diff --git a/src/main/deploy/choreo/CtoO.traj b/src/main/deploy/choreo/CtoO.traj
new file mode 100644
index 00000000..1bcfebbe
--- /dev/null
+++ b/src/main/deploy/choreo/CtoO.traj
@@ -0,0 +1,115 @@
+{
+ "name":"CtoO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":2.4044814109802246, "y":2.0, "heading":-3.120762420732352, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.6131027936935425, "y":1.1535886526107788, "heading":1.9909931005444836, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7321799635887146, "y":0.7198631167411804, "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "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":"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":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "y":0.2761996
+   },
+   "backLeft":{
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+    "y":0.2761996
+   },
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+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
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+    "side":0.44196,
+    "back":0.44196
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+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.8731,1.62816],
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+    {"t":1.5625, "x":0.74678, "y":0.72692, "heading":1.5708, "vx":-0.4447, "vy":-0.21494, "omega":0.00001, "ax":6.77213, "ay":3.27321, "alpha":-0.00008, "fx":[111.96645,111.96616,111.96675,111.96704], "fy":[54.11781,54.1184,54.11717,54.11657]},
+    {"t":1.59533, "x":0.73583, "y":0.72163, "heading":1.5708, "vx":-0.22238, "vy":-0.10748, "omega":0.00001, "ax":6.77384, "ay":3.27404, "alpha":-0.00036, "fx":[111.99423,111.99293,111.99559,111.99688], "fy":[54.13259,54.13525,54.12975,54.12709]},
+    {"t":1.62816, "x":0.73218, "y":0.71986, "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/DBtoFL.traj b/src/main/deploy/choreo/DBtoFL.traj
deleted file mode 100644
index ca0bc25b..00000000
--- a/src/main/deploy/choreo/DBtoFL.traj
+++ /dev/null
@@ -1,190 +0,0 @@
-{
- "name":"DBtoFL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.674230575561523, "y":5.870871067047119, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.712236404418945, "y":5.845959186553955, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.791762351989746, "y":5.82935094833374, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.527308464050293, "y":7.016829490661621, "heading":-1.369478506668525, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.6742305755615234 m", "val":3.674230575561523}, "y":{"exp":"5.870871067047119 m", "val":5.870871067047119}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.712236404418945 m", "val":4.712236404418945}, "y":{"exp":"5.845959186553955 m", "val":5.845959186553955}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.791762351989746 m", "val":5.791762351989746}, "y":{"exp":"5.82935094833374 m", "val":5.82935094833374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.527308464050293 m", "val":7.527308464050293}, "y":{"exp":"7.016829490661621 m", "val":7.016829490661621}, "heading":{"exp":"-1.3694785066685253 rad", "val":-1.369478506668525}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.93267,2.62507,3.34617,4.76179,5.56579],
-  "samples":[
-    {"t":0.0, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":1.48091, "vy":-0.22958, "omega":1.67673, "ax":0.02411, "ay":-0.00374, "alpha":-0.0023, "fx":[0.36573,0.36573,0.37891,0.37891], "fy":[-0.05113,-0.06432,-0.06432,-0.05113]},
-    {"t":0.04295, "x":0.8735, "y":6.30274, "heading":-3.06958, "vx":1.48195, "vy":-0.22974, "omega":1.67663, "ax":0.0, "ay":0.0, "alpha":-0.00248, "fx":[-0.00758,-0.00656,0.00758,0.00656], "fy":[0.00656,-0.00758,-0.00656,0.00758]},
-    {"t":0.0859, "x":0.93714, "y":6.29288, "heading":-2.99757, "vx":1.48195, "vy":-0.22974, "omega":1.67653, "ax":0.0, "ay":0.0, "alpha":-0.00257, "fx":[-0.00832,-0.00621,0.00832,0.00621], "fy":[0.00621,-0.00832,-0.00621,0.00832]},
-    {"t":0.12884, "x":1.00079, "y":6.28301, "heading":-2.92557, "vx":1.48195, "vy":-0.22974, "omega":1.67642, "ax":0.0, "ay":0.0, "alpha":-0.00254, "fx":[-0.00867,-0.00555,0.00867,0.00555], "fy":[0.00555,-0.00867,-0.00555,0.00867]},
-    {"t":0.17179, "x":1.06444, "y":6.27314, "heading":-2.85357, "vx":1.48195, "vy":-0.22974, "omega":1.67631, "ax":0.0, "ay":0.0, "alpha":-0.00236, "fx":[-0.0084,-0.00456,0.0084,0.00456], "fy":[0.00456,-0.0084,-0.00456,0.0084]},
-    {"t":0.21474, "x":1.12808, "y":6.26328, "heading":-2.78157, "vx":1.48195, "vy":-0.22974, "omega":1.6762, "ax":0.0, "ay":0.0, "alpha":-0.00203, "fx":[-0.00748,-0.00339,0.00748,0.00339], "fy":[0.00339,-0.00748,-0.00339,0.00748]},
-    {"t":0.25769, "x":1.19173, "y":6.25341, "heading":-2.70958, "vx":1.48195, "vy":-0.22974, "omega":1.67612, "ax":0.0, "ay":0.0, "alpha":-0.00156, "fx":[-0.00592,-0.00218,0.00592,0.00218], "fy":[0.00218,-0.00592,-0.00219,0.00592]},
-    {"t":0.30064, "x":1.25538, "y":6.24354, "heading":-2.6376, "vx":1.48195, "vy":-0.22974, "omega":1.67605, "ax":0.0, "ay":0.0, "alpha":-0.00098, "fx":[-0.0038,-0.0011,0.0038,0.0011], "fy":[0.0011,-0.0038,-0.0011,0.0038]},
-    {"t":0.34359, "x":1.31903, "y":6.23367, "heading":-2.56561, "vx":1.48195, "vy":-0.22974, "omega":1.67601, "ax":0.0, "ay":0.0, "alpha":-0.00033, "fx":[-0.00132,-0.00028,0.00132,0.00028], "fy":[0.00028,-0.00133,-0.00028,0.00132]},
-    {"t":0.38653, "x":1.38267, "y":6.22381, "heading":-2.49363, "vx":1.48195, "vy":-0.22974, "omega":1.67599, "ax":0.0, "ay":0.0, "alpha":0.00033, "fx":[0.00134,0.00018,-0.00134,-0.00019], "fy":[-0.00019,0.00134,0.00018,-0.00134]},
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-    {"t":5.56579, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.3085, "vy":-1.46729, "omega":-0.10432, "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/DLOtoDLT.traj b/src/main/deploy/choreo/DLOtoDLT.traj
index 799e0861..ceff11a5 100644
--- a/src/main/deploy/choreo/DLOtoDLT.traj
+++ b/src/main/deploy/choreo/DLOtoDLT.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -36,12 +36,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -51,58 +51,62 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.44129],
+  "waypoints":[0.0,2.44133],
   "samples":[
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diff --git a/src/main/deploy/choreo/DLTtoDRO.traj b/src/main/deploy/choreo/DLTtoDRO.traj
deleted file mode 100644
index ba5663d0..00000000
--- a/src/main/deploy/choreo/DLTtoDRO.traj
+++ /dev/null
@@ -1,74 +0,0 @@
-{
- "name":"DLTtoDRO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"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":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
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-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
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-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.40319],
-  "samples":[
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-    {"t":0.40319, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":-1.49783, "vy":0.02765, "omega":-7.09413, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DLTtoSRB.traj b/src/main/deploy/choreo/DLTtoSRB.traj
deleted file mode 100644
index c74ac2dc..00000000
--- a/src/main/deploy/choreo/DLTtoSRB.traj
+++ /dev/null
@@ -1,146 +0,0 @@
-{
- "name":"DLTtoSRB",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.8596649169921875, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.331108093261719, "y":2.6069321632385254, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
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-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
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-    {"t":3.44215, "x":3.44728, "y":2.60373, "heading":-3.1401, "vx":-1.49968, "vy":-0.00549, "omega":-0.0035, "ax":0.0, "ay":0.0, "alpha":-0.00091, "fx":[-0.00262,-0.00261,0.00262,0.00261], "fy":[0.00261,-0.00262,-0.00261,0.00262]},
-    {"t":3.49126, "x":3.37363, "y":2.60346, "heading":-3.14027, "vx":-1.49968, "vy":-0.00549, "omega":-0.00354, "ax":0.0, "ay":0.0, "alpha":-0.00033, "fx":[-0.00096,-0.00096,0.00096,0.00096], "fy":[0.00096,-0.00096,-0.00096,0.00096]},
-    {"t":3.54037, "x":3.29998, "y":2.6032, "heading":-3.14044, "vx":-1.49968, "vy":-0.00549, "omega":-0.00356, "ax":0.0, "ay":0.0, "alpha":0.00019, "fx":[0.00054,0.00053,-0.00054,-0.00053], "fy":[-0.00053,0.00054,0.00053,-0.00054]},
