -> flowState = false));
+    operator
+        .a()
+        .and(DriverStation::isTeleop)
+        .or(new Trigger(Autos.autoFlowReq))
+        .onTrue(Commands.runOnce(() -> flowState = true));
+    operator
+        .b()
+        .and(DriverStation::isTeleop)
+        .or(new Trigger(Autos.autoFlowReq).negate())
+        .onTrue(Commands.runOnce(() -> flowState = false));
 
     operator.leftBumper().onTrue(Commands.runOnce(() -> feedTarget = FeedTarget.LEFT));
     operator.rightBumper().onTrue(Commands.runOnce(() -> feedTarget = FeedTarget.RIGHT));
@@ -186,8 +196,8 @@ private void addTriggers() {
     antiJamReq = driver.a();
 
     // TODO add auto climb req
-    preClimbReq = driver.x();
-    climbReq = driver.y();
+    preClimbReq = driver.x().or(Autos.autoPreClimbReq);
+    climbReq = driver.y().or(Autos.autoClimbReq);
 
     readyTrigger =
         new Trigger(shooter::atFlywheelVelocitySetpoint)
@@ -301,8 +311,8 @@ private void addTransitions() {
   private void addCommands() {
     bindCommands(
         SuperState.IDLE,
-        intake.restExtended(),
-        // intake.restRetracted(),
+        // intake.restExtended(),
+        intake.restRetracted(),
         indexer.rest(),
         shooter.rest(swerve::getPose, swerve::getVelocityFieldRelative),
         climber.retract());
@@ -358,16 +368,6 @@ private void addCommands() {
         SuperState.SPIN_UP_SCORE,
         intake.restExtended(),
         indexer.rest(),
-        // shooter.score(
-        //     () -> FeedTargets.getFeedTarget(feedTarget).getPose(),
-        //     () ->
-        //         AutoAim.getCompensatedSOTMShotData(
-        //             swerve.getPose(),
-        //             FieldUtils.getCurrentHubTranslation(),
-        //             swerve.getVelocityFieldRelative())));
-        // shooter.testShoot(),
-        // shooter.torqueCurrentTest(),
-        // shooter.spinUpTest(swerve::getPose, swerve::getVelocityFieldRelative),
         shooter.spinUp(
             swerve::getPose,
             () ->
@@ -387,8 +387,8 @@ private void addCommands() {
 
     bindCommands(
         SuperState.SCORE,
-        // intake.agitate(),
-        intake.restExtended(),
+        intake.agitate(),
+        // intake.restExtended(),
         indexer.kick(),
         shooter.score(
             swerve::getPose,
@@ -413,14 +413,21 @@ private void addCommands() {
         SuperState.SPIN_UP_SCORE_FLOW,
         intake.restExtended(),
         indexer.rest(),
-        // shooter.score(
-        //     swerve::getPose,
-        //     () ->
-        //         AutoAim.getCompensatedSOTMShotData(
-        //             swerve.getPose(),
-        //             FieldUtils.getCurrentHubTranslation(),
-        //             swerve.getVelocityFieldRelative()),
-        //     swerve::getVelocityFieldRelative),
+        shooter.score(
+            swerve::getPose,
+            () ->
+                AutoAim.getCompensatedSOTMShotData(
+                    swerve
+                        .getPose()
+                        .transformBy(
+                            new Transform2d(
+                                TurretSubsystem.ROBOT_TO_TURRET_TRANSLATION, Rotation2d.kZero)),
+                    FieldUtils.getCurrentHubTranslation(),
+                    swerve.getVelocityFieldRelative(),
+                    Robot.ROBOT_EDITION == RobotEdition.ALPHA
+                        ? AutoAim.ALPHA_HUB_SHOT_TREE
+                        : AutoAim.COMP_HUB_SHOT_TREE),
+            swerve::getVelocityFieldRelative),
         // shooter.testShoot(swerve::getPose, swerve::getVelocityFieldRelative),
         climber.retract());
 
