diff --git a/src/main/deploy/choreo/Autos_Practice1.chor b/src/main/deploy/choreo/Autos_Practice1.chor
new file mode 100644
index 00000000..d515d794
--- /dev/null
+++ b/src/main/deploy/choreo/Autos_Practice1.chor
@@ -0,0 +1,534 @@
+{
+ "name":"Autos_Practice1",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{
+   "slow":{
+    "dimension":"LinVel",
+    "var":{
+     "exp":"2 m / s",
+     "val":2.0
+    }
+   },
+   "slowaccel":{
+    "dimension":"LinAcc",
+    "var":{
+     "exp":"1.5 m / s ^ 2",
+     "val":1.5
+    }
+   },
+   "slower":{
+    "dimension":"LinVel",
+    "var":{
+     "exp":"1.5 m / s",
+     "val":1.5
+    }
+   },
+   "slowest":{
+    "dimension":"LinVel",
+    "var":{
+     "exp":"1 m / s",
+     "val":1.0
+    }
+   }
+  },
+  "poses":{
+   "CL":{
+    "x":{
+     "exp":"1.998773455619812 m",
+     "val":1.998773455619812
+    },
+    "y":{
+     "exp":"4.835856914520264 m",
+     "val":4.835856914520264
+    },
+    "heading":{
+     "exp":"1.5728533535678788 rad",
+     "val":1.5728533535678788
+    }
+   },
+   "CM":{
+    "x":{
+     "exp":"1.7500560283660889 m",
+     "val":1.7500560283660889
+    },
+    "y":{
+     "exp":"3.7646303176879883 m",
+     "val":3.764630317687988
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "CR":{
+    "x":{
+     "exp":"1.8024730682373047 m",
+     "val":1.802473068237305
+    },
+    "y":{
+     "exp":"2.449967384338379 m",
+     "val":2.449967384338379
+    },
+    "heading":{
+     "exp":"-1.5737992594811685 rad",
+     "val":-1.5737992594811685
+    }
+   },
+   "D":{
+    "x":{
+     "exp":"0.703999767303467 m",
+     "val":0.703999767303467
+    },
+    "y":{
+     "exp":"5.975247383117676 m",
+     "val":5.975247383117676
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "DLO":{
+    "x":{
+     "exp":"8.579570770263672 m",
+     "val":8.579570770263672
+    },
+    "y":{
+     "exp":"5.865847587585449 m",
+     "val":5.865847587585449
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "DLT":{
+    "x":{
+     "exp":"8.579570770263672 m",
+     "val":8.579570770263672
+    },
+    "y":{
+     "exp":"2.2046804428100586 m",
+     "val":2.2046804428100586
+    },
+    "heading":{
+     "exp":"DLO.heading",
+     "val":-1.5707963267948966
+    }
+   },
+   "DRO":{
+    "x":{
+     "exp":"7.979954719543457 m",
+     "val":7.979954719543457
+    },
+    "y":{
+     "exp":"2.225545644760132 m",
+     "val":2.225545644760132
+    },
+    "heading":{
+     "exp":"1.5752676626464273 rad",
+     "val":1.5752676626464273
+    }
+   },
+   "DRT":{
+    "x":{
+     "exp":"7.979954719543457 m",
+     "val":7.979954719543457
+    },
+    "y":{
+     "exp":"5.877043724060059 m",
+     "val":5.877043724060059
+    },
+    "heading":{
+     "exp":"1.5752676626464273 rad",
+     "val":1.5752676626464273
+    }
+   },
+   "ELL":{
+    "x":{
+     "exp":"2.1214685440063477 m",
+     "val":2.1214685440063477
+    },
+    "y":{
+     "exp":"7.046450138092041 m",
+     "val":7.046450138092041
+    },
+    "heading":{
+     "exp":"-1.573056098378181 rad",
+     "val":-1.573056098378181
+    }
+   },
+   "ER":{
+    "x":{
+     "exp":"2.1974267959594727 m",
+     "val":2.1974267959594727
+    },
+    "y":{
+     "exp":"0.9764090180397034 m",
+     "val":0.9764090180397034
+    },
+    "heading":{
+     "exp":"1.5718817860612435 rad",
+     "val":1.5718817860612435
+    }
+   },
+   "FL":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"5.865901947021484 m",
+     "val":5.865901947021484
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "FLM":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"4.503572463989258 m",
+     "val":4.503572463989258
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "FR":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"2.2169458866119385 m",
+     "val":2.2169458866119385
+    },
+    "heading":{
+     "exp":"1.5707963267948966 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "FRM":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"3.55698299407959 m",
+     "val":3.55698299407959
+    },
+    "heading":{
+     "exp":"1.5707963267948966 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "M":{
+    "x":{
+     "exp":"1.8712037801742554 m",
+     "val":1.8712037801742551
+    },
+    "y":{
+     "exp":"4 m",
+     "val":4.0
+    },
+    "heading":{
+     "exp":"3.141592638598 / 2 rad",
+     "val":1.570796319299
+    }
+   },
+   "MLL":{
+    "x":{
+     "exp":"3.2225897312164307 m",
+     "val":3.2225897312164307
+    },
+    "y":{
+     "exp":"7.436997413635254 m",
+     "val":7.436997413635254
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   },
+   "MR":{
+    "x":{
+     "exp":"3.32966947555542 m",
+     "val":3.32966947555542
+    },
+    "y":{
+     "exp":"0.688210129737854 m",
+     "val":0.688210129737854
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "O":{
+    "x":{
+     "exp":"0.4355199635028839 m",
+     "val":0.4355199635028839
+    },
+    "y":{
+     "exp":"0.5460934042930603 m",
+     "val":0.5460934042930603
+    },
+    "heading":{
+     "exp":"3.141592653589793 / 2 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "PLB":{
+    "x":{
+     "exp":"3.708786010742188 m",
+     "val":3.708786010742188
+    },
+    "y":{
+     "exp":"5.537450790405273 m",
+     "val":5.537450790405273
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
+    }
+   },
+   "PLT":{
+    "x":{
+     "exp":"3.7620644569396973 m",
+     "val":3.7620644569396977
+    },
+    "y":{
+     "exp":"7.357067584991455 m",
+     "val":7.357067584991455
+    },
+    "heading":{
+     "exp":"SLT.heading",
+     "val":3.141592653589793
+    }
+   },
+   "PM":{
+    "x":{
+     "exp":"3.6745946407318115 m",
+     "val":3.674594640731811
+    },
+    "y":{
+     "exp":"4.0000072192 m",
+     "val":4.0000072192
+    },
+    "heading":{
+     "exp":"3.141592638589 / 2 rad",
+     "val":1.5707963192945
+    }
+   },
+   "PRB":{
+    "x":{
+     "exp":"3.7007737159729004 m",
+     "val":3.700773715972901
+    },
+    "y":{
+     "exp":"2.531209707260132 m",
+     "val":2.531209707260132
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
+    }
+   },
+   "PRT":{
+    "x":{
+     "exp":"3.7242095470428467 m",
+     "val":3.7242095470428462
+    },
+    "y":{
+     "exp":"0.7309682965278625 m",
+     "val":0.7309682965278625
+    },
+    "heading":{
+     "exp":"3.141592690548533 / 2 rad",
+     "val":1.5707963452742666
+    }
+   },
+   "RLL":{
+    "x":{
+     "exp":"2.9497299194335938 m",
+     "val":2.9497299194335938
+    },
+    "y":{
+     "exp":"7.378527641296387 m",
+     "val":7.378527641296387