-    {"t":3.58948, "x":3.22632, "y":2.60293, "heading":-3.14062, "vx":-1.49968, "vy":-0.00549, "omega":-0.00355, "ax":0.0, "ay":0.0, "alpha":0.00074, "fx":[0.00212,0.00212,-0.00212,-0.00212], "fy":[-0.00212,0.00212,0.00212,-0.00212]},
-    {"t":3.6386, "x":3.15267, "y":2.60266, "heading":-3.14079, "vx":-1.49968, "vy":-0.00549, "omega":-0.00351, "ax":0.0, "ay":0.0, "alpha":0.00142, "fx":[0.00408,0.00407,-0.00408,-0.00407], "fy":[-0.00407,0.00408,0.00407,-0.00408]},
-    {"t":3.68771, "x":3.07902, "y":2.60239, "heading":-3.14096, "vx":-1.49968, "vy":-0.00549, "omega":-0.00344, "ax":0.0, "ay":0.0, "alpha":0.00235, "fx":[0.00674,0.00673,-0.00674,-0.00673], "fy":[-0.00673,0.00674,0.00673,-0.00674]},
-    {"t":3.73682, "x":3.00536, "y":2.60212, "heading":-3.14113, "vx":-1.49968, "vy":-0.00549, "omega":-0.00333, "ax":0.0, "ay":0.0, "alpha":0.00369, "fx":[0.01056,0.01055,-0.01056,-0.01055], "fy":[-0.01055,0.01056,0.01055,-0.01056]},
-    {"t":3.78593, "x":2.93171, "y":2.60185, "heading":-3.1413, "vx":-1.49968, "vy":-0.00549, "omega":-0.00315, "ax":0.0, "ay":0.0, "alpha":0.00567, "fx":[0.01622,0.01621,-0.01622,-0.01621], "fy":[-0.01621,0.01622,0.01621,-0.01622]},
-    {"t":3.83504, "x":2.85806, "y":2.60158, "heading":-3.14145, "vx":-1.49968, "vy":-0.00549, "omega":-0.00287, "ax":0.00622, "ay":0.00002, "alpha":0.00863, "fx":[0.12076,0.12075,0.07138,0.07139], "fy":[-0.02433,0.02504,0.02503,-0.02434]},
-    {"t":3.88416, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49938, "vy":-0.00549, "omega":-0.00244, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DLTtoSRT.traj b/src/main/deploy/choreo/DLTtoSRT.traj
deleted file mode 100644
index 5617b4f6..00000000
--- a/src/main/deploy/choreo/DLTtoSRT.traj
+++ /dev/null
@@ -1,151 +0,0 @@
-{
- "name":"DLTtoSRT",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":8.579570770263672, "y":2.2046804428100586, "heading":-1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.618313789367676, "y":0.7565738558769226, "heading":-3.131691987510157, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.193192958831787, "y":0.7335880994796753, "heading":-3.1240506797033034, "intervals":20, "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":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":0, "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"DLT.x", "val":8.579570770263672}, "y":{"exp":"DLT.y", "val":2.2046804428100586}, "heading":{"exp":"DLT.heading", "val":-1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.618313789367676 m", "val":5.618313789367676}, "y":{"exp":"0.7565738558769226 m", "val":0.7565738558769226}, "heading":{"exp":"-3.131691987510157 rad", "val":-3.131691987510157}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.193192958831787 m", "val":4.193192958831787}, "y":{"exp":"0.7335880994796753 m", "val":0.7335880994796753}, "heading":{"exp":"-3.1240506797033034 rad", "val":-3.1240506797033034}, "intervals":20, "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":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":0, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.19865,3.14963,4.09962],
-  "samples":[
-    {"t":0.0, "x":8.57957, "y":2.20468, "heading":-1.5708, "vx":-1.34478, "vy":-0.66161, "omega":-0.7318, "ax":-0.01845, "ay":-0.00908, "alpha":0.00061, "fx":[-0.28313,-0.2866,-0.2866,-0.28313], "fy":[-0.13842,-0.13842,-0.14189,-0.14189]},
-    {"t":0.04678, "x":8.51664, "y":2.17372, "heading":-1.60503, "vx":-1.34564, "vy":-0.66204, "omega":-0.73178, "ax":0.0, "ay":0.0, "alpha":0.00043, "fx":[0.00127,-0.00119,-0.00127,0.00119], "fy":[0.00119,0.00127,-0.00119,-0.00127]},
-    {"t":0.09356, "x":8.45369, "y":2.14275, "heading":-1.63926, "vx":-1.34564, "vy":-0.66204, "omega":-0.73176, "ax":0.0, "ay":0.0, "alpha":0.00031, "fx":[0.00095,-0.00083,-0.00095,0.00083], "fy":[0.00083,0.00095,-0.00083,-0.00095]},
-    {"t":0.14034, "x":8.39074, "y":2.11178, "heading":-1.67349, "vx":-1.34564, "vy":-0.66204, "omega":-0.73174, "ax":0.0, "ay":0.0, "alpha":0.00023, "fx":[0.00072,-0.00058,-0.00072,0.00058], "fy":[0.00058,0.00072,-0.00058,-0.00072]},
-    {"t":0.18712, "x":8.3278, "y":2.08081, "heading":-1.70772, "vx":-1.34564, "vy":-0.66204, "omega":-0.73173, "ax":0.0, "ay":0.0, "alpha":0.00017, "fx":[0.00056,-0.00043,-0.00056,0.00043], "fy":[0.00043,0.00056,-0.00043,-0.00056]},
-    {"t":0.2339, "x":8.26485, "y":2.04984, "heading":-1.74195, "vx":-1.34564, "vy":-0.66204, "omega":-0.73172, "ax":0.0, "ay":0.0, "alpha":0.00014, "fx":[0.00045,-0.00032,-0.00045,0.00032], "fy":[0.00032,0.00045,-0.00032,-0.00045]},
-    {"t":0.28068, "x":8.2019, "y":2.01887, "heading":-1.77618, "vx":-1.34564, "vy":-0.66204, "omega":-0.73172, "ax":0.0, "ay":0.0, "alpha":0.00009, "fx":[0.0003,-0.0002,-0.0003,0.0002], "fy":[0.0002,0.0003,-0.0002,-0.0003]},
-    {"t":0.32746, "x":8.13895, "y":1.9879, "heading":-1.81041, "vx":-1.34564, "vy":-0.66204, "omega":-0.73171, "ax":0.0, "ay":0.0, "alpha":0.00004, "fx":[0.00015,-0.00009,-0.00015,0.00009], "fy":[0.00009,0.00015,-0.00009,-0.00015]},
-    {"t":0.37424, "x":8.076, "y":1.95693, "heading":-1.84464, "vx":-1.34564, "vy":-0.66204, "omega":-0.73171, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[0.00007,-0.00004,-0.00007,0.00004], "fy":[0.00004,0.00007,-0.00004,-0.00007]},
-    {"t":0.42102, "x":8.01305, "y":1.92596, "heading":-1.87887, "vx":-1.34564, "vy":-0.66204, "omega":-0.73171, "ax":0.0, "ay":0.0, "alpha":-0.00005, "fx":[-0.00018,0.0001,0.00018,-0.0001], "fy":[-0.0001,-0.00018,0.0001,0.00018]},
-    {"t":0.4678, "x":7.9501, "y":1.89499, "heading":-1.9131, "vx":-1.34564, "vy":-0.66204, "omega":-0.73171, "ax":0.0, "ay":0.0, "alpha":-0.00013, "fx":[-0.00047,0.00023,0.00047,-0.00023], "fy":[-0.00023,-0.00047,0.00023,0.00047]},
-    {"t":0.51458, "x":7.88715, "y":1.86402, "heading":-1.94733, "vx":-1.34564, "vy":-0.66204, "omega":-0.73172, "ax":0.0, "ay":0.0, "alpha":-0.00018, "fx":[-0.00067,0.00029,0.00067,-0.00029], "fy":[-0.00029,-0.00067,0.00029,0.00067]},
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-    {"t":4.00462, "x":2.91104, "y":0.72187, "heading":-3.13968, "vx":-1.49962, "vy":-0.01368, "omega":-0.02106, "ax":0.0, "ay":0.0, "alpha":0.03784, "fx":[0.10848,0.10807,-0.10848,-0.10807], "fy":[-0.10807,0.10848,0.10807,-0.10848]},
-    {"t":4.05212, "x":2.83981, "y":0.72122, "heading":-3.14068, "vx":-1.49962, "vy":-0.01368, "omega":-0.01927, "ax":0.00665, "ay":0.00006, "alpha":0.05662, "fx":[0.26484,0.26454,-0.05943,-0.05913], "fy":[-0.1609,0.16307,0.16277,-0.1612]},
-    {"t":4.09962, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49931, "vy":-0.01367, "omega":-0.01658, "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/DROtoDRT.traj b/src/main/deploy/choreo/DROtoDRT.traj
index 29f1f27c..febe8c67 100644
--- a/src/main/deploy/choreo/DROtoDRT.traj
+++ b/src/main/deploy/choreo/DROtoDRT.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -36,12 +36,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -51,58 +51,62 @@
    "differentialTrackWidth":0.5427218
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   "sampleType":"Swerve",
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+  "waypoints":[0.0,2.43488],
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+    {"t":2.43488, "x":7.97995, "y":5.87704, "heading":1.57527, "vx":0.0, "vy":1.49935, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
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  "events":[]
diff --git a/src/main/deploy/choreo/DRTtoDLO.traj b/src/main/deploy/choreo/DRTtoDLO.traj
deleted file mode 100644
index e05eb152..00000000
--- a/src/main/deploy/choreo/DRTtoDLO.traj
+++ /dev/null
@@ -1,74 +0,0 @@
-{
- "name":"DRTtoDLO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.40311],
-  "samples":[
-    {"t":0.0, "x":7.97995, "y":5.87704, "heading":1.57527, "vx":1.48777, "vy":0.00642, "omega":8.20306, "ax":-0.34179, "ay":8.35869, "alpha":-5.66045, "fx":[12.68662,-23.03354,-24.57553,13.8094], "fy":[143.19834,142.69821,114.96849,115.4744]},
-    {"t":0.02879, "x":8.02265, "y":5.88069, "heading":1.81146, "vx":1.47793, "vy":0.24709, "omega":8.04008, "ax":0.4597, "ay":-3.48771, "alpha":-14.95746, "fx":[41.28315,-47.3789,-23.77519,58.26807], "fy":[-2.59718,-24.23222,-103.98994,-84.62632]},
