diff --git a/build.gradle b/build.gradle
index 1bee9653..6206ae0e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -42,6 +42,13 @@ deploy {
                     jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
                     jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
                     jvmArgs.add("-XX:+AlwaysPreTouch")
+                    // Enable VisualVM connection
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+                    // jvmArgs.add("-Djava.rmi.server.hostname=10.16.40.2") // Replace TE.AM with team number
                 }
 
                 // Static files artifact
diff --git a/src/main/deploy/pathplanner/autos/3.5 piece.auto b/src/main/deploy/pathplanner/autos/3.5 piece.auto
index 57b3d3e2..3cd2d460 100644
--- a/src/main/deploy/pathplanner/autos/3.5 piece.auto	
+++ b/src/main/deploy/pathplanner/autos/3.5 piece.auto	
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -65,9 +77,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "4 piece 3"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "4 piece 3"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -79,6 +104,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -121,9 +152,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "4 piece 5"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "4 piece 5"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -135,6 +179,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/Explode the Processor.auto b/src/main/deploy/pathplanner/autos/Explode the Processor.auto
index 76e2ab8e..30697443 100644
--- a/src/main/deploy/pathplanner/autos/Explode the Processor.auto	
+++ b/src/main/deploy/pathplanner/autos/Explode the Processor.auto	
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -105,9 +117,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -117,6 +135,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "sequential",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/L4 Opposite - Double.auto b/src/main/deploy/pathplanner/autos/L4 Opposite - Double.auto
index e31fed76..0fad98d7 100644
--- a/src/main/deploy/pathplanner/autos/L4 Opposite - Double.auto	
+++ b/src/main/deploy/pathplanner/autos/L4 Opposite - Double.auto	
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -65,9 +77,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Opposite 3 - Double"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Opposite 3 - Double"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -79,6 +104,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -121,9 +152,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Opposite 5- Double"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Opposite 5- Double"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -135,6 +179,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/L4 Opposite - Triple.auto b/src/main/deploy/pathplanner/autos/L4 Opposite - Triple.auto
index 7b69f7e7..dec081be 100644
--- a/src/main/deploy/pathplanner/autos/L4 Opposite - Triple.auto	
+++ b/src/main/deploy/pathplanner/autos/L4 Opposite - Triple.auto	
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -65,9 +77,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Opposite 3 - Triple"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Opposite 3 - Triple"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -79,6 +104,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -121,9 +152,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Opposite 5 - Triple"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Opposite 5 - Triple"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -135,6 +179,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/L4 Processor - Double.auto b/src/main/deploy/pathplanner/autos/L4 Processor - Double.auto
index 658b3822..ba2aea08 100644
--- a/src/main/deploy/pathplanner/autos/L4 Processor - Double.auto	
+++ b/src/main/deploy/pathplanner/autos/L4 Processor - Double.auto	
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -65,9 +77,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Processor 3 - Double"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Processor 3 - Double"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -79,6 +104,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -127,14 +158,33 @@
                 }
               },
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Processor 5 - Double"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Processor 5 - Double"
+                      }
+                    }
+                  ]
                 }
               }
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/L4 Processor - Triple.auto b/src/main/deploy/pathplanner/autos/L4 Processor - Triple.auto
index b10c7323..af339687 100644
--- a/src/main/deploy/pathplanner/autos/L4 Processor - Triple.auto	
+++ b/src/main/deploy/pathplanner/autos/L4 Processor - Triple.auto	
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -65,9 +77,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Processor 3"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Processor 3"
+                      }
+                    }
+                  ]
                 }
               },
               {
@@ -79,6 +104,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -127,14 +158,33 @@
                 }
               },
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "L4 Processor 5"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "WaitForLocal"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "L4 Processor 5"
+                      }
+                    }
+                  ]
                 }
               }
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/Process.auto b/src/main/deploy/pathplanner/autos/Process.auto
index 2139c178..9c870526 100644
--- a/src/main/deploy/pathplanner/autos/Process.auto
+++ b/src/main/deploy/pathplanner/autos/Process.auto
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/SpitSpit.auto b/src/main/deploy/pathplanner/autos/SpitSpit.auto
index 1b7d1ae6..a39d66f8 100644
--- a/src/main/deploy/pathplanner/autos/SpitSpit.auto
+++ b/src/main/deploy/pathplanner/autos/SpitSpit.auto
@@ -11,9 +11,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -23,6 +29,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -99,9 +111,28 @@
           }
         },
         {
-          "type": "path",
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "SpitProcess 3"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