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
+    }
+   },
+   "RR":{
+    "x":{
+     "exp":"2.5106818675994873 m",
+     "val":2.5106818675994873
+    },
+    "y":{
+     "exp":"0.6606601476669312 m",
+     "val":0.6606601476669312
+    },
+    "heading":{
+     "exp":"0 deg",
+     "val":0.0
+    }
+   },
+   "SC":{
+    "x":{
+     "exp":"2.4044814109802246 m",
+     "val":2.4044814109802246
+    },
+    "y":{
+     "exp":"2 m",
+     "val":2.0
+    },
+    "heading":{
+     "exp":"-3.1415076242073234 rad",
+     "val":-3.141507624207323
+    }
+   },
+   "SLB":{
+    "x":{
+     "exp":"2.7844135761260986 m",
+     "val":2.784413576126098
+    },
+    "y":{
+     "exp":"5.38032865524292 m",
+     "val":5.38032865524292
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "SLT":{
+    "x":{
+     "exp":"2.814626932144165 m",
+     "val":2.814626932144165
+    },
+    "y":{
+     "exp":"7.330637454986572 m",
+     "val":7.330637454986572
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "SRB":{
+    "x":{
+     "exp":"2.7844135761260986 m",
+     "val":2.784413576126098
+    },
+    "y":{
+     "exp":"2.601309061050415 m",
+     "val":2.601309061050415
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "SRT":{
+    "x":{
+     "exp":"2.768587827682495 m",
+     "val":2.768587827682495
+    },
+    "y":{
+     "exp":"0.7205682992935181 m",
+     "val":0.7205682992935181
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"21.748 / 2 in",
+    "val":0.2761996
+   },
+   "y":{
+    "exp":"21.748 / 2 in",
+    "val":0.2761996
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-21.748 / 2 in",
+    "val":-0.2761996
+   },
+   "y":{
+    "exp":"21.748 / 2 in",
+    "val":0.2761996
+   }
+  },
+  "mass":{
+   "exp":"145.8 lb",
+   "val":66.133767546
+  },
+  "inertia":{
+   "exp":"35620.08132 in ^ 2 * lb",
+   "val":10.42384825260472
+  },
+  "gearing":{
+   "exp":"7.03",
+   "val":7.03
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"4640 RPM",
+   "val":485.8996637552213
+  },
+  "tmax":{
+   "exp":"0.9 N * m",
+   "val":0.9
+  },
+  "cof":{
+   "exp":"2.25",
+   "val":2.25
+  },
+  "bumper":{
+   "front":{
+    "exp":"34.8 / 2 in",
+    "val":0.44196
+   },
+   "side":{
+    "exp":"34.8 / 2 in",
+    "val":0.44196
+   },
+   "back":{
+    "exp":"34.8 / 2 in",
+    "val":0.44196
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"21.367 in",
+   "val":0.5427218
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/src/main/deploy/choreo/DepottoLPreTrench.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj
index 6707a85c..b5cc7f81 100644
--- a/src/main/deploy/choreo/DepottoLPreTrench.traj
+++ b/src/main/deploy/choreo/DepottoLPreTrench.traj
@@ -5,13 +5,13 @@
   "waypoints":[
     {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.293079853057861, "y":5.975247383117676, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":24, "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}],
   "targetDt":0.05
  },
@@ -19,13 +19,13 @@
   "waypoints":[
     {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.2762303344743435 rad", "val":1.2762303344743435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.2762303344743435 rad", "val":1.2762303344743435}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":24, "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},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
@@ -57,100 +57,102 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.42905,1.3622,2.11755],
+  "waypoints":[0.0,0.4044,1.34142,2.12095],
   "samples":[
-    {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.47867, "ay":-0.00238, "alpha":1.45373, "fx":[123.81944,123.82631,123.47868,123.46815], "fy":[-12.1296,12.05915,14.94475,-15.0316]},
-    {"t":0.03575, "x":0.70878, "y":5.97525, "heading":3.14159, "vx":0.26739, "vy":-0.00009, "omega":0.05198, "ax":7.47702, "ay":-0.00237, "alpha":1.45587, "fx":[123.79557,123.80243,123.44809,123.43757], "fy":[-12.14285,12.0726,14.9653,-15.05193]},
-    {"t":0.07151, "x":0.72312, "y":5.97524, "heading":-3.13973, "vx":0.53472, "vy":-0.00017, "omega":0.10403, "ax":7.47472, "ay":-0.00235, "alpha":1.45891, "fx":[123.76461,123.76659,123.40812,123.39185], "fy":[-12.13707,12.1161,14.97015,-15.10485]},
-    {"t":0.10726, "x":0.74702, "y":5.97523, "heading":-3.13601, "vx":0.80197, "vy":-0.00025, "omega":0.15619, "ax":7.47126, "ay":-0.00232, "alpha":1.46348, "fx":[123.71951,123.71161,123.34962,123.3218], "fy":[-12.11599,12.1939,14.96519,-15.1966]},
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diff --git a/src/main/deploy/choreo/FLtoML.traj b/src/main/deploy/choreo/FLtoML.traj
new file mode 100644
index 00000000..6e299763
--- /dev/null
+++ b/src/main/deploy/choreo/FLtoML.traj
@@ -0,0 +1,143 @@
+{
+ "name":"FLtoML",
+ "version":3,
+ "snapshot":{
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+    {"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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.15}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
+  "targetDt":0.05
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj
new file mode 100644
index 00000000..e7070879
--- /dev/null
+++ b/src/main/deploy/choreo/FRtoSRT.traj
@@ -0,0 +1,146 @@
+{
+ "name":"FRtoSRT",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.937558174133301, "y":0.7205682992935181, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":4.8473358154296875, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":22, "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":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
+    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.2}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.937558174133301 m", "val":6.937558174133301}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"4.8473358154296875 m", "val":4.8473358154296875}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":22, "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}],
+  "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},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
+    {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.2 m", "val":0.2}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
+    "x":-0.2761996,
+    "y":0.2761996
+   },
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.81298,1.46758,2.29395],
+  "samples":[
+    {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.91963, "ay":-6.07086, "alpha":7.57495, "fx":[-64.98764,11.798,38.45552,-112.21848], "fy":[-106.10789,-123.84714,-117.98329,-53.55073]},