-    {"t":0.05759, "x":8.0654, "y":5.88636, "heading":2.04297, "vx":1.49116, "vy":0.14667, "omega":7.6094, "ax":0.24455, "ay":-4.40916, "alpha":-6.9484, "fx":[13.22185,-24.29121,-5.05335,31.22953], "fy":[-42.03788,-60.22243,-93.50153,-76.60427]},
-    {"t":0.08638, "x":8.10843, "y":5.88876, "heading":2.26207, "vx":1.4982, "vy":0.01971, "omega":7.40933, "ax":-0.11952, "ay":-4.28484, "alpha":1.05036, "fx":[-2.24977,2.54407,-1.43858,-6.23908], "fy":[-70.23331,-66.57394,-62.09186,-65.78742]},
-    {"t":0.11518, "x":8.15152, "y":5.88755, "heading":2.47542, "vx":1.49476, "vy":-0.10366, "omega":7.43957, "ax":-0.42399, "ay":-3.95058, "alpha":8.56207, "fx":[-2.27939,29.1139,-11.27512,-41.7504], "fy":[-93.8271,-57.80908,-27.10114,-65.30089]},
-    {"t":0.14397, "x":8.19439, "y":5.88293, "heading":2.68963, "vx":1.48256, "vy":-0.21742, "omega":7.6861, "ax":-0.38163, "ay":-2.27342, "alpha":14.51237, "fx":[12.95141,50.86873,-26.32924,-61.06511], "fy":[-89.41636,-17.00682,20.59087,-54.60306]},
-    {"t":0.17276, "x":8.23692, "y":5.87572, "heading":2.91094, "vx":1.47157, "vy":-0.28288, "omega":8.10397, "ax":0.93691, "ay":9.93216, "alpha":2.59186, "fx":[21.61406,24.79655,7.65767,3.80723], "fy":[146.01729,157.48913,160.68374,149.34714]},
-    {"t":0.20156, "x":8.27968, "y":5.8717, "heading":-3.1389, "vx":1.49854, "vy":0.00311, "omega":8.1786, "ax":-0.71523, "ay":8.46949, "alpha":-4.65791, "fx":[-25.58497,-27.07348,4.40766,4.06883], "fy":[141.8036,119.06532,119.78789,142.52756]},
-    {"t":0.23035, "x":8.32253, "y":5.8753, "heading":-2.90341, "vx":1.47795, "vy":0.24698, "omega":8.04448, "ax":0.45557, "ay":-3.44905, "alpha":-15.00018, "fx":[-47.48263,-24.04505,58.25774,41.4115], "fy":[-23.38729,-103.49577,-84.25629,-1.91784]},
-    {"t":0.25914, "x":8.36528, "y":5.88098, "heading":-2.67178, "vx":1.49107, "vy":0.14767, "omega":7.61257, "ax":0.24737, "ay":-4.4005, "alpha":-7.02935, "fx":[-24.55314,-5.17388,31.56106,13.44658], "fy":[-59.93758,-93.64712,-76.63301,-41.61348]},
-    {"t":0.28794, "x":8.40831, "y":5.88341, "heading":-2.45258, "vx":1.49819, "vy":0.02096, "omega":7.41017, "ax":-0.11559, "ay":-4.27927, "alpha":0.96856, "fx":[2.26179,-1.40018,-5.83485,-2.16702], "fy":[-66.46411,-62.32459,-65.72233,-69.83113]},
-    {"t":0.31673, "x":8.4514, "y":5.88224, "heading":-2.23922, "vx":1.49486, "vy":-0.10226, "omega":7.43806, "ax":-0.41928, "ay":-3.94403, "alpha":8.4719, "fx":[28.81234,-11.06401,-41.32058,-2.32782], "fy":[-57.80649,-27.352,-65.0788,-93.3966]},
-    {"t":0.34553, "x":8.49427, "y":5.87766, "heading":-2.02505, "vx":1.48279, "vy":-0.21582, "omega":7.68199, "ax":-0.36238, "ay":-2.18744, "alpha":14.30679, "fx":[50.32604,-25.53673,-60.04243,12.86772], "fy":[-15.9962,21.17602,-52.87891,-87.42536]},
-    {"t":0.37432, "x":8.53682, "y":5.87054, "heading":-1.80385, "vx":1.47235, "vy":-0.2788, "omega":8.09394, "ax":0.86808, "ay":8.0571, "alpha":-32.20249, "fx":[-128.24051,115.46054,117.47529,-51.0714], "fy":[74.93352,21.01393,184.25156,217.51028]},
-    {"t":0.40311, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":1.49735, "vy":-0.04681, "omega":7.16671, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DRTtoSLB.traj b/src/main/deploy/choreo/DRTtoSLB.traj
deleted file mode 100644
index 3f5a244f..00000000
--- a/src/main/deploy/choreo/DRTtoSLB.traj
+++ /dev/null
@@ -1,139 +0,0 @@
-{
- "name":"DRTtoSLB",
- "version":3,
- "snapshot":{
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-    {"t":2.29294, "x":4.58752, "y":5.41311, "heading":-3.13909, "vx":-1.49948, "vy":-0.02488, "omega":-0.05185, "ax":0.00689, "ay":-0.02547, "alpha":0.39328, "fx":[1.23438,1.22876,-1.02168,-1.01602], "fy":[-1.51567,0.73473,0.72909,-1.52133]},
-    {"t":2.34127, "x":4.51506, "y":5.41188, "heading":3.14159, "vx":-1.49915, "vy":-0.02611, "omega":-0.03284, "ax":-0.00599, "ay":-0.02594, "alpha":0.26103, "fx":[0.65431,0.65432,-0.83936,-0.83936], "fy":[-1.14746,0.34622,0.34621,-1.14745]},
-    {"t":2.38936, "x":4.44296, "y":5.41059, "heading":3.14001, "vx":-1.49944, "vy":-0.02735, "omega":-0.02029, "ax":0.0, "ay":-0.00009, "alpha":0.1741, "fx":[0.49734,0.49892,-0.49729,-0.49887], "fy":[-0.50021,0.496,0.49758,-0.49863]},
-    {"t":2.43745, "x":4.37085, "y":5.40927, "heading":3.13904, "vx":-1.49944, "vy":-0.02736, "omega":-0.01192, "ax":0.0, "ay":0.0, "alpha":0.11611, "fx":[0.33135,0.33306,-0.33135,-0.33306], "fy":[-0.33307,0.33135,0.33306,-0.33136]},
-    {"t":2.48554, "x":4.29874, "y":5.40796, "heading":3.13846, "vx":-1.49944, "vy":-0.02736, "omega":-0.00633, "ax":0.0, "ay":0.0, "alpha":0.07744, "fx":[0.22086,0.22226,-0.22086,-0.22226], "fy":[-0.22226,0.22086,0.22226,-0.22086]},
-    {"t":2.53364, "x":4.22662, "y":5.40664, "heading":3.13816, "vx":-1.49944, "vy":-0.02736, "omega":-0.00261, "ax":0.0, "ay":0.0, "alpha":0.05165, "fx":[0.14725,0.14828,-0.14725,-0.14828], "fy":[-0.14828,0.14725,0.14828,-0.14725]},
-    {"t":2.58173, "x":4.15451, "y":5.40533, "heading":3.13803, "vx":-1.49944, "vy":-0.02736, "omega":-0.00012, "ax":0.0, "ay":0.0, "alpha":0.03444, "fx":[0.09818,0.0989,-0.09818,-0.0989], "fy":[-0.0989,0.09818,0.0989,-0.09818]},
-    {"t":2.62982, "x":4.0824, "y":5.40401, "heading":3.13803, "vx":-1.49944, "vy":-0.02736, "omega":0.00153, "ax":0.0, "ay":0.0, "alpha":0.02296, "fx":[0.06546,0.06595,-0.06546,-0.06595], "fy":[-0.06595,0.06546,0.06595,-0.06546]},
-    {"t":2.67791, "x":4.01029, "y":5.4027, "heading":3.1381, "vx":-1.49944, "vy":-0.02736, "omega":0.00264, "ax":0.0, "ay":0.0, "alpha":0.01531, "fx":[0.04363,0.04395,-0.04363,-0.04395], "fy":[-0.04395,0.04363,0.04395,-0.04363]},
-    {"t":2.726, "x":3.93818, "y":5.40138, "heading":3.13823, "vx":-1.49944, "vy":-0.02736, "omega":0.00337, "ax":0.0, "ay":0.0, "alpha":0.01019, "fx":[0.02906,0.02927,-0.02906,-0.02927], "fy":[-0.02927,0.02906,0.02927,-0.02906]},
-    {"t":2.77409, "x":3.86607, "y":5.40006, "heading":3.13839, "vx":-1.49944, "vy":-0.02736, "omega":0.00386, "ax":0.0, "ay":0.0, "alpha":0.00678, "fx":[0.01932,0.01946,-0.01932,-0.01946], "fy":[-0.01946,0.01932,0.01946,-0.01932]},
-    {"t":2.82219, "x":3.79396, "y":5.39875, "heading":3.13858, "vx":-1.49944, "vy":-0.02736, "omega":0.00419, "ax":0.0, "ay":0.0, "alpha":0.00449, "fx":[0.01279,0.01289,-0.01279,-0.01289], "fy":[-0.01289,0.01279,0.01289,-0.01279]},
-    {"t":2.87028, "x":3.72185, "y":5.39743, "heading":3.13878, "vx":-1.49944, "vy":-0.02736, "omega":0.0044, "ax":0.0, "ay":0.0, "alpha":0.00295, "fx":[0.00839,0.00846,-0.00839,-0.00846], "fy":[-0.00846,0.00839,0.00846,-0.00839]},
-    {"t":2.91837, "x":3.64974, "y":5.39612, "heading":3.13899, "vx":-1.49944, "vy":-0.02736, "omega":0.00455, "ax":0.0, "ay":0.0, "alpha":0.00189, "fx":[0.00539,0.00544,-0.00539,-0.00544], "fy":[-0.00544,0.00539,0.00544,-0.00539]},
-    {"t":2.96646, "x":3.57763, "y":5.3948, "heading":3.13921, "vx":-1.49944, "vy":-0.02736, "omega":0.00464, "ax":0.0, "ay":0.0, "alpha":0.00115, "fx":[0.00328,0.00332,-0.00328,-0.00332], "fy":[-0.00332,0.00328,0.00332,-0.00328]},
-    {"t":3.01455, "x":3.50552, "y":5.39349, "heading":3.13943, "vx":-1.49944, "vy":-0.02736, "omega":0.00469, "ax":0.0, "ay":0.0, "alpha":0.00061, "fx":[0.00173,0.00175,-0.00173,-0.00175], "fy":[-0.00175,0.00173,0.00175,-0.00173]},
-    {"t":3.06265, "x":3.4334, "y":5.39217, "heading":3.13966, "vx":-1.49944, "vy":-0.02736, "omega":0.00472, "ax":0.0, "ay":0.0, "alpha":0.00016, "fx":[0.00046,0.00047,-0.00046,-0.00047], "fy":[-0.00047,0.00046,0.00047,-0.00046]},
-    {"t":3.11074, "x":3.36129, "y":5.39085, "heading":3.13988, "vx":-1.49944, "vy":-0.02736, "omega":0.00473, "ax":0.0, "ay":0.0, "alpha":-0.00026, "fx":[-0.00074,-0.00073,0.00074,0.00073], "fy":[0.00073,-0.00074,-0.00073,0.00074]},
-    {"t":3.15883, "x":3.28918, "y":5.38954, "heading":3.14011, "vx":-1.49944, "vy":-0.02736, "omega":0.00472, "ax":0.0, "ay":0.0, "alpha":-0.00072, "fx":[-0.00206,-0.00206,0.00206,0.00206], "fy":[0.00206,-0.00206,-0.00206,0.00206]},
-    {"t":3.20692, "x":3.21707, "y":5.38822, "heading":3.14034, "vx":-1.49944, "vy":-0.02736, "omega":0.00468, "ax":0.0, "ay":0.0, "alpha":-0.0013, "fx":[-0.00372,-0.00372,0.00372,0.00372], "fy":[0.00372,-0.00372,-0.00372,0.00372]},
-    {"t":3.25501, "x":3.14496, "y":5.38691, "heading":3.14056, "vx":-1.49944, "vy":-0.02736, "omega":0.00462, "ax":0.0, "ay":0.0, "alpha":-0.0021, "fx":[-0.00599,-0.006,0.00599,0.006], "fy":[0.006,-0.00599,-0.006,0.00599]},