diff --git a/src/main/java/frc/robot/subsystems/intake/LintakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/LintakeSubsystem.java
index 0c1d0b95..1ab4c798 100644
--- a/src/main/java/frc/robot/subsystems/intake/LintakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/intake/LintakeSubsystem.java
@@ -185,21 +185,27 @@ public Command runCurrentZeroing() {
     //         new Trigger(() -> Math.abs(rackCurrentFilterValue) > CURRENT_ZEROING_THRESHOLD)
     //             .debounce(0.95))
     //     .andThen(Commands.parallel(Commands.print("Intake Zeroed"), zeroRack()));
-    return Commands.deadline(
-            Commands.waitSeconds(0.5)
-                .andThen(
-                    Commands.waitUntil(
-                        new Trigger(
-                                () -> Math.abs(rackCurrentFilterValue) > CURRENT_ZEROING_THRESHOLD)
-                            .debounce(0.25))),
-            this.run(() -> rackIO.setVoltage(5)))
-        .andThen(Commands.parallel(Commands.print("Intake Zeroed"), zeroRack()));
+
+    // return Commands.deadline(
+    //         Commands.waitSeconds(0.5)
+    //             .andThen(
+    //                 Commands.waitUntil(
+    //                     new Trigger(
+    //                             () -> Math.abs(rackCurrentFilterValue) >
+    // CURRENT_ZEROING_THRESHOLD)
+    //                         .debounce(0.25))),
+    //         this.run(() -> rackIO.setVoltage(5)))
+    //     .andThen(Commands.parallel(Commands.print("Intake Zeroed"), zeroRack()));
 
     // return this.idle();
+
+    return zeroRack();
   }
 
   public Command zeroRack() {
-    return this.runOnce(() -> rackIO.resetEncoder(MAX_EXTENSION_METERS));
+    return this.runOnce(() -> rackIO.resetEncoder(0));
+
+    // return this.runOnce(() -> rackIO.resetEncoder(MAX_EXTENSION_METERS));
   }
 
   public static TalonFXConfiguration getRackMotorConfig() {
diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
index a25ca396..5580720d 100644
--- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
@@ -210,12 +210,12 @@ public Command feed(
                       .get()
                       .getTranslation()
                       .getDistance(feedTarget.get().getTranslation()));
-          // hoodIO.setHoodPosition(shotData.hoodAngle());
-          // // flywheelIO.setTorqueCurrentVel(shotDataSupplier.get().flywheelVelocityRotPerSec());
-          // flywheelIO.setMotionProfiledFlywheelVelocity(shotData.flywheelVelocityRotPerSec());
+          hoodIO.setHoodPosition(shotData.hoodAngle());
+          //   flywheelIO.setTorqueCurrentVel(shotDataSupplier.get().flywheelVelocityRotPerSec());
+          flywheelIO.setMotionProfiledFlywheelVelocity(shotData.flywheelVelocityRotPerSec());
 