+    {"t":0.02903, "x":7.81956, "y":2.21439, "heading":1.5708, "vx":-0.05574, "vy":-0.17627, "omega":0.21994, "ax":-1.92765, "ay":-6.07348, "alpha":7.55292, "fx":[-65.00171,11.67711,38.00188,-112.16012], "fy":[-106.08796,-123.84725,-118.09222,-53.63459]},
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+    {"t":0.0871, "x":7.81306, "y":2.19391, "heading":1.58994, "vx":-0.16801, "vy":-0.52934, "omega":0.65644, "ax":-1.95603, "ay":-6.11145, "alpha":7.35381, "fx":[-64.15237,12.09133,34.2963,-111.59483], "fy":[-106.57469,-123.77682,-119.11006,-54.71186]},
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+ "events":[]
+}
diff --git a/src/main/deploy/choreo/LCleanuptoLPreTrench.traj b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj
new file mode 100644
index 00000000..57696505
--- /dev/null
+++ b/src/main/deploy/choreo/LCleanuptoLPreTrench.traj
@@ -0,0 +1,158 @@
+{
+ "name":"LCleanuptoLPreTrench",
+ "version":3,
+ "snapshot":{
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+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
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+    {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
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+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj
index f1f7db65..6a908e3b 100644
--- a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj
+++ b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj
@@ -3,34 +3,46 @@
  "version":3,
  "snapshot":{
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diff --git a/src/main/deploy/choreo/LPreTrenchtoDepot.traj b/src/main/deploy/choreo/LPreTrenchtoDepot.traj
index a590ef73..5eea31dd 100644
--- a/src/main/deploy/choreo/LPreTrenchtoDepot.traj
+++ b/src/main/deploy/choreo/LPreTrenchtoDepot.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
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     {"x":2.2870702743530273, "y":6.423518180847168, "heading":2.0344439357957027, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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@@ -18,7 +18,7 @@
  },
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+    {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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     {"x":{"exp":"1.1956301927566528 m", "val":1.1956301927566528}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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@@ -59,98 +59,102 @@
    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
-  "waypoints":[0.0,0.55421,1.73991,2.3573],
+  "waypoints":[0.0,0.65751,1.84026,2.45768],
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diff --git a/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj
new file mode 100644
index 00000000..69cd018c
--- /dev/null
+++ b/src/main/deploy/choreo/LPreTrenchtoLCleanup.traj
@@ -0,0 +1,151 @@
+{
+ "name":"LPreTrenchtoLCleanup",
+ "version":3,
+ "snapshot":{
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
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+    {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}],
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj
index 457b3a1b..5dbd04b9 100644
--- a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj
+++ b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj
@@ -3,28 +3,28 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.7803301811218262, "y":5.078708171844482, "heading":1.6207547225168395, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":44, "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":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.7803301811218262 m", "val":1.7803301811218262}, "y":{"exp":"5.078708171844482 m", "val":5.078708171844482}, "heading":{"exp":"1.6207547225168395 rad", "val":1.6207547225168395}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"LClimb.x", "val":0.5524598956108093}, "y":{"exp":"LClimb.y", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":44, "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":"slow", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slowest", "val":1.0}}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}],
   "targetDt":{
@@ -57,80 +57,78 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.32864,2.64551],
+  "waypoints":[0.0,1.14599,2.46241],
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+    {"t":1.00624, "x":1.9214, "y":5.23558, "heading":1.57118, "vx":-1.27638, "vy":-1.57382, "omega":0.02122, "ax":3.79533, "ay":6.46609, "alpha":-0.18451, "fx":[63.28235,60.71091,62.20767,64.79848], "fy":[106.61908,108.09502,107.22437,105.68868]},
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+    {"t":1.06214, "x":1.85599, "y":5.1577, "heading":1.57222, "vx":-1.06348, "vy":-1.21255, "omega":0.01153, "ax":3.83894, "ay":6.45401, "alpha":-0.1473, "fx":[63.88357,61.84194,63.05265,65.10567], "fy":[106.47629,107.67002,106.95687,105.72501]},
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+    {"t":1.89823, "x":1.04421, "y":4.95175, "heading":1.57285, "vx":-0.99038, "vy":-0.13684, "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":2.4154, "x":0.5607, "y":4.88495, "heading":1.57285, "vx":-0.35042, "vy":-0.04842, "omega":0.0, "ax":7.45337, "ay":1.02985, "alpha":0.0, "fx":[123.22989,123.22989,123.22989,123.22989], "fy":[17.02703,17.02703,17.02703,17.02703]},
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj
index 49a30797..b7309781 100644
--- a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj
+++ b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj
@@ -3,16 +3,16 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":5.743162631988525, "y":7.378527641296387, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.366947174072266, "y":7.026499271392822, "heading":-0.7102714504381418, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.743162631988525, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.564816951751709, "y":6.902011394500732, "heading":-0.7102714504381418, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.254300117492676, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.254300117492676, "y":4.509925842285156, "heading":-1.5707963267948966, "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":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":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
     {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}],
@@ -20,16 +20,16 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.366947174072266 m", "val":7.366947174072266}, "y":{"exp":"7.026499271392822 m", "val":7.026499271392822}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.564816951751709 m", "val":7.564816951751709}, "y":{"exp":"6.902011394500732 m", "val":6.902011394500732}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"LNeutral.y", "val":4.509925842285156}, "heading":{"exp":"LNeutral.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},