           "data": {
-            "pathName": "SpitProcess 3"
+            "name": "LocalAlign"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/local align or else.auto b/src/main/deploy/pathplanner/autos/local align or else.auto
new file mode 100644
index 00000000..83ea6729
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/local align or else.auto	
@@ -0,0 +1,44 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "EnableAprilTags"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "WaitForLocal"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "LOCAL TO THE MOON"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LocalAlign"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Explode the processor 1.path b/src/main/deploy/pathplanner/paths/Explode the processor 1.path
index 70b607ab..211d8d79 100644
--- a/src/main/deploy/pathplanner/paths/Explode the processor 1.path	
+++ b/src/main/deploy/pathplanner/paths/Explode the processor 1.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Explode the processor 2.path b/src/main/deploy/pathplanner/paths/Explode the processor 2.path
index 38f8a9b2..b92b2d69 100644
--- a/src/main/deploy/pathplanner/paths/Explode the processor 2.path	
+++ b/src/main/deploy/pathplanner/paths/Explode the processor 2.path	
@@ -93,8 +93,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Explode the processor 3.path b/src/main/deploy/pathplanner/paths/Explode the processor 3.path
index 65c2d6c3..615f1eee 100644
--- a/src/main/deploy/pathplanner/paths/Explode the processor 3.path	
+++ b/src/main/deploy/pathplanner/paths/Explode the processor 3.path	
@@ -63,8 +63,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Explode the processor 4.path b/src/main/deploy/pathplanner/paths/Explode the processor 4.path
index f417f787..b21d91eb 100644
--- a/src/main/deploy/pathplanner/paths/Explode the processor 4.path	
+++ b/src/main/deploy/pathplanner/paths/Explode the processor 4.path	
@@ -88,8 +88,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 1.path b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 1.path
index 61094b1e..9e705d5e 100644
--- a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 1.path	
+++ b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 1.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 2.path b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 2.path
index 4a76f7bf..382bf178 100644
--- a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 2.path	
+++ b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 2.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 3.path b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 3.path
index d1340835..93ce5dda 100644
--- a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 3.path	
+++ b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 3.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 4.path b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 4.path
index fa7a2ca6..51a2aa01 100644
--- a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 4.path	
+++ b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 4.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 5.path b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 5.path
index 85d95113..10c8f170 100644
--- a/src/main/deploy/pathplanner/paths/L1 Spam Opposite 5.path	
+++ b/src/main/deploy/pathplanner/paths/L1 Spam Opposite 5.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Double.path b/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Double.path
index 01395827..b8ef5d69 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Double.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.5,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 1.7,
+    "maxAcceleration": 1.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Triple.path b/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Triple.path
index 0e07ab9c..836f6160 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Triple.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 1 - Triple.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Double.path b/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Double.path
index cfb242ce..5229593a 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Double.path	
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.7,
+    "maxAcceleration": 2.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Triple.path b/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Triple.path
index 1de717a5..2bd6c823 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Triple.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 2 - Triple.path	
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.7,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Double.path b/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Double.path
index 4a07952b..d460dac7 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Double.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Triple.path b/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Triple.path
index 66da82b7..a5f66c73 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Triple.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 3 - Triple.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.7,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Double.path b/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Double.path
index 547cf7f4..5c7ebed3 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Double.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 3.2,
+    "maxAcceleration": 2.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Triple.path b/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Triple.path
index bd6fd185..137b9552 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Triple.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 4 - Triple.path	
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.7,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 5 - Triple.path b/src/main/deploy/pathplanner/paths/L4 Opposite 5 - Triple.path
index baa6f7a1..191a4336 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 5 - Triple.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 5 - Triple.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.7,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Opposite 5- Double.path b/src/main/deploy/pathplanner/paths/L4 Opposite 5- Double.path
index e99cee3c..ffa7b209 100644