-          hoodIO.setHoodPosition(Rotation2d.fromDegrees(testDegrees.get()));
-          flywheelIO.setMotionProfiledFlywheelVelocity(testVelocity.get());
+          //   hoodIO.setHoodPosition(Rotation2d.fromDegrees(testDegrees.get()));
+          //   flywheelIO.setMotionProfiledFlywheelVelocity(testVelocity.get());
           turretIO.setTurretPosition(
               AutoAim.getTurretFeedTargetRotation(
                   feedTarget.get().getTranslation(),
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
index b1d0475d..0571593c 100644
--- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -191,16 +191,16 @@ public SwerveSubsystem(CANBus canbus) {
                     SWERVE_CONSTANTS.getCameraConstants()[1],
                     () -> new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()),
                     SWERVE_CONSTANTS.getFieldTagLayout())),
-            new Camera(
-                new CameraIOSim(
-                    SWERVE_CONSTANTS.getCameraConstants()[2],
-                    () -> new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()),
-                    SWERVE_CONSTANTS.getFieldTagLayout())),
-            new Camera(
-                new CameraIOSim(
-                    SWERVE_CONSTANTS.getCameraConstants()[3],
-                    () -> new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()),
-                    SWERVE_CONSTANTS.getFieldTagLayout()))
+            // new Camera(
+            //     new CameraIOSim(
+            //         SWERVE_CONSTANTS.getCameraConstants()[2],
+            //         () -> new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()),
+            //         SWERVE_CONSTANTS.getFieldTagLayout())),
+            // new Camera(
+            //     new CameraIOSim(
+            //         SWERVE_CONSTANTS.getCameraConstants()[3],
+            //         () -> new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()),
+            //         SWERVE_CONSTANTS.getFieldTagLayout()))
           };
     } else {
       // Add real modules
@@ -211,18 +211,21 @@ public SwerveSubsystem(CANBus canbus) {
             new Module(new ModuleIOReal(SWERVE_CONSTANTS.getBackLeftModuleConstants(), canbus)),
             new Module(new ModuleIOReal(SWERVE_CONSTANTS.getBackRightModuleConstants(), canbus))
           };
-      // cameras =
-      //     Arrays.stream(SWERVE_CONSTANTS.getCameraConstants())
-      //         .map((constants) -> new Camera(new CameraIOReal(constants)))
-      //         .toArray(Camera[]::new);
-
       cameras =
-          new Camera[] {
-            new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[0])),
-            new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[1])),
-            new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[2])),
-            new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[3]))
-          };
+          Arrays.stream(SWERVE_CONSTANTS.getCameraConstants())
+              .map((constants) -> new Camera(new CameraIOReal(constants)))
+              .toArray(Camera[]::new);
+
+      // cameras =
+      //     new Camera[] {
+      //       new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[0])),
+      //       new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[1]))
+      // ,
+      // new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[2]))
+
+      // ,
+      // new Camera(new CameraIOReal(SWERVE_CONSTANTS.getCameraConstants()[3]))
+      // };
     }
 
     this.cameraPoses = new Pose3d[cameras.length];
@@ -687,15 +690,35 @@ public boolean isFacingFeedTarget() {
   public Command bumpAlign(DoubleSupplier xVel, DoubleSupplier yVel) {
     return driveWithHeadingSnap(
         () -> {
-          Translation2d robotHubVec =
-              FieldUtils.getCurrentHubTranslation().minus(getPose().getTranslation());
-          // atan2 takes y as the first arg (i think bc θ = atan(y/x) but idk)
-          return Rotation2d.fromRadians(Math.atan2(robotHubVec.getY(), robotHubVec.getX()));
+          if (getPose().getRotation().getDegrees() <= 90) {
+            return new Rotation2d(Math.PI / 4);
+          } else if (getPose().getRotation().getDegrees() >= 90
+              && (getPose().getRotation().getDegrees() <= 180)) {
+            return new Rotation2d((3 * Math.PI) / 4);
+          } else if (getPose().getRotation().getDegrees() >= 180
+              && (getPose().getRotation().getDegrees() <= 270)) {
+            return new Rotation2d((5 * Math.PI) / 4);
+          } else {
+            return new Rotation2d((7 * Math.PI) / 4);
+          }
         },
         xVel,
         yVel);
   }
 