     {"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":"slow", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
     {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}],
@@ -63,119 +63,107 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.53036,2.36778,2.98282,3.68016],
+  "waypoints":[0.0,1.06815,1.78234,2.23838,2.75419],
   "samples":[
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-    {"t":0.04501, "x":2.95735, "y":7.37853, "heading":0.0, "vx":0.33872, "vy":0.00002, "omega":0.0, "ax":7.52341, "ay":0.00038, "alpha":0.0, "fx":[124.38791,124.38791,124.38791,124.38791], "fy":[0.00634,0.00634,0.00634,0.00634]},
-    {"t":0.09002, "x":2.98022, "y":7.37853, "heading":0.0, "vx":0.67735, "vy":0.00003, "omega":0.0, "ax":7.52026, "ay":0.00039, "alpha":0.0, "fx":[124.33574,124.33574,124.33574,124.33574], "fy":[0.00646,0.00646,0.00646,0.00646]},
-    {"t":0.13503, "x":3.01833, "y":7.37853, "heading":0.0, "vx":1.01585, "vy":0.00005, "omega":0.0, "ax":7.51403, "ay":0.0004, "alpha":0.0, "fx":[124.23282,124.23282,124.23282,124.23282], "fy":[0.00663,0.00663,0.00663,0.00663]},
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+    {"t":2.72553, "x":8.25744, "y":4.58719, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.00135, "ay":0.03322, "alpha":0.0, "fx":[0.02232,0.02232,0.02232,0.02232], "fy":[0.54929,0.54929,0.54929,0.54929]},
+    {"t":2.75419, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.10955, "vy":-2.69588, "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/LTrenchtoDepot.traj b/src/main/deploy/choreo/LTrenchtoDepot.traj
index 7314b668..149fc0f6 100644
--- a/src/main/deploy/choreo/LTrenchtoDepot.traj
+++ b/src/main/deploy/choreo/LTrenchtoDepot.traj
@@ -3,27 +3,27 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.780329942703247, "y":5.9557576179504395, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":0.703999767303467, "y":5.975247383117676, "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":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"LTrench.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"LTrench.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"1.780329942703247 m", "val":1.780329942703247}, "y":{"exp":"5.9557576179504395 m", "val":5.9557576179504395}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":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":"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":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slower", "val":1.5}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
@@ -55,58 +55,54 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.35844,2.17928],
+  "waypoints":[0.0,1.1174,1.93916],
   "samples":[
-    {"t":0.0, "x":3.76206, "y":7.35707, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.08387, "ay":-4.42926, "alpha":0.0, "fx":[-100.58728,-100.58728,-100.58728,-100.58728], "fy":[-73.23087,-73.23087,-73.23087,-73.23087]},
-    {"t":0.04528, "x":3.75583, "y":7.35253, "heading":3.14159, "vx":-0.27548, "vy":-0.20056, "omega":0.0, "ax":-6.08234, "ay":-4.42814, "alpha":0.0, "fx":[-100.56198,-100.56198,-100.56198,-100.56198], "fy":[-73.21245,-73.21245,-73.21245,-73.21245]},
-    {"t":0.09056, "x":3.73712, "y":7.33891, "heading":3.14159, "vx":-0.5509, "vy":-0.40107, "omega":0.0, "ax":-6.0798, "ay":-4.4263, "alpha":0.0, "fx":[-100.52003,-100.52003,-100.52003,-100.52003], "fy":[-73.18191,-73.18191,-73.18191,-73.18191]},
-    {"t":0.13584, "x":3.70594, "y":7.31621, "heading":3.14159, "vx":-0.8262, "vy":-0.6015, "omega":0.0, "ax":-6.07477, "ay":-4.42264, "alpha":0.0, "fx":[-100.43693,-100.43693,-100.43693,-100.43693], "fy":[-73.12141,-73.12141,-73.12141,-73.12141]},
-    {"t":0.18112, "x":3.6623, "y":7.28444, "heading":3.14159, "vx":-1.10127, "vy":-0.80176, "omega":0.0, "ax":-6.06008, "ay":-4.41194, "alpha":0.0, "fx":[-100.19397,-100.19397,-100.19397,-100.19397], "fy":[-72.94453,-72.94453,-72.94453,-72.94453]},
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-    {"t":0.54337, "x":3.09928, "y":6.87454, "heading":3.14159, "vx":-1.61653, "vy":-1.17689, "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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diff --git a/src/main/deploy/choreo/MLtoFL.traj b/src/main/deploy/choreo/MLtoFL.traj
new file mode 100644
index 00000000..f762f65d
--- /dev/null
+++ b/src/main/deploy/choreo/MLtoFL.traj
@@ -0,0 +1,139 @@
+{
+ "name":"MLtoFL",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.869002342224121, "y":7.436997413635254, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.907824516296387, "y":7.349101543426514, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "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":0, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.15}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.15 m", "val":0.15}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "y":0.2761996
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+    "y":0.2761996
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+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
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+    "side":0.44196,
+    "back":0.44196
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+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.70309,1.33948,2.14027],
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/MRtoSRT.traj b/src/main/deploy/choreo/MRtoSRT.traj
new file mode 100644
index 00000000..4bf12cd1
--- /dev/null
+++ b/src/main/deploy/choreo/MRtoSRT.traj
@@ -0,0 +1,69 @@
+{
+ "name":"MRtoSRT",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":11, "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":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"3.141592653589793 rad", "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":"3.141592653589793 rad", "val":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":"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":{
+   "frontLeft":{
+    "x":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
+    "x":-0.2761996,
+    "y":0.2761996
+   },
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.54895],
+  "samples":[
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+    {"t":0.19962, "x":3.18, "y":0.69684, "heading":3.14159, "vx":-1.49915, "vy":0.08646, "omega":0.0, "ax":-7.48777, "ay":0.43183, "alpha":0.0, "fx":[-123.79865,-123.79865,-123.79865,-123.79865], "fy":[7.1396,7.1396,7.1396,7.1396]},