--- a/src/main/deploy/pathplanner/paths/L4 Opposite 5- Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Opposite 5- Double.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 1.path b/src/main/deploy/pathplanner/paths/L4 Processor 1.path
index cddfa0da..f9e0d5d2 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 1.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 1.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 2.path b/src/main/deploy/pathplanner/paths/L4 Processor 2.path
index 5937d206..16316292 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 2.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 2.path	
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.7,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 3.path b/src/main/deploy/pathplanner/paths/L4 Processor 3.path
index 6277fd6f..48b84aa2 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 3.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 3.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.4963990066225168,
-        "y": 0.8723923841059593
+        "x": 1.525653409090909,
+        "y": 0.9138636363636362
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.76589620503102,
-        "y": 1.9878123911389562
+        "x": 2.795150607499412,
+        "y": 2.0292836433966333
       },
       "isLocked": false,
       "linkedName": "BottomSource"
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.5,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.7,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 4 - Double.path b/src/main/deploy/pathplanner/paths/L4 Processor 4 - Double.path
index 5b1283fd..9787ee65 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 4 - Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 4 - Double.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 4.path b/src/main/deploy/pathplanner/paths/L4 Processor 4.path
index 755a362e..bd8c6a7b 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 4.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 4.path	
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.2,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 5 - Double.path b/src/main/deploy/pathplanner/paths/L4 Processor 5 - Double.path
index 3c2da219..d80985d6 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 5 - Double.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 5 - Double.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.4963990066225168,
-        "y": 0.8723923841059593
+        "x": 1.525653409090909,
+        "y": 0.9138636363636362
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.162950764991328,
-        "y": 1.5786424526363922
+        "x": 2.1922051674597203,
+        "y": 1.6201137048940693
       },
       "isLocked": false,
       "linkedName": "BottomSource"
@@ -70,8 +70,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/L4 Processor 5.path b/src/main/deploy/pathplanner/paths/L4 Processor 5.path
index 94c25125..c0a2d182 100644
--- a/src/main/deploy/pathplanner/paths/L4 Processor 5.path	
+++ b/src/main/deploy/pathplanner/paths/L4 Processor 5.path	
@@ -84,8 +84,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 3.25,
+    "maxVelocity": 2.8,
+    "maxAcceleration": 3.6,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/LOCAL TO THE MOON.path b/src/main/deploy/pathplanner/paths/LOCAL TO THE MOON.path
new file mode 100644
index 00000000..79be5cc7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/LOCAL TO THE MOON.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.219,
+        "y": 3.905
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.400941780827734,
+        "y": 3.9123073630131553
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.654,
+        "y": 4.005
+      },
+      "prevControl": {
+        "x": 6.275475461382252,
+        "y": 3.9176573199102847
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.3,
+    "maxAcceleration": 1.2,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Process 2.path b/src/main/deploy/pathplanner/paths/Process 2.path
index 2d4c6e07..60581a88 100644
--- a/src/main/deploy/pathplanner/paths/Process 2.path	
+++ b/src/main/deploy/pathplanner/paths/Process 2.path	
@@ -93,8 +93,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Process 3.path b/src/main/deploy/pathplanner/paths/Process 3.path
index 36f10800..312cfe4e 100644
--- a/src/main/deploy/pathplanner/paths/Process 3.path	
+++ b/src/main/deploy/pathplanner/paths/Process 3.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 2.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SpitProcess 1.path b/src/main/deploy/pathplanner/paths/SpitProcess 1.path
index c94bfed0..c0b21d5a 100644
--- a/src/main/deploy/pathplanner/paths/SpitProcess 1.path	
+++ b/src/main/deploy/pathplanner/paths/SpitProcess 1.path	
@@ -91,8 +91,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.5,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 1.7,
+    "maxAcceleration": 1.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SpitProcess 2.path b/src/main/deploy/pathplanner/paths/SpitProcess 2.path
index c1eb5dbe..4267b277 100644
--- a/src/main/deploy/pathplanner/paths/SpitProcess 2.path	
+++ b/src/main/deploy/pathplanner/paths/SpitProcess 2.path	
@@ -64,8 +64,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 3.2,
+    "maxAcceleration": 3.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SpitProcess 3.path b/src/main/deploy/pathplanner/paths/SpitProcess 3.path
index 21c12302..6ba5732c 100644
--- a/src/main/deploy/pathplanner/paths/SpitProcess 3.path	
+++ b/src/main/deploy/pathplanner/paths/SpitProcess 3.path	
@@ -90,8 +90,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.2,
+    "maxAcceleration": 2.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/SpitProcess 4.path b/src/main/deploy/pathplanner/paths/SpitProcess 4.path
index 4923baab..aa26e288 100644
--- a/src/main/deploy/pathplanner/paths/SpitProcess 4.path	
+++ b/src/main/deploy/pathplanner/paths/SpitProcess 4.path	
@@ -68,8 +68,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 1.2,
+    "maxAcceleration": 1.2,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index cdbd249b..cb8613b8 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -15,8 +15,8 @@
     "SpitSpit"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 2.0,
-  "defaultMaxAccel": 2.0,
+  "defaultMaxVel": 2.2,
+  "defaultMaxAccel": 2.2,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index aace89c7..19491e53 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -132,9 +132,18 @@ public void robotInit() {
 