-    {"t":3.30311, "x":3.07285, "y":5.38559, "heading":3.14079, "vx":-1.49944, "vy":-0.02736, "omega":0.00452, "ax":0.0, "ay":0.0, "alpha":-0.00324, "fx":[-0.00927,-0.00928,0.00927,0.00928], "fy":[0.00928,-0.00927,-0.00928,0.00927]},
-    {"t":3.3512, "x":3.00074, "y":5.38428, "heading":3.141, "vx":-1.49944, "vy":-0.02736, "omega":0.00436, "ax":0.0, "ay":0.0, "alpha":-0.00493, "fx":[-0.01409,-0.01411,0.01409,0.01411], "fy":[0.01411,-0.01409,-0.01411,0.01409]},
-    {"t":3.39929, "x":2.92863, "y":5.38296, "heading":3.14121, "vx":-1.49944, "vy":-0.02736, "omega":0.00413, "ax":0.0, "ay":0.0, "alpha":-0.00743, "fx":[-0.02126,-0.02127,0.02126,0.02127], "fy":[0.02127,-0.02126,-0.02127,0.02126]},
-    {"t":3.44738, "x":2.85652, "y":5.38164, "heading":3.14141, "vx":-1.49944, "vy":-0.02736, "omega":0.00377, "ax":0.00649, "ay":0.00012, "alpha":-0.01117, "fx":[0.06821,0.0682,0.13214,0.13215], "fy":[0.0338,-0.03013,-0.03014,0.03379]},
-    {"t":3.49547, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-1.49913, "vy":-0.02735, "omega":0.00323, "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/DRTtoSLT.traj b/src/main/deploy/choreo/DRTtoSLT.traj
deleted file mode 100644
index 5dfa17b8..00000000
--- a/src/main/deploy/choreo/DRTtoSLT.traj
+++ /dev/null
@@ -1,144 +0,0 @@
-{
- "name":"DRTtoSLT",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.979954719543457, "y":5.877043724060059, "heading":1.5752676626464273, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.114565372467041, "y":7.286704063415527, "heading":-3.1304820445880037, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.410175323486328, "y":7.326035976409912, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"DRT.x", "val":7.979954719543457}, "y":{"exp":"DRT.y", "val":5.877043724060059}, "heading":{"exp":"DRT.heading", "val":1.5752676626464273}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.114565372467041 m", "val":6.114565372467041}, "y":{"exp":"7.286704063415527 m", "val":7.286704063415527}, "heading":{"exp":"-3.1304820445880037 rad", "val":-3.1304820445880037}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.410175323486328 m", "val":4.410175323486328}, "y":{"exp":"7.326035976409912 m", "val":7.326035976409912}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.56033,2.69823,3.76216],
-  "samples":[
-    {"t":0.0, "x":7.97995, "y":5.87704, "heading":1.57527, "vx":-1.19135, "vy":0.9092, "omega":1.05537, "ax":-0.01799, "ay":0.01373, "alpha":-0.00088, "fx":[-0.27525,-0.28027,-0.28025,-0.27523], "fy":[0.21449,0.21447,0.20945,0.20947]},
-    {"t":0.04458, "x":7.92683, "y":5.91759, "heading":1.62232, "vx":-1.19216, "vy":0.90981, "omega":1.05533, "ax":0.0, "ay":0.0, "alpha":-0.00059, "fx":[0.00159,-0.00177,-0.00159,0.00177], "fy":[0.00177,0.00159,-0.00177,-0.00159]},
-    {"t":0.08916, "x":7.87368, "y":5.95815, "heading":1.66936, "vx":-1.19216, "vy":0.90981, "omega":1.0553, "ax":0.0, "ay":0.0, "alpha":-0.00037, "fx":[0.00095,-0.00115,-0.00095,0.00115], "fy":[0.00115,0.00095,-0.00115,-0.00095]},
-    {"t":0.13374, "x":7.82053, "y":5.99871, "heading":1.71641, "vx":-1.19216, "vy":0.90981, "omega":1.05529, "ax":0.0, "ay":0.0, "alpha":-0.0002, "fx":[0.00048,-0.00065,-0.00048,0.00065], "fy":[0.00065,0.00048,-0.00065,-0.00048]},
-    {"t":0.17832, "x":7.76738, "y":6.03927, "heading":1.76346, "vx":-1.19216, "vy":0.90981, "omega":1.05528, "ax":0.0, "ay":0.0, "alpha":-0.00007, "fx":[0.00016,-0.00024,-0.00016,0.00024], "fy":[0.00024,0.00016,-0.00024,-0.00016]},
-    {"t":0.2229, "x":7.71424, "y":6.07983, "heading":1.8105, "vx":-1.19216, "vy":0.90981, "omega":1.05528, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[-0.00005,0.00009,0.00005,-0.00009], "fy":[-0.00009,-0.00005,0.00009,0.00005]},
-    {"t":0.26749, "x":7.66109, "y":6.12039, "heading":1.85755, "vx":-1.19216, "vy":0.90981, "omega":1.05528, "ax":0.0, "ay":0.0, "alpha":0.00009, "fx":[-0.00017,0.00031,0.00017,-0.00031], "fy":[-0.00031,-0.00017,0.00031,0.00017]},
-    {"t":0.31207, "x":7.60794, "y":6.16095, "heading":1.90459, "vx":-1.19216, "vy":0.90981, "omega":1.05528, "ax":0.0, "ay":0.0, "alpha":0.00011, "fx":[-0.00019,0.0004,0.00019,-0.0004], "fy":[-0.0004,-0.00019,0.0004,0.00019]},
-    {"t":0.35665, "x":7.55479, "y":6.20151, "heading":1.95164, "vx":-1.19216, "vy":0.90981, "omega":1.05529, "ax":0.0, "ay":0.0, "alpha":0.00009, "fx":[-0.00014,0.00033,0.00014,-0.00033], "fy":[-0.00033,-0.00014,0.00033,0.00014]},
-    {"t":0.40123, "x":7.50165, "y":6.24207, "heading":1.99868, "vx":-1.19216, "vy":0.90981, "omega":1.05529, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[-0.00002,0.00006,0.00002,-0.00006], "fy":[-0.00006,-0.00002,0.00006,0.00002]},
-    {"t":0.44581, "x":7.4485, "y":6.28263, "heading":2.04573, "vx":-1.19216, "vy":0.90981, "omega":1.05529, "ax":0.0, "ay":0.0, "alpha":-0.00013, "fx":[0.00015,-0.00048,-0.00015,0.00048], "fy":[0.00048,0.00015,-0.00048,-0.00015]},
-    {"t":0.49039, "x":7.39535, "y":6.32319, "heading":2.09278, "vx":-1.19216, "vy":0.90981, "omega":1.05528, "ax":0.0, "ay":0.0, "alpha":-0.00036, "fx":[0.00038,-0.0014,-0.00038,0.0014], "fy":[0.0014,0.00038,-0.0014,-0.00038]},
-    {"t":0.53497, "x":7.3422, "y":6.36375, "heading":2.13982, "vx":-1.19216, "vy":0.90981, "omega":1.05527, "ax":0.0, "ay":0.0, "alpha":-0.00072, "fx":[0.00063,-0.00285,-0.00063,0.00285], "fy":[0.00285,0.00063,-0.00285,-0.00063]},
-    {"t":0.57955, "x":7.28906, "y":6.40431, "heading":2.18687, "vx":-1.19216, "vy":0.90981, "omega":1.05524, "ax":0.0, "ay":0.0, "alpha":-0.00127, "fx":[0.00086,-0.00505,-0.00086,0.00505], "fy":[0.00505,0.00086,-0.00505,-0.00086]},
-    {"t":0.62413, "x":7.23591, "y":6.44487, "heading":2.23391, "vx":-1.19216, "vy":0.90981, "omega":1.05518, "ax":0.0, "ay":0.0, "alpha":-0.00208, "fx":[0.00103,-0.00834,-0.00103,0.00834], "fy":[0.00834,0.00103,-0.00834,-0.00103]},
-    {"t":0.66871, "x":7.18276, "y":6.48543, "heading":2.28095, "vx":-1.19216, "vy":0.90981, "omega":1.05509, "ax":0.0, "ay":0.0, "alpha":-0.00325, "fx":[0.00099,-0.0131,-0.00099,0.0131], "fy":[0.0131,0.00099,-0.0131,-0.00099]},
-    {"t":0.7133, "x":7.12961, "y":6.52599, "heading":2.32799, "vx":-1.19216, "vy":0.90981, "omega":1.05494, "ax":0.0, "ay":0.0, "alpha":-0.00498, "fx":[0.00057,-0.02013,-0.00057,0.02013], "fy":[0.02013,0.00057,-0.02013,-0.00057]},
-    {"t":0.75788, "x":7.07647, "y":6.56655, "heading":2.37502, "vx":-1.19216, "vy":0.90981, "omega":1.05472, "ax":0.0, "ay":0.0, "alpha":-0.00748, "fx":[-0.00057,-0.03026,0.00057,0.03026], "fy":[0.03026,-0.00057,-0.03026,0.00057]},
-    {"t":0.80246, "x":7.02332, "y":6.60711, "heading":2.42204, "vx":-1.19216, "vy":0.90981, "omega":1.05439, "ax":0.0, "ay":0.0, "alpha":-0.01116, "fx":[-0.00297,-0.04506,0.00297,0.04506], "fy":[0.04506,-0.00297,-0.04506,0.00297]},
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-    {"t":3.76216, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49937, "vy":0.00408, "omega":0.00325, "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/DTtoFL.traj b/src/main/deploy/choreo/DTtoFL.traj
deleted file mode 100644
index 9b9dd7b1..00000000
--- a/src/main/deploy/choreo/DTtoFL.traj
+++ /dev/null
@@ -1,220 +0,0 @@
-{
- "name":"DTtoFL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":0.8050751090049744, "y":6.312607765197754, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.8226280212402344, "y":6.886133193969727, "heading":-1.2008906955338798, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.17843246459961, "y":7.364652156829834, "heading":-0.030292920677609064, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.560821533203125, "y":7.364652156829834, "heading":-0.006559104275229499, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.554760456085205, "y":7.0976176261901855, "heading":-1.1441691490021848, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "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":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.04