+    {"t":0.24952, "x":3.09586, "y":0.70169, "heading":3.14159, "vx":-1.87283, "vy":0.10801, "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":0.29943, "x":3.0024, "y":0.70708, "heading":3.14159, "vx":-1.87283, "vy":0.10801, "omega":0.0, "ax":7.48777, "ay":-0.43183, "alpha":0.0, "fx":[123.79865,123.79865,123.79865,123.79865], "fy":[-7.1396,-7.1396,-7.1396,-7.1396]},
+    {"t":0.34933, "x":2.91826, "y":0.71194, "heading":3.14159, "vx":-1.49915, "vy":0.08646, "omega":0.0, "ax":7.50415, "ay":-0.43277, "alpha":0.0, "fx":[124.06938,124.06938,124.06938,124.06938], "fy":[-7.15521,-7.15521,-7.15521,-7.15521]},
+    {"t":0.39924, "x":2.85279, "y":0.71571, "heading":3.14159, "vx":-1.12466, "vy":0.06486, "omega":0.0, "ax":7.50961, "ay":-0.43309, "alpha":0.0, "fx":[124.15975,124.15975,124.15975,124.15975], "fy":[-7.16042,-7.16042,-7.16042,-7.16042]},
+    {"t":0.44914, "x":2.80601, "y":0.71841, "heading":3.14159, "vx":-0.74989, "vy":0.04325, "omega":0.0, "ax":7.51235, "ay":-0.43324, "alpha":0.0, "fx":[124.20496,124.20496,124.20496,124.20496], "fy":[-7.16303,-7.16303,-7.16303,-7.16303]},
+    {"t":0.49905, "x":2.77794, "y":0.72003, "heading":3.14159, "vx":-0.37499, "vy":0.02163, "omega":0.0, "ax":7.51399, "ay":-0.43334, "alpha":0.0, "fx":[124.23209,124.23209,124.23209,124.23209], "fy":[-7.1646,-7.1646,-7.1646,-7.1646]},
+    {"t":0.54895, "x":2.76859, "y":0.72057, "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/OutposttoRClimb.traj b/src/main/deploy/choreo/OutposttoRClimb.traj
index 607c98de..4b968b93 100644
--- a/src/main/deploy/choreo/OutposttoRClimb.traj
+++ b/src/main/deploy/choreo/OutposttoRClimb.traj
@@ -3,24 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"RClimb.x", "val":1.838799834251404}, "y":{"exp":"RClimb.y", "val":2.700927495956421}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "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},
-    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}],
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -51,57 +51,52 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.59341],
+  "waypoints":[0.0,1.46548],
   "samples":[
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-    {"t":0.0332, "x":0.44585, "y":0.447, "heading":1.5708, "vx":0.13128, "vy":0.21245, "omega":0.00531, "ax":3.95403, "ay":6.39856, "alpha":0.17094, "fx":[64.92348,67.26181,65.81773,63.49157], "fy":[106.07558,104.61145,105.5305,106.94344]},
-    {"t":0.06639, "x":0.45239, "y":0.45758, "heading":1.57097, "vx":0.26254, "vy":0.42486, "omega":0.01098, "ax":3.95301, "ay":6.39692, "alpha":0.18581, "fx":[64.86744,67.40903,65.83918,63.31196], "fy":[106.07371,104.48076,105.48277,107.0153]},
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+    {"t":1.4314, "x":1.83708, "y":2.69765, "heading":-1.58222, "vx":0.10082, "vy":0.1922, "omega":0.24713, "ax":-2.95835, "ay":-5.6394, "alpha":-7.25129, "fx":[-78.60103,-0.28423,4.3862,-121.14756], "fy":[-96.4843,-124.42029,-123.82241,-28.22793]},
+    {"t":1.46548, "x":1.8388, "y":2.70093, "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/OutposttoRPreTrench.traj b/src/main/deploy/choreo/OutposttoRPreTrench.traj
index 296550de..a0d4e77b 100644
--- a/src/main/deploy/choreo/OutposttoRPreTrench.traj
+++ b/src/main/deploy/choreo/OutposttoRPreTrench.traj
@@ -10,7 +10,7 @@
     {"from":"first", "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":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":false}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":false}],
   "targetDt":0.05
  },
  "params":{
@@ -22,7 +22,7 @@
     {"from":"first", "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":{"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":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":false}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":false}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
diff --git a/src/main/deploy/choreo/RBumptoOutpost.traj b/src/main/deploy/choreo/RBumptoOutpost.traj
index 9376568b..d35466bb 100644
--- a/src/main/deploy/choreo/RBumptoOutpost.traj
+++ b/src/main/deploy/choreo/RBumptoOutpost.traj
@@ -3,24 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":3.5344297885894775, "y":2.057757616043091, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.5344297885894775, "y":2.057757616043091, "heading":1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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+    {"t":1.60153, "x":0.45203, "y":0.44784, "heading":1.5708, "vx":-0.3339, "vy":-0.17439, "omega":0.0, "ax":6.6716, "ay":3.48454, "alpha":0.0, "fx":[110.30448,110.30448,110.30448,110.30448], "fy":[57.61147,57.61147,57.61147,57.61147]},
+    {"t":1.65158, "x":0.44367, "y":0.44347, "heading":1.5708, "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/RNeutraltoRPreTrench.traj b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj
index c8277603..aca9a561 100644
--- a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj
+++ b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj
@@ -3,14 +3,14 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "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":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":false},
     {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}],
@@ -18,14 +18,14 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":82, "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":"slow", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"6 rad / s", "val":6.0}}}, "enabled":false},
     {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
     {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}],
@@ -59,92 +59,81 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.68253,3.06256],
+  "waypoints":[0.0,1.27192,2.29416],
   "samples":[
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-    {"t":0.03365, "x":7.78854, "y":3.49774, "heading":1.61502, "vx":-0.94622, "vy":-1.76133, "omega":1.31382, "ax":-0.00001, "ay":0.0, "alpha":-0.01515, "fx":[0.06811,-0.07468,-0.06836,0.07443], "fy":[0.07458,0.06826,-0.07453,-0.06821]},
-    {"t":0.0673, "x":7.7567, "y":3.43847, "heading":1.65923, "vx":-0.94622, "vy":-1.76133, "omega":1.31331, "ax":0.0, "ay":0.0, "alpha":-0.02208, "fx":[0.09447,-0.11303,-0.09463,0.11287], "fy":[0.11299,0.09459,-0.1129,-0.09451]},
-    {"t":0.10095, "x":7.72486, "y":3.3792, "heading":1.70342, "vx":-0.94622, "vy":-1.76133, "omega":1.31257, "ax":-0.00001, "ay":0.0, "alpha":-0.02906, "fx":[0.11766,-0.15409,-0.11783,0.15391], "fy":[0.15404,0.11779,-0.15395,-0.1177]},