   @Override
   public void robotPeriodic() {
+    // long time0 = System.nanoTime();
     CommandScheduler.getInstance().run();
+    // long time1 = System.nanoTime();  
     PeriodicScheduler.getInstance().run();
-    LoggerManager.updateLog();
+    // long time2 = System.nanoTime();
+    // LoggerManager.updateLog();
+    // long time3 = System.nanoTime();
+    // if (time3 - time0 > 15000000) {
+    //   System.out.println("Command scheduler time: " + (time1 - time0));
+    //   System.out.println("Periodic scheduler time: " + (time2 - time1));
+    //   System.out.println("Logger manager time: " + (time3 - time2));
+    // }
   }
 
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5ce6ba4a..0abeab09 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,6 +17,7 @@
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.ProxyCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -118,15 +119,15 @@ public class RobotContainer {
   // Controller
   private final CommandXboxController driveController = new CommandXboxController(0);
   private final CommandXboxController operatorController = new CommandXboxController(1);
-  private final CommandXboxController pitController = new CommandXboxController(4);
+  // private final CommandXboxController pitController = new CommandXboxController(4);
 
   private final XboxController driveHID = driveController.getHID();
   private final XboxController opHID = operatorController.getHID();
 
   private final XboxController operatorControllerHID = operatorController.getHID();
   private final PresetBoard presetBoard = new PresetBoard(2);
-  private final PresetBoard simBoard = new PresetBoard(3);
-  private final PresetBoard motorBoard = new PresetBoard(5);
+  // private final PresetBoard simBoard = new PresetBoard(3);
+  // private final PresetBoard motorBoard = new PresetBoard(5);
 
   private final AlertsManager alertsManager;
 