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"0.8050751090049744 m", "val":0.8050751090049744}, "y":{"exp":"6.312607765197754 m", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.8226280212402344 m", "val":1.8226280212402344}, "y":{"exp":"6.886133193969727 m", "val":6.886133193969727}, "heading":{"exp":"-1.2008906955338798 rad", "val":-1.2008906955338798}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.1784324645996094 m", "val":3.17843246459961}, "y":{"exp":"7.364652156829834 m", "val":7.364652156829834}, "heading":{"exp":"-30.292920677609064 mrad", "val":-0.030292920677609064}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.560821533203125 m", "val":4.560821533203125}, "y":{"exp":"7.364652156829834 m", "val":7.364652156829834}, "heading":{"exp":"-6.559104275229499 mrad", "val":-0.006559104275229499}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.554760456085205 m", "val":7.554760456085205}, "y":{"exp":"7.0976176261901855 m", "val":7.0976176261901855}, "heading":{"exp":"-1.1441691490021848 rad", "val":-1.1441691490021848}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.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":"-23.56243133544922 mm", "val":-0.02356243133544922}, "y":{"exp":"-0.10602998733520508 m", "val":-0.10602998733520508}, "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":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.04 s",
-   "val":0.04
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
-   },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.77903,1.73817,2.66029,4.66868,5.51274],
-  "samples":[
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-    {"t":5.47604, "x":7.80973, "y":5.91989, "heading":-1.56329, "vx":0.2897, "vy":-1.47134, "omega":-0.20442, "ax":0.00252, "ay":0.01183, "alpha":0.08943, "fx":[0.29178,-0.2199,-0.21399,0.29769], "fy":[0.44156,0.43565,-0.07602,-0.07011]},
-    {"t":5.51274, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.28979, "vy":-1.47091, "omega":-0.20114, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DTtoRL.traj b/src/main/deploy/choreo/DTtoRL.traj
deleted file mode 100644
index 9ffe0897..00000000
--- a/src/main/deploy/choreo/DTtoRL.traj
+++ /dev/null
@@ -1,123 +0,0 @@
-{
- "name":"DTtoRL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":0.8098713755607605, "y":6.312607765197754, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.0073800086975098, "y":7.3907060623168945, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.603864669799805, "y":7.405058860778809, "heading":0.0, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
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- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/DtoC.traj b/src/main/deploy/choreo/DtoC.traj
new file mode 100644
index 00000000..950d1b0d
--- /dev/null
+++ b/src/main/deploy/choreo/DtoC.traj
@@ -0,0 +1,113 @@
+{
+ "name":"DtoC",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.1980347633361816, "y":5.884655952453613, "heading":3.141666845264474, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4044814109802246, "y":2.0, "heading":-3.120762420732352, "intervals":50, "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":2, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "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":"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":2, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.8 m / s", "val":1.8}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
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+ },
+ "trajectory":{
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+    "y":0.2761996
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+    "y":0.2761996
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+   "inertia":10.42384825260472,
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+   "radius":0.0508,
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+    "side":0.44196,
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/DtoCL.traj b/src/main/deploy/choreo/DtoCL.traj
new file mode 100644
index 00000000..fa6e8988
--- /dev/null
+++ b/src/main/deploy/choreo/DtoCL.traj
@@ -0,0 +1,125 @@
+{
+ "name":"DtoCL",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.413321018218994, "y":6.265956878662109, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "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":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "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},
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+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
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+ },
+ "trajectory":{
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+    "y":0.2761996
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+    "y":0.2761996
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+   "inertia":10.42384825260472,
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+    "side":0.44196,
+    "back":0.44196
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/DtoRL.traj b/src/main/deploy/choreo/DtoRL.traj
new file mode 100644
index 00000000..6f8da676
--- /dev/null
+++ b/src/main/deploy/choreo/DtoRL.traj
@@ -0,0 +1,157 @@
+{
+ "name":"DtoRL",
+ "version":3,
+ "snapshot":{
+  "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},
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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},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "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":"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":0, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "y":0.2761996
+   },
+   "backLeft":{
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+    "y":0.2761996
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+   "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":[0.0,0.42905,1.3622,2.11755],
+  "samples":[
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+    {"t":1.78431, "x":2.76024, "y":7.09801, "heading":0.43336, "vx":1.24023, "vy":1.56734, "omega":-1.99697, "ax":-2.25948, "ay":0.58298, "alpha":0.00364, "fx":[-37.37745,-37.36567,-37.33642,-37.3482], "fy":[9.64674,9.6136,9.63069,9.66383]},
+    {"t":1.80652, "x":2.78724, "y":7.13297, "heading":0.38899, "vx":1.19003, "vy":1.5803, "omega":-1.99689, "ax":-4.7246, "ay":-5.54915, "alpha":0.27351, "fx":[-80.66539,-77.40174,-75.49369,-78.8951], "fy":[-89.59664,-92.52363,-93.90515,-90.96092]},
+    {"t":1.82874, "x":2.81251, "y":7.16671, "heading":0.34463, "vx":1.08507, "vy":1.45701, "omega":-1.99081, "ax":-4.59954, "ay":-5.46909, "alpha":3.49214, "fx":[-104.65617,-71.92613,-36.77664,-90.82577], "fy":[-64.29985,-99.90164,-116.86789,-80.62221]},
+    {"t":1.85096, "x":2.83548, "y":7.19773, "heading":0.3004, "vx":0.98289, "vy":1.33551, "omega":-1.91323, "ax":-4.50738, "ay":-5.12699, "alpha":5.28892, "fx":[-113.94013,-71.17227,-11.94429,-101.03345], "fy":[-47.67043,-101.20107,-122.72444,-67.47155]},
+    {"t":1.87317, "x":2.85621, "y":7.22614, "heading":0.2579, "vx":0.88275, "vy":1.22161, "omega":-1.79573, "ax":-4.4994, "ay":-4.86699, "alpha":6.08156, "fx":[-117.66896,-72.13432,-1.56047,-106.19854], "fy":[-38.48681,-100.82617,-123.67091,-58.88879]},
+    {"t":1.89539, "x":2.87471, "y":7.25208, "heading":0.218, "vx":0.78279, "vy":1.11348, "omega":-1.66062, "ax":-4.50503, "ay":-4.70922, "alpha":6.44589, "fx":[-119.71191,-73.54665,3.18149,-107.8573], "fy":[-32.18895,-99.96778,-123.8512,-55.43079]},
+    {"t":1.91761, "x":2.89099, "y":7.27565, "heading":0.18111, "vx":0.6827, "vy":1.00886, "omega":-1.51742, "ax":-4.49301, "ay":-4.65164, "alpha":6.56527, "fx":[-121.0164,-75.0545,5.39519,-106.46386], "fy":[-27.33633,-98.94587,-123.90763,-57.44062]},
+    {"t":1.93982, "x":2.90505, "y":7.29692, "heading":0.1474, "vx":0.58289, "vy":0.90552, "omega":-1.37156, "ax":-4.43273, "ay":-4.70073, "alpha":6.52787, "fx":[-121.91715,-76.52434,6.34436,-101.05613], "fy":[-23.36262,-97.88599,-123.95325,-65.67537]},
+    {"t":1.96204, "x":2.9169, "y":7.31587, "heading":0.11693, "vx":0.48441, "vy":0.80109, "omega":-1.22654, "ax":-4.27085, "ay":-4.86471, "alpha":6.43571, "fx":[-122.56333,-77.8982,6.61257,-88.59851], "fy":[-20.01382,-96.84928,-124.00436,-80.85413]},
+    {"t":1.98425, "x":2.92661, "y":7.33247, "heading":0.08968, "vx":0.38953, "vy":0.69301, "omega":-1.08356, "ax":-3.93019, "ay":-5.10819, "alpha":6.51154, "fx":[-123.03299,-79.14959,6.48906,-64.22472], "fy":[-17.17371,-95.86981,-124.05962,-100.72101]},
+    {"t":2.00647, "x":2.93429, "y":7.34661, "heading":0.06561, "vx":0.30221, "vy":0.57953, "omega":-0.9389, "ax":-3.41352, "ay":-5.29195, "alpha":7.03937, "fx":[-123.37334,-80.26557,6.12778,-28.23785], "fy":[-14.79067,-94.96934,-124.11555,-116.10133]},