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+    {"t":1.85605, "x":4.51206, "y":0.7069, "heading":3.14159, "vx":-2.69894, "vy":-0.04151, "omega":0.0, "ax":0.00015, "ay":-0.01001, "alpha":0.0, "fx":[0.00256,0.00256,0.00256,0.00256], "fy":[-0.16552,-0.16552,-0.16552,-0.16552]},
+    {"t":1.89256, "x":4.41352, "y":0.70537, "heading":3.14159, "vx":-2.69893, "vy":-0.04188, "omega":0.0, "ax":0.00012, "ay":-0.0079, "alpha":0.0, "fx":[0.00203,0.00203,0.00203,0.00203], "fy":[-0.13062,-0.13062,-0.13062,-0.13062]},
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+    {"t":2.00209, "x":4.11792, "y":0.70075, "heading":3.14159, "vx":-2.69892, "vy":-0.04257, "omega":0.0, "ax":0.00006, "ay":-0.00383, "alpha":0.0, "fx":[0.001,0.001,0.001,0.001], "fy":[-0.06329,-0.06329,-0.06329,-0.06329]},
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+    {"t":2.11161, "x":3.82232, "y":0.69606, "heading":3.14159, "vx":-2.69891, "vy":-0.04291, "omega":0.0, "ax":0.00003, "ay":-0.00172, "alpha":0.0, "fx":[0.00045,0.00045,0.00045,0.00045], "fy":[-0.02841,-0.02841,-0.02841,-0.02841]},
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+    {"t":2.22114, "x":3.52672, "y":0.69135, "heading":3.14159, "vx":-2.69891, "vy":-0.04304, "omega":0.0, "ax":0.00001, "ay":-0.00049, "alpha":0.0, "fx":[0.00015,0.00015,0.00015,0.00015], "fy":[-0.00809,-0.00809,-0.00809,-0.00809]},
+    {"t":2.25765, "x":3.42819, "y":0.68978, "heading":3.14159, "vx":-2.69891, "vy":-0.04306, "omega":0.0, "ax":0.02055, "ay":0.00017, "alpha":0.0, "fx":[0.33968,0.33968,0.33968,0.33968], "fy":[0.00277,0.00277,0.00277,0.00277]},
+    {"t":2.29416, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-2.69816, "vy":-0.04306, "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/RPreTrenchtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj
index ebd36cb0..c2d61b0b 100644
--- a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj
+++ b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj
@@ -3,15 +3,15 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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-    {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.593911647796631, "y":0.688210129737854, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "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":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
     {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}],
@@ -19,15 +19,15 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.593911647796631 m", "val":6.593911647796631}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.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},
     {"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":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
     {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}],
@@ -61,105 +61,93 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.52411,2.17112,3.38281],
+  "waypoints":[0.0,1.21899,1.82499,2.74133],
   "samples":[
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diff --git a/src/main/deploy/choreo/SRTtoO.traj b/src/main/deploy/choreo/SRTtoO.traj
new file mode 100644
index 00000000..60cfa7b4
--- /dev/null
+++ b/src/main/deploy/choreo/SRTtoO.traj
@@ -0,0 +1,100 @@
+{
+ "name":"SRTtoO",
+ "version":3,
+ "snapshot":{
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+  "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":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+  "targetDt":{
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+ "trajectory":{
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+    "side":0.44196,
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+    {"t":0.45616, "x":2.16997, "y":0.7466, "heading":2.25949, "vx":-2.57737, "vy":0.06115, "omega":-2.39047, "ax":-4.31431, "ay":-1.22115, "alpha":10.47167, "fx":[-81.20481,-4.47558,-82.15179,-117.48907], "fy":[-82.34253,-75.11021,78.37601,-1.68268]},
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+    {"t":0.79068, "x":1.14872, "y":0.72902, "heading":1.83316, "vx":-2.97846, "vy":-0.32881, "omega":-1.57052, "ax":4.08822, "ay":-4.35493, "alpha":-5.7165, "fx":[109.19165,37.28307,34.6064,89.28809], "fy":[-19.06608,-87.35709,-108.21682,-73.36804]},
+    {"t":0.82109, "x":1.06003, "y":0.71701, "heading":1.7854, "vx":-2.85413, "vy":-0.46125, "omega":-1.74436, "ax":6.58985, "ay":-0.69524, "alpha":6.11991, "fx":[87.53226,117.54197,118.39915,112.33828], "fy":[-85.15132,-36.58165,32.91997,42.8344]},
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+    {"t":1.21393, "x":0.43963, "y":0.54814, "heading":1.5689, "vx":-0.23462, "vy":-0.11663, "omega":0.05407, "ax":6.69146, "ay":3.32622, "alpha":-1.54216, "fx":[108.78218,100.83089,114.57554,118.34278], "fy":[60.38485,72.84522,48.37805,38.36718]},
+    {"t":1.24899, "x":0.43552, "y":0.54609, "heading":1.5708, "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/StartingLTrenchtoLNeutral.traj b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj
index 1a46ad85..201abfca 100644
--- a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj
+++ b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj
@@ -3,32 +3,32 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":3.7620644569396977, "y":7.357067584991455, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.378722190856934, "y":7.126171112060547, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":5.897287845611572, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":7.621101379394531, "y":7.239717483520508, "heading":-0.6556957522182731, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.254300117492676, "y":6.001461505889893, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.254300117492676, "y":4.509925842285156, "heading":-1.5707963267948966, "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":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
     {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
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+    {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.994898796081543 m", "val":5.994898796081543}, "y":{"exp":"7.350574970245361 m", "val":7.350574970245361}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.378722190856934 m", "val":7.378722190856934}, "y":{"exp":"7.126171112060547 m", "val":7.126171112060547}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"7.621101379394531 m", "val":7.621101379394531}, "y":{"exp":"7.239717483520508 m", "val":7.239717483520508}, "heading":{"exp":"-0.6556957522182731 rad", "val":-0.6556957522182731}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"6.001461505889893 m", "val":6.001461505889893}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"8.254300117492676 m", "val":8.254300117492676}, "y":{"exp":"4.509925842285156 m", "val":4.509925842285156}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "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":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":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