@@ -248,22 +249,22 @@ public RobotContainer() {
         gantrySubsystem =
             new GantrySubsystem(
                 RobotConfigConstants.gantrySubsystemEnabled
-                    ? new GantryIOSim(() -> simBoard.getLl2())
+                    ? new GantryIOSim(() -> /*simBoard.getLl2()*/false)
                     : new GantryIO() {});
         liftSubsystem =
             new LiftSubsystem(
                 RobotConfigConstants.liftSubsystemEnabled
-                    ? new LiftIOSim(() -> simBoard.getLl3())
+                    ? new LiftIOSim(() -> /*simBoard.getLl3()*/false)
                     : new LiftIO() {});
         coralOuttakeSubsystem =
             new CoralOuttakeSubsystem(
                 RobotConfigConstants.coralOuttakeSubsystemEnabled
-                    ? new CoralOuttakeIOSim(() -> simBoard.getRl2())
+                    ? new CoralOuttakeIOSim(() -> /*simBoard.getRl2()*/false)
                     : new CoralOuttakeIO() {});
         climberSubsystem =
             new ClimberSubsystem(
                 RobotConfigConstants.climberSubsystemEnabled
-                    ? new ClimberIOSim(() -> simBoard.getRl4())
+                    ? new ClimberIOSim(() -> /*simBoard.getRl4(*/false)
                     : new ClimberIO() {});
         winchSubsystem =
             new WinchSubsystem(
@@ -271,7 +272,7 @@ public RobotContainer() {
         algaeIntakeSubsystem =
             new AlgaeSubsystem(
                 RobotConfigConstants.algaeIntakeEnabled
-                    ? new AlgaeIOSim(() -> simBoard.getLl4())
+                    ? new AlgaeIOSim(() -> /*simBoard.getLl4()*/false)
                     : new AlgaeIO() {});
         break;
       default:
@@ -316,8 +317,8 @@ public RobotContainer() {
     // Otherwise we wouldn't have a drive controller during the match
     joystickDriveWeight =
         new JoystickDriveWeight(
-            () -> -driveController.getLeftY() - 1 * pitController.getLeftY(),
-            () -> -driveController.getLeftX() - 1 * pitController.getLeftX(),
+            () -> -driveController.getLeftY(), //- 1 * pitController.getLeftY(),
+            () -> -driveController.getLeftX(), //- 1 * pitController.getLeftX(),
             () -> -driveController.getRightX(),
             driveController.rightBumper(),
             driveController.leftTrigger(),
@@ -513,12 +514,12 @@ private void configureBindings() {
     followPathCoral.generateTrigger(
         () -> driveHID.getLeftBumperButton() && !followPathCoral.isAutoalignComplete());
 
-    new Trigger(
-            () ->
-                coralOuttakeSubsystem.hasCoral()
-                    && coralOuttakeCommandFactory.ranBack
-                    && !coralOuttakeSubsystem.guillotineCheck())
-        .onTrue(setupAutoPlace(() -> CoralPreset.PreMove).onlyIf(() -> premoveLift));
+    // new Trigger(
+    //         () ->
+    //             coralOuttakeSubsystem.hasCoral()
+    //                 && coralOuttakeCommandFactory.ranBack
+    //                 && !coralOuttakeSubsystem.guillotineCheck())
+    //     .onTrue(setupAutoPlace(() -> CoralPreset.PreMove).onlyIf(() -> premoveLift));
 
     driveController.povDown().onTrue(new InstantCommand(() -> premoveLift = true));
     driveController.povUp().onTrue(new InstantCommand(() -> premoveLift = false));
@@ -759,18 +760,18 @@ private void configureBindings() {
                 .setSolenoidState(() -> true)
                 .andThen(algaeCommandFactory.processCommand()));
     // motor board
-    new Trigger(() -> motorBoard.getLl2())
-        .whileTrue(liftCommandFactory.liftApplyVoltageCommand(() -> 2));
-    new Trigger(() -> motorBoard.getLl3())
-        .whileTrue(gantryCommandFactory.gantryApplyVoltageCommand(() -> 1));
-    new Trigger(() -> motorBoard.getLl4())
-        .whileTrue(coralOuttakeCommandFactory.setIntakeVoltage(() -> 4));
-    new Trigger(() -> motorBoard.getRl4())
-        .whileTrue(algaeCommandFactory.setMotorVoltages(() -> 10, () -> 10));
-    new Trigger(() -> motorBoard.getRl3())
-        .whileTrue(climberCommandFactory.elevatorApplyVoltageCommand(() -> -1));
-    new Trigger(() -> motorBoard.getTrough())
-        .onTrue(new InstantCommand(() -> liftSubsystem.resetEncoder()));
+    // new Trigger(() -> motorBoard.getLl2())
+    //     .whileTrue(liftCommandFactory.liftApplyVoltageCommand(() -> 2));
+    // new Trigger(() -> motorBoard.getLl3())
+    //     .whileTrue(gantryCommandFactory.gantryApplyVoltageCommand(() -> 1));
+    // new Trigger(() -> motorBoard.getLl4())
+    //     .whileTrue(coralOuttakeCommandFactory.setIntakeVoltage(() -> 4));
+    // new Trigger(() -> motorBoard.getRl4())
+    //     .whileTrue(algaeCommandFactory.setMotorVoltages(() -> 10, () -> 10));
+    // new Trigger(() -> motorBoard.getRl3())
+    //     .whileTrue(climberCommandFactory.elevatorApplyVoltageCommand(() -> -1));
+    // new Trigger(() -> motorBoard.getTrough())
+    //     .onTrue(new InstantCommand(() -> liftSubsystem.resetEncoder()));
 