+    {"t":2.02869, "x":2.94016, "y":7.35817, "heading":0.04475, "vx":0.22638, "vy":0.46196, "omega":-0.78251, "ax":-2.91223, "ay":-5.30884, "alpha":7.89878, "fx":[-123.61714,-81.23578,5.63209,6.62406], "fy":[-12.83716,-94.16652,-124.16866,-119.92113]},
+    {"t":2.0509, "x":2.94447, "y":7.36713, "heading":0.02736, "vx":0.16168, "vy":0.34402, "omega":-0.60703, "ax":-2.57669, "ay":-5.23165, "alpha":8.6715, "fx":[-123.78804,-82.04375,5.09292,30.33286], "fy":[-11.30068,-93.48458,-124.21575,-116.98775]},
+    {"t":2.07312, "x":2.94743, "y":7.37348, "heading":0.01388, "vx":0.10443, "vy":0.22779, "omega":-0.41438, "ax":-2.3933, "ay":-5.15184, "alpha":9.18632, "fx":[-123.90301,-82.66847,4.59216,43.70148], "fy":[-10.18072,-92.9503,-124.25467,-113.32515]},
+    {"t":2.09534, "x":2.94916, "y":7.37727, "heading":0.00467, "vx":0.05126, "vy":0.11333, "omega":-0.2103, "ax":-2.30748, "ay":-5.10145, "alpha":9.46587, "fx":[-123.97426,-83.09265,4.19366,50.27082], "fy":[-9.47772,-92.58629,-124.28473,-111.02943]},
+    {"t":2.11755, "x":2.94973, "y":7.37853, "heading":0.0, "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/FLMtoCL.traj b/src/main/deploy/choreo/FLMtoCL.traj
deleted file mode 100644
index 6205be7a..00000000
--- a/src/main/deploy/choreo/FLMtoCL.traj
+++ /dev/null
@@ -1,240 +0,0 @@
-{
- "name":"FLMtoCL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.016256809234619, "y":7.323315143585205, "heading":3.1172067680459215, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.617038249969482, "y":7.365917682647705, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.2658567428588867, "y":7.07125997543335, "heading":-2.58609898068092, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.9777511358261108, "y":4.874825954437256, "heading":1.5760360316862745, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.4044795036315918, "y":4.874825954437256, "heading":1.5760360316862745, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
-    {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.016256809234619 m", "val":6.016256809234619}, "y":{"exp":"7.323315143585205 m", "val":7.323315143585205}, "heading":{"exp":"3.1172067680459215 rad", "val":3.1172067680459215}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.617038249969482 m", "val":4.617038249969482}, "y":{"exp":"7.365917682647705 m", "val":7.365917682647705}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.2658567428588867 m", "val":3.2658567428588867}, "y":{"exp":"7.07125997543335 m", "val":7.07125997543335}, "heading":{"exp":"-2.58609898068092 rad", "val":-2.58609898068092}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.9777511358261108 m", "val":1.9777511358261108}, "y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.4044795036315918 m", "val":1.4044795036315918}, "y":{"exp":"4.874825954437256 m", "val":4.874825954437256}, "heading":{"exp":"1.5760360316862745 rad", "val":1.5760360316862745}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
-    {"from":3, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
-   },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.23507,3.17139,4.1034,6.65486,7.23148,7.95025],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.80122, "vy":1.26657, "omega":-0.73812, "ax":-0.01108, "ay":0.01752, "alpha":0.0006, "fx":[-0.16941,-0.17285,-0.17285,-0.16941], "fy":[0.27224,0.27224,0.2688,0.2688]},
-    {"t":0.04656, "x":7.78305, "y":4.56257, "heading":-1.60517, "vx":-0.80173, "vy":1.26738, "omega":-0.7381, "ax":0.0, "ay":0.0, "alpha":0.00042, "fx":[0.00125,-0.00116,-0.00125,0.00116], "fy":[0.00116,0.00125,-0.00116,-0.00125]},
-    {"t":0.09313, "x":7.74571, "y":4.62158, "heading":-1.63953, "vx":-0.80173, "vy":1.26738, "omega":-0.73808, "ax":0.0, "ay":0.0, "alpha":0.0003, "fx":[0.00091,-0.00079,-0.00091,0.00079], "fy":[0.00079,0.00091,-0.00079,-0.00091]},
-    {"t":0.13969, "x":7.70838, "y":4.6806, "heading":-1.6739, "vx":-0.80173, "vy":1.26738, "omega":-0.73806, "ax":0.0, "ay":0.0, "alpha":0.00022, "fx":[0.00069,-0.00056,-0.00069,0.00056], "fy":[0.00056,0.00069,-0.00056,-0.00069]},
-    {"t":0.18626, "x":7.67105, "y":4.73961, "heading":-1.70827, "vx":-0.80173, "vy":1.26738, "omega":-0.73805, "ax":0.0, "ay":0.0, "alpha":0.00017, "fx":[0.00054,-0.00041,-0.00054,0.00041], "fy":[0.00041,0.00054,-0.00041,-0.00054]},
-    {"t":0.23282, "x":7.63372, "y":4.79863, "heading":-1.74264, "vx":-0.80173, "vy":1.26738, "omega":-0.73805, "ax":0.0, "ay":0.0, "alpha":0.00014, "fx":[0.00045,-0.00032,-0.00045,0.00032], "fy":[0.00032,0.00045,-0.00032,-0.00045]},
-    {"t":0.27938, "x":7.59639, "y":4.85764, "heading":-1.777, "vx":-0.80173, "vy":1.26738, "omega":-0.73804, "ax":0.0, "ay":0.0, "alpha":0.00012, "fx":[0.0004,-0.00026,-0.0004,0.00026], "fy":[0.00026,0.0004,-0.00026,-0.0004]},
-    {"t":0.32595, "x":7.55906, "y":4.91665, "heading":-1.81137, "vx":-0.80173, "vy":1.26738, "omega":-0.73803, "ax":0.0, "ay":0.0, "alpha":0.00013, "fx":[0.00044,-0.00027,-0.00044,0.00027], "fy":[0.00027,0.00044,-0.00027,-0.00044]},
-    {"t":0.37251, "x":7.52172, "y":4.97567, "heading":-1.84573, "vx":-0.80173, "vy":1.26738, "omega":-0.73803, "ax":0.0, "ay":0.0, "alpha":0.00008, "fx":[0.0003,-0.00017,-0.0003,0.00017], "fy":[0.00017,0.0003,-0.00017,-0.0003]},
-    {"t":0.41908, "x":7.48439, "y":5.03468, "heading":-1.8801, "vx":-0.80173, "vy":1.26738, "omega":-0.73802, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[0.00008,-0.00004,-0.00008,0.00004], "fy":[0.00004,0.00008,-0.00004,-0.00008]},
-    {"t":0.46564, "x":7.44706, "y":5.0937, "heading":-1.91447, "vx":-0.80173, "vy":1.26738, "omega":-0.73802, "ax":0.0, "ay":0.0, "alpha":-0.00004, "fx":[-0.00016,0.00007,0.00016,-0.00007], "fy":[-0.00007,-0.00016,0.00007,0.00016]},
-    {"t":0.5122, "x":7.40973, "y":5.15271, "heading":-1.94883, "vx":-0.80173, "vy":1.26738, "omega":-0.73802, "ax":0.0, "ay":0.0, "alpha":-0.00004, "fx":[-0.00016,0.00007,0.00016,-0.00007], "fy":[-0.00007,-0.00016,0.00007,0.00016]},
-    {"t":0.55877, "x":7.3724, "y":5.21173, "heading":-1.9832, "vx":-0.80173, "vy":1.26738, "omega":-0.73803, "ax":0.0, "ay":0.0, "alpha":-0.00003, "fx":[-0.00012,0.00005,0.00012,-0.00005], "fy":[-0.00005,-0.00012,0.00005,0.00012]},
-    {"t":0.60533, "x":7.33506, "y":5.27074, "heading":-2.01756, "vx":-0.80173, "vy":1.26738, "omega":-0.73803, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[0.00011,-0.00004,-0.00011,0.00004], "fy":[0.00004,0.00011,-0.00004,-0.00011]},
-    {"t":0.65189, "x":7.29773, "y":5.32975, "heading":-2.05193, "vx":-0.80173, "vy":1.26738, "omega":-0.73803, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[0.00011,-0.00003,-0.00011,0.00003], "fy":[0.00003,0.00011,-0.00003,-0.00011]},
-    {"t":0.69846, "x":7.2604, "y":5.38877, "heading":-2.08629, "vx":-0.80173, "vy":1.26738, "omega":-0.73803, "ax":0.0, "ay":0.0, "alpha":-0.0001, "fx":[-0.0004,0.00011,0.0004,-0.00011], "fy":[-0.00011,-0.0004,0.00011,0.0004]},
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-    {"t":0.88471, "x":7.11107, "y":5.62483, "heading":-2.22375, "vx":-0.80173, "vy":1.26738, "omega":-0.73804, "ax":0.0, "ay":0.0, "alpha":0.00008, "fx":[0.00033,-0.00004,-0.00033,0.00004], "fy":[0.00004,0.00033,-0.00004,-0.00033]},
-    {"t":0.93128, "x":7.07374, "y":5.68384, "heading":-2.25812, "vx":-0.80173, "vy":1.26738, "omega":-0.73804, "ax":0.0, "ay":0.0, "alpha":0.00021, "fx":[0.00083,-0.00008,-0.00083,0.00008], "fy":[0.00008,0.00083,-0.00008,-0.00083]},
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-    {"t":1.02441, "x":6.99908, "y":5.80187, "heading":-2.32685, "vx":-0.80173, "vy":1.26738, "omega":-0.73801, "ax":0.0, "ay":0.0, "alpha":0.00047, "fx":[0.00189,-0.00006,-0.00189,0.00006], "fy":[0.00006,0.00189,-0.00006,-0.00189]},
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-    {"t":6.65486, "x":1.97775, "y":4.87483, "heading":1.57604, "vx":-0.87737, "vy":-0.47879, "omega":-0.30858, "ax":-2.5412, "ay":10.48724, "alpha":2.07805, "fx":[-47.18531,-32.52831,-31.53,-45.73349], "fy":[156.59485,157.96696,167.29838,165.96595]},
-    {"t":6.70291, "x":1.93266, "y":4.86393, "heading":1.56121, "vx":-0.99948, "vy":0.02514, "omega":-0.20872, "ax":0.00052, "ay":0.02016, "alpha":2.31471, "fx":[-6.67804,6.56698,6.69349,-6.55058], "fy":[-6.24741,-6.37439,6.87014,6.99713]},