+    {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true},
     {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
     {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}],
   "targetDt":{
@@ -61,106 +61,106 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.92863,1.63801,2.29957,2.99683],
+  "waypoints":[0.0,1.00729,1.62253,2.14986,2.70289],
   "samples":[
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-    {"t":0.04221, "x":4.41208, "y":7.35058, "heading":0.0, "vx":0.31765, "vy":0.00043, "omega":0.0, "ax":7.52399, "ay":0.01018, "alpha":0.0, "fx":[124.39749,124.39749,124.39749,124.39749], "fy":[0.16839,0.16839,0.16839,0.16839]},
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+    {"t":2.49914, "x":8.26197, "y":5.05978, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00004,-0.00004,-0.00004,-0.00004], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":2.52825, "x":8.26088, "y":4.98123, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "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]},
+    {"t":2.55735, "x":8.25978, "y":4.90268, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "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":2.58646, "x":8.25869, "y":4.82412, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "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":2.61557, "x":8.25759, "y":4.74557, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "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":2.64467, "x":8.25649, "y":4.66702, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00008,0.00008,0.00008,0.00008]},
+    {"t":2.67378, "x":8.2554, "y":4.58847, "heading":-1.5708, "vx":-0.03766, "vy":-2.69881, "omega":0.0, "ax":0.00045, "ay":0.03221, "alpha":0.0, "fx":[0.00743,0.00743,0.00743,0.00743], "fy":[0.53258,0.53258,0.53258,0.53258]},
+    {"t":2.70289, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.03765, "vy":-2.69787, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor
index 3a9dcd1a..32f96143 100644
--- a/src/main/deploy/choreo/rebuiltChoreo.chor
+++ b/src/main/deploy/choreo/rebuiltChoreo.chor
@@ -7,8 +7,8 @@
    "slow":{
     "dimension":"LinVel",
     "var":{
-     "exp":"2 m / s",
-     "val":2.0
+     "exp":"2.7 m / s",
+     "val":2.7
     }
    },
    "slowaccel":{
@@ -31,6 +31,13 @@
      "exp":"1 m / s",
      "val":1.0
     }
+   },
+   "slowish":{
+    "dimension":"LinVel",
+    "var":{
+     "exp":"2 m / s",
+     "val":2.0
+    }
    }
   },
   "poses":{
@@ -76,6 +83,20 @@
      "val":1.5707963267948966
     }
    },
+   "LCleanup":{
+    "x":{
+     "exp":"6.068130016326904 m",
+     "val":6.068130016326904
+    },
+    "y":{
+     "exp":"3.792367458343506 m",
+     "val":3.792367458343506
+    },
+    "heading":{
+     "exp":"-90 deg",
+     "val":-1.5707963267948966
+    }
+   },
    "LClimb":{
     "x":{
      "exp":"0.5524598956108093 m",
@@ -92,12 +113,12 @@
    },
    "LNeutral":{
     "x":{
-     "exp":"7.8203654289245605 m",
-     "val":7.82036542892456
+     "exp":"8.254300117492676 m",
+     "val":8.254300117492676
     },
     "y":{
-     "exp":"4.503572463989258 m",
-     "val":4.503572463989258
+     "exp":"4.509925842285156 m",
+     "val":4.509925842285156
     },
     "heading":{
      "exp":"-1.5707963267948966 rad",
@@ -106,12 +127,12 @@
    },
    "LPreTrench":{
     "x":{
-     "exp":"2.9497299194335938 m",
-     "val":2.9497299194335938
+     "exp":"3.3465769290924072 m",
+     "val":3.3465769290924072
     },
     "y":{
-     "exp":"7.378527641296387 m",
-     "val":7.378527641296387
+     "exp":"7.509117603302002 m",
+     "val":7.509117603302002
     },
     "heading":{
      "exp":"0 deg",
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index baf8bc77..2b86b025 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -67,7 +67,8 @@ public enum Action {
     CLIMB_SCORE,
     OUTPOST,
     NOTHING,
-    CLIMB_ONLY;
+    CLIMB_ONLY,
+    SCORE_AT_END;
   }
 
   public enum Path {
@@ -82,8 +83,13 @@ public enum Path {
     FeedRNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.FEED),
     // INTAKE
     LNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.INTAKE),
+    EndWScoreLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.SCORE_AT_END),
+    EndWScoreLCleanuptoLPreTrench("LCleanuptoLPreTrench", Action.SCORE_AT_END),
+
     RNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.INTAKE),
     LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE),
+    LPreTrenchtoLCleanup("LPreTrenchtoLCleanup", Action.INTAKE),
+
     RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE),
     StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE),
     StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE),
@@ -164,6 +170,8 @@ public Command runPath(Path path, AutoRoutine routine) {
         return outpostPath(path, routine);
       case CLIMB_ONLY:
         return climbNoScorePath(path, routine);
+      case SCORE_AT_END:
+        return scoreAtEndPath(path, routine);
       case NOTHING:
         return emptyPath(path, routine);
       default: // this should never happen
@@ -232,6 +240,16 @@ public Command scorePath(Path path, AutoRoutine routine) {
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()));
   }
 
+  public Command scoreAtEndPath(Path path, AutoRoutine routine) {
+    return Commands.sequence(
+        startIntaking(),
+        path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
+        stopIntaking(),
+        startScoring(),
+        swerve.stop().repeatedly().withTimeout(5),
+        stopScoring());
+  }
+
   public Command emptyPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()));
@@ -524,6 +542,36 @@ public Command getCenterScoreAuto() {
     return createAuto("Center Score Auto", new Path[] {Path.HubtoCenter}, Commands.none());
   }
 
+  public Command getRightNeutralOutpostScore() {
+    return createAuto(
+        "Right Neutral Outpost Score",
+        new Path[] {
+          Path.StartingRTrenchtoRNeutral, Path.RNeutraltoRPreTrench, Path.RPreTrenchtoOutpost
+        },
+        setRightClimb());
+  }
+
+  public Command getLeftNeutralOutpostScore() {
+    return createAuto(
+        "Left Neutral Outpost Score",
+        new Path[] {
+          Path.StartingLTrenchtoLNeutral, Path.LNeutraltoLPreTrench, Path.LPreTrenchtoDepot
+        },
+        setLeftClimb());
+  }
+