     new Trigger(operatorController.leftTrigger())
         .whileTrue(new InstantCommand(() -> algaeIntakeSubsystem.setHasAlgae(false)));
@@ -801,74 +802,74 @@ private void configureBindings() {
             new InstantCommand(() -> operatorControllerHID.setRumble(RumbleType.kBothRumble, 0)));
     mapPIDtoCommand();
     if (TestConfig.testingMode == TestingSetting.pit) {
-      configurePitBindings();
+      // configurePitBindings();
     } else {
       // put in TESTBOARD triggers here
     }
   }
 
-  private void configurePitBindings() {
-    new Trigger(() -> (pitController.getHID().getPOV() == 0))
-        .whileTrue(
-            climberCommandFactory.winchApplyVoltageCommand(
-                (pitController.getHID().getPOV() == 0 ? () -> -2.5 : () -> 2.5)));
-    new Trigger(() -> (pitController.getHID().getPOV() == 180))
-        .whileTrue(
-            climberCommandFactory.winchApplyVoltageCommand(
-                (pitController.getHID().getPOV() == 180 ? () -> 2.5 : () -> -2.5)));
+  // private void configurePitBindings() {
+    // new Trigger(() -> (pitController.getHID().getPOV() == 0))
+    //     .whileTrue(
+    //         climberCommandFactory.winchApplyVoltageCommand(
+    //             (pitController.getHID().getPOV() == 0 ? () -> -2.5 : () -> 2.5)));
+    // new Trigger(() -> (pitController.getHID().getPOV() == 180))
+    //     .whileTrue(
+    //         climberCommandFactory.winchApplyVoltageCommand(
+    //             (pitController.getHID().getPOV() == 180 ? () -> 2.5 : () -> -2.5)));
 