-    {"t":6.75096, "x":1.88463, "y":4.86516, "heading":1.55118, "vx":-0.99945, "vy":0.02611, "omega":-0.0975, "ax":0.0, "ay":0.00003, "alpha":1.57612, "fx":[-4.59699,4.4201,4.59701,-4.42008], "fy":[-4.41963,-4.59654,4.42055,4.59746]},
-    {"t":6.79902, "x":1.83661, "y":4.86641, "heading":1.54649, "vx":-0.99945, "vy":0.02611, "omega":-0.02176, "ax":0.0, "ay":0.0, "alpha":1.06385, "fx":[-3.11681,2.96889,3.11681,-2.96889], "fy":[-2.96889,-3.11681,2.9689,3.11681]},
-    {"t":6.84707, "x":1.78858, "y":4.86767, "heading":1.54545, "vx":-0.99945, "vy":0.02611, "omega":0.02936, "ax":0.0, "ay":0.0, "alpha":0.7046, "fx":[-2.06637,1.96419,2.06637,-1.96419], "fy":[-1.96419,-2.06637,1.96419,2.06637]},
-    {"t":6.89512, "x":1.74056, "y":4.86892, "heading":1.54686, "vx":-0.99945, "vy":0.02611, "omega":0.06322, "ax":0.0, "ay":0.0, "alpha":0.44681, "fx":[-1.30858,1.24739,1.30858,-1.24739], "fy":[-1.24739,-1.30858,1.24739,1.30858]},
-    {"t":6.94317, "x":1.69253, "y":4.87018, "heading":1.5499, "vx":-0.99945, "vy":0.02611, "omega":0.08469, "ax":0.0, "ay":0.0, "alpha":0.25338, "fx":[-0.73993,0.70963,0.73993,-0.70963], "fy":[-0.70963,-0.73993,0.70963,0.73993]},
-    {"t":6.99122, "x":1.64451, "y":4.87143, "heading":1.55397, "vx":-0.99945, "vy":0.02611, "omega":0.09686, "ax":0.0, "ay":0.0, "alpha":0.09646, "fx":[-0.28059,0.2713,0.28059,-0.2713], "fy":[-0.2713,-0.28059,0.2713,0.28059]},
-    {"t":7.03927, "x":1.59648, "y":4.87268, "heading":1.55862, "vx":-0.99945, "vy":0.02611, "omega":0.1015, "ax":0.0, "ay":0.0, "alpha":-0.04656, "fx":[0.13482,-0.13157,-0.13482,0.13157], "fy":[0.13157,0.13482,-0.13157,-0.13482]},
-    {"t":7.08733, "x":1.54845, "y":4.87394, "heading":1.5635, "vx":-0.99945, "vy":0.02611, "omega":0.09926, "ax":0.0, "ay":-0.00001, "alpha":-0.19629, "fx":[0.56567,-0.55748,-0.56567,0.55747], "fy":[0.55739,0.56559,-0.55756,-0.56576]},
-    {"t":7.13538, "x":1.50043, "y":4.87519, "heading":1.56827, "vx":-0.99945, "vy":0.02611, "omega":0.08983, "ax":-0.0001, "ay":-0.00369, "alpha":-0.3743, "fx":[1.07212,-1.06967,-1.07508,1.06671], "fy":[1.01126,1.01667,-1.12512,-1.13054]},
-    {"t":7.18343, "x":1.4524, "y":4.87644, "heading":1.57258, "vx":-0.99946, "vy":0.02593, "omega":0.07184, "ax":0.08767, "ay":-2.48029, "alpha":-0.59107, "fx":[3.06667,-0.3621,-0.35518,3.06594], "fy":[-36.6294,-36.63829,-39.97785,-39.96875]},
-    {"t":7.23148, "x":1.40448, "y":4.87483, "heading":1.57604, "vx":-0.99524, "vy":-0.09325, "omega":0.04344, "ax":0.30646, "ay":-2.08813, "alpha":-0.42535, "fx":[5.958,3.50107,3.50919,5.9628], "fy":[-31.03178,-31.05061,-33.46331,-33.44405]},
-    {"t":7.28282, "x":1.35379, "y":4.86729, "heading":1.57827, "vx":-0.97951, "vy":-0.20046, "omega":0.0216, "ax":0.0005, "ay":-0.00244, "alpha":-0.28864, "fx":[0.82734,-0.82427,-0.81193,0.83968], "fy":[0.79434,0.782,-0.86961,-0.85727]},
-    {"t":7.33416, "x":1.3035, "y":4.85699, "heading":1.57938, "vx":-0.97948, "vy":-0.20058, "omega":0.00678, "ax":0.0, "ay":0.0, "alpha":-0.19155, "fx":[0.54331,-0.5527,-0.5433,0.55272], "fy":[0.55266,0.54326,-0.55275,-0.54335]},
-    {"t":7.3855, "x":1.25321, "y":4.84669, "heading":1.57972, "vx":-0.97948, "vy":-0.20058, "omega":-0.00305, "ax":0.0, "ay":0.0, "alpha":-0.12595, "fx":[0.35713,-0.36357,-0.35713,0.36357], "fy":[0.36357,0.35713,-0.36357,-0.35713]},
-    {"t":7.43684, "x":1.20292, "y":4.8364, "heading":1.57957, "vx":-0.97948, "vy":-0.20058, "omega":-0.00952, "ax":0.0, "ay":0.0, "alpha":-0.08108, "fx":[0.22993,-0.234,-0.22993,0.234], "fy":[0.234,0.22993,-0.234,-0.22993]},
-    {"t":7.48818, "x":1.15264, "y":4.8261, "heading":1.57908, "vx":-0.97948, "vy":-0.20058, "omega":-0.01368, "ax":0.0, "ay":0.0, "alpha":-0.04954, "fx":[0.14057,-0.14292,-0.14057,0.14292], "fy":[0.14292,0.14057,-0.14292,-0.14057]},
-    {"t":7.53952, "x":1.10235, "y":4.8158, "heading":1.57838, "vx":-0.97948, "vy":-0.20058, "omega":-0.01622, "ax":0.0, "ay":0.0, "alpha":-0.02616, "fx":[0.07427,-0.0754,-0.07427,0.0754], "fy":[0.0754,0.07427,-0.0754,-0.07427]},
-    {"t":7.59087, "x":1.05206, "y":4.8055, "heading":1.57754, "vx":-0.97948, "vy":-0.20058, "omega":-0.01757, "ax":0.0, "ay":0.0, "alpha":-0.00707, "fx":[0.0201,-0.02037,-0.0201,0.02037], "fy":[0.02037,0.0201,-0.02037,-0.0201]},
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-    {"t":7.69355, "x":0.95149, "y":4.7849, "heading":1.57572, "vx":-0.97948, "vy":-0.20058, "omega":-0.01737, "ax":0.0, "ay":0.0, "alpha":0.03056, "fx":[-0.08699,0.08786,0.08699,-0.08786], "fy":[-0.08786,-0.08699,0.08786,0.08699]},
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-    {"t":7.84757, "x":0.80063, "y":4.75401, "heading":1.57335, "vx":-0.97948, "vy":-0.20058, "omega":-0.00839, "ax":0.00002, "ay":0.0, "alpha":0.13761, "fx":[-0.3924,0.395,0.39299,-0.39441], "fy":[-0.39464,-0.39263,0.39477,0.39275]},
-    {"t":7.89891, "x":0.75034, "y":4.74371, "heading":1.57292, "vx":-0.97948, "vy":-0.20058, "omega":-0.00132, "ax":19.07814, "ay":3.90692, "alpha":0.0258, "fx":[294.62935,294.67097,294.62565,294.58397], "fy":[60.23092,60.18628,60.43978,60.48459]},
-    {"t":7.95025, "x":0.72519, "y":4.73856, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FLMtoEL.traj b/src/main/deploy/choreo/FLMtoEL.traj
index 30be2a89..14f1700d 100644
--- a/src/main/deploy/choreo/FLMtoEL.traj
+++ b/src/main/deploy/choreo/FLMtoEL.traj
@@ -3,9 +3,9 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.11699104309082, "y":7.238004684448242, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.219851016998291, "y":7.297757148742676, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.11699104309082, "y":7.238004684448242, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.219851016998291, "y":7.297757148742676, "heading":3.141592653589793, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -16,9 +16,9 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.11699104309082 m", "val":6.11699104309082}, "y":{"exp":"7.238004684448242 m", "val":7.238004684448242}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.219851016998291 m", "val":4.219851016998291}, "y":{"exp":"7.297757148742676 m", "val":7.297757148742676}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.11699104309082 m", "val":6.11699104309082}, "y":{"exp":"7.238004684448242 m", "val":7.238004684448242}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.219851016998291 m", "val":4.219851016998291}, "y":{"exp":"7.297757148742676 m", "val":7.297757148742676}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"ELL.x", "val":2.1214685440063477}, "y":{"exp":"ELL.y", "val":7.046450138092041}, "heading":{"exp":"ELL.heading", "val":-1.573056098378181}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -40,12 +40,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -55,113 +55,142 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.15113,3.41964,4.82895],
+  "waypoints":[0.0,2.15282,3.42298,4.83239],
   "samples":[
-    {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.78558, "vy":1.27633, "omega":-0.75434, "ax":-0.01077, "ay":0.0175, "alpha":0.00062, "fx":[-0.16457,-0.16813,-0.16813,-0.16457], "fy":[0.27204,0.27204,0.26849,0.26849]},
-    {"t":0.04676, "x":7.78362, "y":4.56328, "heading":-1.60607, "vx":-0.78608, "vy":1.27715, "omega":-0.75431, "ax":0.0, "ay":0.0, "alpha":0.00043, "fx":[0.00128,-0.00119,-0.00128,0.00119], "fy":[0.00119,0.00128,-0.00119,-0.00128]},
-    {"t":0.09353, "x":7.74686, "y":4.623, "heading":-1.64135, "vx":-0.78608, "vy":1.27715, "omega":-0.75429, "ax":0.0, "ay":0.0, "alpha":0.0003, "fx":[0.00092,-0.0008,-0.00092,0.0008], "fy":[0.0008,0.00092,-0.0008,-0.00092]},
-    {"t":0.14029, "x":7.7101, "y":4.68273, "heading":-1.67662, "vx":-0.78608, "vy":1.27715, "omega":-0.75427, "ax":0.0, "ay":0.0, "alpha":0.00021, "fx":[0.00066,-0.00054,-0.00066,0.00054], "fy":[0.00054,0.00066,-0.00054,-0.00066]},
-    {"t":0.18705, "x":7.67334, "y":4.74245, "heading":-1.71189, "vx":-0.78608, "vy":1.27715, "omega":-0.75426, "ax":0.0, "ay":0.0, "alpha":0.00014, "fx":[0.00046,-0.00035,-0.00046,0.00035], "fy":[0.00035,0.00046,-0.00035,-0.00046]},
-    {"t":0.23382, "x":7.63658, "y":4.80217, "heading":-1.74716, "vx":-0.78608, "vy":1.27715, "omega":-0.75426, "ax":0.0, "ay":0.0, "alpha":0.00009, "fx":[0.00031,-0.00021,-0.00031,0.00021], "fy":[0.00021,0.00031,-0.00021,-0.00031]},