+  public Command getLeftNeutralScoreTwice() {
+    return createAuto(
+        "Left Neutral Score Twice",
+        new Path[] {
+          Path.StartingLTrenchtoLNeutral,
+          Path.EndWScoreLNeutraltoLPreTrench,
+          Path.LPreTrenchtoLCleanup,
+          Path.EndWScoreLCleanuptoLPreTrench
+        },
+        setLeftClimb());
+  }
+
   public Command getTestAuto() {
     final AutoRoutine routine = factory.newRoutine("test auto");
     Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST};
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 8d047929..33af4858 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -793,6 +793,8 @@ private void addAutos() {
         "Left Bump Depot Outpost Climb", autos.getLeftBumpDepotOutpostClimbAuto());
     autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto());
     autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto());
+    autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice());
+    autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore());
 
     autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid());
     autoChooser.addOption("Hood Sysid", shooter.runHoodSysid());
diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java
index a7b2ddeb..d1d22ed6 100644
--- a/src/main/java/frc/robot/Superstructure.java
+++ b/src/main/java/frc/robot/Superstructure.java
@@ -345,7 +345,7 @@ private void addTransitions() {
       bindTransition(
           SuperState.SCORE_FLOW,
           SuperState.SPIN_UP_SCORE_FLOW,
-          new Trigger(AutoAim::targetInTurretDeadzone));
+          new Trigger(NewAutoAim::targetInTurretDeadzone));
 
       bindTransition(
           SuperState.SPIN_UP_SCORE_FLOW,
diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java
index 8d1aae9d..7f3ad33d 100644
--- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java
@@ -20,7 +20,7 @@
 /** Spindexer = Spinning Indexer. !! COMP !! */
 public class SpindexerSubsystem extends SubsystemBase implements Indexer {
 
-  public static final double SPINNER_GEAR_RATIO = 67.0 / 12.0;
+  public static final double SPINNER_GEAR_RATIO = 67.0 / 15.0;
   public static final double KICKER_GEAR_RATIO = 24.0 / 18.0;
   // i don't really know if i should be using the sushi or the stealth wheels but the sushi wheels
   // are 1" in diameter and the stealth wheels are 3" in diameter
@@ -82,8 +82,10 @@ public Command kick(DoubleSupplier flywheelSpeedSupplier) {
               Logger.recordOutput("Indexer/Kicker/Adjusted speed", kickerSpeed);
               // spinnerIO.setRollerVelocity(spinnerSpeed - 1);
               // kickerIO.setRollerVelocity(kickerSpeed - 5);
-              spinnerIO.setRollerVelocity(60);
-              kickerIO.setRollerVelocity(25);
+              // spinnerIO.setRollerVelocity(60);
+              // kickerIO.setRollerVelocity(25);
+              spinnerIO.setRollerVoltage(12);
+              kickerIO.setRollerVoltage(12);
             })
         //     .withTimeout(3),
         // this.run(
@@ -140,7 +142,7 @@ public static TalonFXConfiguration getIndexerConfig() {
     config.Slot0.kD = 0;
 
     config.CurrentLimits.StatorCurrentLimit = 80.0;
-    config.CurrentLimits.StatorCurrentLimitEnable = false;
+    config.CurrentLimits.StatorCurrentLimitEnable = true;
     config.CurrentLimits.SupplyCurrentLimit = 40.0;
     config.CurrentLimits.SupplyCurrentLimitEnable = true;
     config.CurrentLimits.SupplyCurrentLowerLimit = 40.0;
diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
index 4832f206..8004ac6f 100644
--- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
@@ -92,22 +92,22 @@ public void simulationPeriodic() {
   @Override
   public Command agitate() {
     return Commands.sequence(
-        this.run(
-            () -> {
-              // maybe needs to go slower but idrk how to do that rn
-              pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION);
-              rollerIO.setRollerVelocity(10.0);
-            })
-        //         .until(atExtensionTrigger),
-        //     this.run(
-        //             () -> {
-        //               pivotIO.setMotorPositionSetpoint(
-        //                   PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40)));
-        //               rollerIO.setRollerVelocity(10.0);
-        //             })
-        //         .until(atExtensionTrigger))
-        // .repeatedly();
-        );
+            this.run(
+                    () -> {
+                      // maybe needs to go slower but idrk how to do that rn
+                      pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
+                      rollerIO.setRollerVelocity(30.0);
+                    })
+                .until(atExtensionTrigger),
+            this.run(
+                    () -> {
+                      pivotIO.setMotorPositionSetpoint(
+                          PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40)));
+                      rollerIO.setRollerVelocity(30.0);
+                    })
+                .until(atExtensionTrigger))
+        .repeatedly();
+    // );
   }
 
   @Override
@@ -191,7 +191,7 @@ public Rotation2d getPositionSetpoint() {
   }
 
   public boolean atExtension() {
-    return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 5);
+    return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 10);
   }
 
   public static TalonFXConfiguration getPivotConfig() {
@@ -220,7 +220,7 @@ public static TalonFXConfiguration getPivotConfig() {
     config.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     // TODO: TUNE
-    config.MotionMagic.MotionMagicCruiseVelocity = 3;
+    config.MotionMagic.MotionMagicCruiseVelocity = .5;
     config.MotionMagic.MotionMagicAcceleration = 10;
 
     return config;
diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
index 77632be9..2a77bbd5 100644
--- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
@@ -276,7 +276,6 @@ public Command rest(
           //           chassisSpeedsSupplier.get()));
           // } else {
           if (inScoringArea.getAsBoolean()) {
-
             turretIO.setTurretPosition(
                 NewAutoAim.getParametersMechA(
                         robotPoseSupplier.get(),
@@ -366,7 +365,8 @@ public Command resetTurretToPosition(Rotation2d rot) {
 
   /** sets the motor encoder to the position calculated from the encoders */
   public Command resetTurretToCalculatedPosition() {
-    return resetTurretToPosition(getCalculatedTurretRotations());
+    return Commands.print("Rezeroing turret")
+        .andThen(resetTurretToPosition(getCalculatedTurretRotations()));
   }
 
   @Override