-    new Trigger(() -> pitController.getHID().getPOV() == 270)
-        .whileTrue(new InstantCommand(() -> autoRampPos = false));
-    new Trigger(() -> Math.abs(pitController.getRightY()) > 0.03)
-        .whileTrue(
-            climberCommandFactory.elevatorApplyVoltageCommand(
-                () -> -pitController.getRightY() * 4));
-    pitController
-        .rightBumper()
-        .whileTrue(gantryCommandFactory.gantrySetVelocityCommand(() -> GantryConstants.alignSpeed));
-    pitController
-        .leftBumper()
-        .whileTrue(
-            gantryCommandFactory.gantrySetVelocityCommand(() -> -GantryConstants.alignSpeed));
-    pitController
-        .rightTrigger()
-        .and(() -> !algaeIntakeSubsystem.hasAlgae())
-        .whileTrue(
-            algaeCommandFactory
-                .setSolenoidState(() -> true)
-                .andThen(algaeCommandFactory.setMotorVoltages(() -> 4, () -> 4)));
-    pitController
-        .leftTrigger()
-        .and(() -> algaeIntakeSubsystem.hasAlgae())
-        .whileTrue(
-            algaeCommandFactory
-                .setSolenoidState(() -> true)
-                .andThen(algaeCommandFactory.processCommand()));
-    pitController
-        .start()
-        .whileTrue(
-            new InstantCommand(() -> liftSubsystem.resetEncoder())
-                .alongWith(new InstantCommand(() -> climberSubsystem.resetEncoder()))
-                .alongWith(new InstantCommand(() -> autoRampPos = true)));
-    pitController
-        .b()
-        .whileTrue(
-            coralOuttakeCommandFactory
-                .outtake()
-                .finallyDo(() -> coralOuttakeCommandFactory.outtaking = false));
-    pitController.y().and(() -> !coralOuttakeCommandFactory.outtaking).onTrue(runLiftToSafe());
-    pitController.back().whileTrue(gantryCommandFactory.gantryHomeCommand());
-    pitController
-        .povRight()
-        .onTrue(climberCommandFactory.setClampState(() -> !climberSubsystem.getSolenoidState()));
-    pitController.a().onTrue(setupAutoPlace(() -> coralPreset));
-    pitController.x().onTrue(new InstantCommand(() -> AntiTipWeight.setAntiTipEnabled(false)));
-  }
+    // new Trigger(() -> pitController.getHID().getPOV() == 270)
+    //     .whileTrue(new InstantCommand(() -> autoRampPos = false));
+    // new Trigger(() -> Math.abs(pitController.getRightY()) > 0.03)
+    //     .whileTrue(
+    //         climberCommandFactory.elevatorApplyVoltageCommand(
+    //             () -> -pitController.getRightY() * 4));
+    // pitController
+    //     .rightBumper()
+    //     .whileTrue(gantryCommandFactory.gantrySetVelocityCommand(() -> GantryConstants.alignSpeed));
+    // pitController
+    //     .leftBumper()
+    //     .whileTrue(
+    //         gantryCommandFactory.gantrySetVelocityCommand(() -> -GantryConstants.alignSpeed));
+    // pitController
+    //     .rightTrigger()
+    //     .and(() -> !algaeIntakeSubsystem.hasAlgae())
+    //     .whileTrue(
+    //         algaeCommandFactory
+    //             .setSolenoidState(() -> true)
+    //             .andThen(algaeCommandFactory.setMotorVoltages(() -> 4, () -> 4)));
+    // pitController
+    //     .leftTrigger()
+    //     .and(() -> algaeIntakeSubsystem.hasAlgae())
+    //     .whileTrue(
+    //         algaeCommandFactory
+    //             .setSolenoidState(() -> true)
+    //             .andThen(algaeCommandFactory.processCommand()));
+    // pitController
+    //     .start()
+    //     .whileTrue(
+    //         new InstantCommand(() -> liftSubsystem.resetEncoder())
+    //             .alongWith(new InstantCommand(() -> climberSubsystem.resetEncoder()))
+    //             .alongWith(new InstantCommand(() -> autoRampPos = true)));
+    // pitController
+    //     .b()
+    //     .whileTrue(
+    //         coralOuttakeCommandFactory
+    //             .outtake()
+    //             .finallyDo(() -> coralOuttakeCommandFactory.outtaking = false));
+    // pitController.y().and(() -> !coralOuttakeCommandFactory.outtaking).onTrue(runLiftToSafe());
+    // pitController.back().whileTrue(gantryCommandFactory.gantryHomeCommand());
+    // pitController
+    //     .povRight()
+    //     .onTrue(climberCommandFactory.setClampState(() -> !climberSubsystem.getSolenoidState()));
+    // pitController.a().onTrue(setupAutoPlace(() -> coralPreset));
+    // pitController.x().onTrue(new InstantCommand(() -> AntiTipWeight.setAntiTipEnabled(false)));
+  // }
 