+  public boolean isCloseToBump() {
+    if (((Math.abs(getPose().getX() - FieldUtils.BLUE_BUMP1_POS.getX()) < 2)
+            || (Math.abs(getPose().getX() - FieldUtils.RED_BUMP1_POS.getX()) < 2))
+        && ((getPose().getY() > (FieldUtils.BLUE_BUMP2_POS.getY() - 0.515)
+                && getPose().getY() < (FieldUtils.BLUE_BUMP2_POS.getY() + 0.515)
+            || (getPose().getY() > (FieldUtils.RED_BUMP1_POS.getY() - 0.515)
+                && getPose().getY() < (FieldUtils.RED_BUMP1_POS.getY() + 0.515))))) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+
   public boolean isInAutoAimTolerance(Pose2d target) {
     return isInTolerance(
         target, AutoAlign.TRANSLATION_TOLERANCE_METERS, AutoAlign.ROTATION_TOLERANCE_RADIANS);
diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
index 59974141..5c711edb 100644
--- a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
+++ b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
@@ -128,12 +128,12 @@ public double getTrackWidthY() {
 
   @Override
   public double getBumperWidth() {
-    return Units.inchesToMeters(34.6);
+    return Units.inchesToMeters(34.8);
   }
 
   @Override
   public double getBumperLength() {
-    return Units.inchesToMeters(34.6);
+    return Units.inchesToMeters(34.8);
   }
 
   @Override
@@ -146,7 +146,8 @@ public double getMaxLinearSpeed() {
   @Override
   public double getMaxLinearAcceleration() {
     // Calculated in Choreo for R1 ratio
-    return 9.056;
+    // return 9.056;
+    return 22.073;
   }
 
   @Override
@@ -165,7 +166,7 @@ public double getTurnGearRatio() {
   @Override
   public Mass getMass() {
     // From CAD (retrieved 1/29/26), with bumpers and battery
-    return Pound.of(121.28);
+    return Pound.of(136.185702);
   }
 
   // TODO: CANCODER OFFSETS
diff --git a/src/main/java/frc/robot/utils/FieldUtils.java b/src/main/java/frc/robot/utils/FieldUtils.java
index 3f75abc3..86673a8d 100644
--- a/src/main/java/frc/robot/utils/FieldUtils.java
+++ b/src/main/java/frc/robot/utils/FieldUtils.java
@@ -22,6 +22,14 @@ public class FieldUtils {
       new Pose2d(4.686160087585449, 4.030325412750244, Rotation2d.kZero);
   public static final Pose2d RED_HUB_POS = ChoreoAllianceFlipUtil.flip(BLUE_HUB_POS);
 
+  public static final Pose2d BLUE_BUMP1_POS = new Pose2d(4.62, 2.505, Rotation2d.kZero);
+
+  public static final Pose2d BLUE_BUMP2_POS = new Pose2d(4.62, 5.555, Rotation2d.kZero);
+
+  public static final Pose2d RED_BUMP1_POS = new Pose2d(11.91, 2.505, Rotation2d.kZero);
+
+  public static final Pose2d RED_BUMP2_POS = new Pose2d(11.91, 5.555, Rotation2d.kZero);
+
   public static Translation2d getCurrentHubTranslation() {
     return getCurrentHubPose().getTranslation();
   }
@@ -115,4 +123,24 @@ public boolean isBlueAlliance() {
     public static final List<ClimbTargets> CLIMB_TARGETS_LIST =
         Arrays.stream(ClimbTargets.values()).toList();
   }
+
+  public enum TrenchPoses {
+    BLUE_LEFT(new Pose2d(4.704, 0.741, Rotation2d.kCCW_90deg)),
+    BLUE_RIGHT(new Pose2d(4.704, 7.34, Rotation2d.kCW_90deg)),
+    RED_RIGHT(ChoreoAllianceFlipUtil.flip(BLUE_RIGHT.getPose())),
+    RED_LEFT(ChoreoAllianceFlipUtil.flip(BLUE_LEFT.getPose()));
+
+    private Pose2d pose;
+
+    private TrenchPoses(Pose2d pose) {
+      this.pose = pose;
+    }
+
+    public Pose2d getPose() {
+      return pose;
+    }
+
+    public static final List<TrenchPoses> TRENCH_POSES_LIST =
+        Arrays.stream(TrenchPoses.values()).toList();
+  }
 }