   public Command getAutonomousCommand() {
     return homing()
         .andThen(new InstantCommand(() -> autoRampPos = true))
-        .andThen(new InstantCommand(() -> premoveLift = true))
+        // .andThen(new InstantCommand(() -> premoveLift = true))
         .andThen(dashboard.getAutoChooserCommand());
     // return new InstantCommand();
   }
@@ -976,7 +977,11 @@ public void generateNamedCommands() {
     NamedCommands.registerCommand(
         "SetupL4",
         new InstantCommand(
-            () -> coralPreset = gantryAuto ? CoralPreset.RightL4 : CoralPreset.LeftL4));
+            () ->
+                coralPreset =
+                    gantryAuto
+                        ? CoralPreset.RightL4
+                        : CoralPreset.LeftL4)); // increment up l2 - l4 for testing!!
     NamedCommands.registerCommand(
         "SetupL3",
         new InstantCommand(
@@ -1023,10 +1028,10 @@ public void generateNamedCommands() {
 
     NamedCommands.registerCommand(
         "LocalAlign",
-        localAlign
-            .getAutoCommand()
-            .deadlineFor(autonAutoPlace(() -> coralPreset))
-            .until(() -> localAlign.isAutoalignComplete() || !localAlign.isReady())
+        (new ProxyCommand(localAlign::getAutoCommand)) // it just explodes as soon as this happens?
+            .deadlineFor(autonAutoPlace(() -> coralPreset)) // this is not the problem
+            .until(
+                () -> localAlign.isAutoalignComplete() || !localAlign.isReady()) // never gets here
             .alongWith(new InstantCommand(() -> PathplannerWeight.setSpeeds(new ChassisSpeeds()))));
     NamedCommands.registerCommand(
         "WaitForLocal",
diff --git a/src/main/java/frc/robot/sensors/gyro/GyroIONavX.java b/src/main/java/frc/robot/sensors/gyro/GyroIONavX.java
index 172d41be..77941b51 100644
--- a/src/main/java/frc/robot/sensors/gyro/GyroIONavX.java
+++ b/src/main/java/frc/robot/sensors/gyro/GyroIONavX.java
@@ -57,7 +57,7 @@ public void updateInputs(GyroIOInputs inputs) {
   @Override
   public void resetGyro(GyroIOInputs inputs) {
     rollOffset = inputs.roll.plus(new Rotation2d(rollOffset)).getRadians();
-    pitchOffset = inputs.pitch.plus(new Rotation2d(rollOffset)).getRadians();
+    pitchOffset = inputs.pitch.plus(new Rotation2d(pitchOffset)).getRadians();
     offset = inputs.angleRadiansRaw;
   }
 
diff --git a/src/main/java/frc/robot/subsystems/drive/weights/LocalTagAlignWeight.java b/src/main/java/frc/robot/subsystems/drive/weights/LocalTagAlignWeight.java
index 65f25618..865585cd 100644
--- a/src/main/java/frc/robot/subsystems/drive/weights/LocalTagAlignWeight.java
+++ b/src/main/java/frc/robot/subsystems/drive/weights/LocalTagAlignWeight.java
@@ -5,6 +5,8 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+// import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.constants.FieldConstants;
 import frc.robot.sensors.apriltag.AprilTagVision;
 import frc.robot.sensors.gyro.Gyro;
@@ -101,12 +103,15 @@ public boolean isReady() {
               && Math.abs((robotRotation.get().minus(new Rotation2d(goalAngle))).getDegrees()) < 15;
     }
     Logger.recordOutput("LocalTagAlign/isAlignReady", ready);
+    Logger.recordOutput(
+        "LocalTagAlign/vectorNorm", vector.isPresent() ? vector.get().getNorm() : -1);
     return ready;
   }
 
   public Command getAutoCommand() {
     return driveCommandFactory
         .runVelocityCommand(() -> getSpeeds(), () -> true)
+        .alongWith(new InstantCommand(() -> System.out.println("getAutoCommand is running")))
         .finallyDo(
             () -> driveCommandFactory.runVelocityCommand(() -> new ChassisSpeeds(), () -> true));
   }