-    {"t":0.28058, "x":7.59982, "y":4.8619, "heading":-1.78244, "vx":-0.78608, "vy":1.27715, "omega":-0.75425, "ax":0.0, "ay":0.0, "alpha":0.00005, "fx":[0.00018,-0.00011,-0.00018,0.00011], "fy":[0.00011,0.00018,-0.00011,-0.00018]},
-    {"t":0.32735, "x":7.56306, "y":4.92162, "heading":-1.81771, "vx":-0.78608, "vy":1.27715, "omega":-0.75425, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[0.00007,-0.00004,-0.00007,0.00004], "fy":[0.00004,0.00007,-0.00004,-0.00007]},
-    {"t":0.37411, "x":7.5263, "y":4.98135, "heading":-1.85298, "vx":-0.78608, "vy":1.27715, "omega":-0.75425, "ax":0.0, "ay":0.0, "alpha":-0.00001, "fx":[-0.00003,0.00001,0.00003,-0.00001], "fy":[-0.00001,-0.00003,0.00001,0.00003]},
-    {"t":0.42087, "x":7.48954, "y":5.04107, "heading":-1.88825, "vx":-0.78608, "vy":1.27715, "omega":-0.75425, "ax":0.0, "ay":0.0, "alpha":-0.00003, "fx":[-0.00011,0.00005,0.00011,-0.00005], "fy":[-0.00005,-0.00011,0.00005,0.00011]},
-    {"t":0.46764, "x":7.45278, "y":5.1008, "heading":-1.92352, "vx":-0.78608, "vy":1.27715, "omega":-0.75425, "ax":0.0, "ay":0.0, "alpha":-0.00005, "fx":[-0.00018,0.00008,0.00018,-0.00008], "fy":[-0.00008,-0.00018,0.00008,0.00018]},
-    {"t":0.5144, "x":7.41602, "y":5.16052, "heading":-1.95879, "vx":-0.78608, "vy":1.27715, "omega":-0.75425, "ax":0.0, "ay":0.0, "alpha":-0.00006, "fx":[-0.00024,0.0001,0.00024,-0.0001], "fy":[-0.0001,-0.00024,0.0001,0.00024]},
-    {"t":0.56116, "x":7.37926, "y":5.22024, "heading":-1.99407, "vx":-0.78608, "vy":1.27715, "omega":-0.75426, "ax":0.0, "ay":0.0, "alpha":-0.00008, "fx":[-0.0003,0.00011,0.0003,-0.00011], "fy":[-0.00011,-0.0003,0.00011,0.0003]},
-    {"t":0.60793, "x":7.3425, "y":5.27997, "heading":-2.02934, "vx":-0.78608, "vy":1.27715, "omega":-0.75426, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[-0.00034,0.00011,0.00034,-0.00011], "fy":[-0.00011,-0.00034,0.00011,0.00034]},
-    {"t":0.65469, "x":7.30574, "y":5.33969, "heading":-2.06461, "vx":-0.78608, "vy":1.27715, "omega":-0.75426, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[-0.00037,0.00011,0.00037,-0.00011], "fy":[-0.00011,-0.00037,0.00011,0.00037]},
-    {"t":0.70146, "x":7.26898, "y":5.39942, "heading":-2.09988, "vx":-0.78608, "vy":1.27715, "omega":-0.75427, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[-0.00037,0.0001,0.00037,-0.0001], "fy":[-0.0001,-0.00037,0.0001,0.00037]},
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diff --git a/src/main/deploy/choreo/FLMtoML.traj b/src/main/deploy/choreo/FLMtoML.traj
index 03fc7f5e..d4c8f3d4 100644
--- a/src/main/deploy/choreo/FLMtoML.traj
+++ b/src/main/deploy/choreo/FLMtoML.traj
@@ -3,28 +3,30 @@
  "version":3,
  "snapshot":{
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     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
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+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
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+    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
   "targetDt":0.05
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+    {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false},
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     "y":0.2761996
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+   "inertia":10.42384825260472,
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+   "vmax":485.8996637552213,
+   "tmax":0.9,
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@@ -55,82 +57,97 @@
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+  "waypoints":[0.0,1.6164,3.26683],
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+    {"t":1.70104, "x":6.35301, "y":7.39047, "heading":0.05622, "vx":-1.99876, "vy":-0.05531, "omega":0.60004, "ax":-0.01803, "ay":1.24513, "alpha":-2.2454, "fx":[11.47735,9.66503,-11.46483,-10.86974], "fy":[10.91926,31.43024,30.3079,9.68772]},
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+    {"t":1.78568, "x":6.18379, "y":7.38938, "heading":0.10299, "vx":-1.99951, "vy":0.0089, "omega":0.41691, "ax":0.00082, "ay":0.13845, "alpha":-1.83651, "fx":[9.54703,7.72168,-9.4766,-7.73791], "fy":[-5.43085,11.78971,10.01825,-7.22092]},
+    {"t":1.82799, "x":6.09918, "y":7.38988, "heading":0.12063, "vx":-1.99947, "vy":0.01476, "omega":0.33919, "ax":0.00082, "ay":0.09734, "alpha":-1.6164, "fx":[8.51433,6.65533,-8.46386,-6.65164], "fy":[-5.03888,10.09266,8.26367,-6.87979]},
+    {"t":1.87031, "x":6.01456, "y":7.39059, "heading":0.13499, "vx":-1.99944, "vy":0.01888, "omega":0.27079, "ax":0.00076, "ay":0.07444, "alpha":-1.4217, "fx":[7.5687,5.7496,-7.5298,-5.73814], "fy":[-4.51011,8.77646,6.97542,-6.31904]},
+    {"t":1.91263, "x":5.92995, "y":7.39146, "heading":0.14645, "vx":-1.99941, "vy":0.02203, "omega":0.21062, "ax":0.00068, "ay":0.05883, "alpha":-1.24984, "fx":[6.70931,4.98011,-6.67835,-4.96579], "fy":[-3.99845,7.66429,5.94626,-5.7217]},
+    {"t":1.95495, "x":5.84534, "y":7.39245, "heading":0.15536, "vx":-1.99938, "vy":0.02452, "omega":0.15773, "ax":0.0006, "ay":0.04733, "alpha":-1.09829, "fx":[5.93335,4.32471,-5.90823,-4.30987], "fy":[-3.53352,6.70203,5.10039,-5.1386]},
+    {"t":1.99727, "x":5.76073, "y":7.39352, "heading":0.16203, "vx":-1.99935, "vy":0.02652, "omega":0.11125, "ax":0.00053, "ay":0.03851, "alpha":-0.96476, "fx":[5.23638,3.76465,-5.21576,-3.75044], "fy":[-3.12012,5.8619,4.39459,-4.58968]},
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+    {"t":2.92828, "x":3.89941, "y":7.42487, "heading":0.06545, "vx":-1.99921, "vy":0.03576, "omega":-0.19449, "ax":0.00001, "ay":0.00059, "alpha":-0.01661, "fx":[0.08347,0.07322,-0.08312,-0.07287], "fy":[-0.06321,0.09313,0.08288,-0.07346]},
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+    {"t":3.05524, "x":3.6456, "y":7.42941, "heading":0.04069, "vx":-1.99921, "vy":0.03582, "omega":-0.19506, "ax":0.00001, "ay":0.0003, "alpha":0.0198, "fx":[-0.09707,-0.08947,0.09724,0.08964], "fy":[0.09444,-0.09227,-0.08467,0.10204]},
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+    {"t":3.13987, "x":3.47639, "y":7.43245, "heading":0.02422, "vx":-1.99921, "vy":0.03584, "omega":-0.19286, "ax":0.0, "ay":0.00015, "alpha":0.04542, "fx":[-0.21937,-0.20899,0.21946,0.20908], "fy":[0.21155,-0.2169,-0.20652,0.22193]},
+    {"t":3.18219, "x":3.39179, "y":7.43396, "heading":0.01605, "vx":-1.99921, "vy":0.03585, "omega":-0.19093, "ax":0.0, "ay":0.00009, "alpha":0.05928, "fx":[-0.28407,-0.2751,0.28413,0.27516], "fy":[0.2766,-0.28263,-0.27365,0.28558]},
+    {"t":3.22451, "x":3.30718, "y":7.43548, "heading":0.00797, "vx":-1.99921, "vy":0.03585, "omega":-0.18843, "ax":0.01116, "ay":-0.00017, "alpha":0.07414, "fx":[-0.16799,-0.16242,0.53709,0.53152], "fy":[0.34415,-0.35537,-0.34979,0.34972]},
+    {"t":3.26683, "x":3.22259, "y":7.437, "heading":0.0, "vx":-1.99873, "vy":0.03584, "omega":-0.18529, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/FLMtoSLB.traj b/src/main/deploy/choreo/FLMtoSLB.traj
deleted file mode 100644
index 3d7f1b70..00000000
--- a/src/main/deploy/choreo/FLMtoSLB.traj
+++ /dev/null
@@ -1,139 +0,0 @@
-{
- "name":"FLMtoSLB",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.8075175285339355, "y":5.39786434173584, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.29819393157959, "y":5.418973922729492, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.8075175285339355 m", "val":5.8075175285339355}, "y":{"exp":"5.39786434173584 m", "val":5.39786434173584}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.29819393157959 m", "val":4.29819393157959}, "y":{"exp":"5.418973922729492 m", "val":5.418973922729492}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
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-    {"t":2.71664, "x":3.93777, "y":5.41026, "heading":-3.13848, "vx":-1.49918, "vy":-0.03891, "omega":-0.00054, "ax":0.0, "ay":0.0, "alpha":-0.0317, "fx":[-0.09099,-0.09042,0.09099,0.09042], "fy":[0.09042,-0.09099,-0.09042,0.09099]},
-    {"t":2.76472, "x":3.86568, "y":5.40839, "heading":-3.1385, "vx":-1.49918, "vy":-0.03891, "omega":-0.00206, "ax":0.0, "ay":0.0, "alpha":-0.02112, "fx":[-0.06062,-0.06025,0.06062,0.06025], "fy":[0.06025,-0.06062,-0.06025,0.06062]},
-    {"t":2.81281, "x":3.7936, "y":5.40652, "heading":-3.1386, "vx":-1.49918, "vy":-0.03891, "omega":-0.00308, "ax":0.0, "ay":0.0, "alpha":-0.01406, "fx":[-0.04033,-0.04009,0.04033,0.04009], "fy":[0.04009,-0.04033,-0.04009,0.04033]},
-    {"t":2.86089, "x":3.72151, "y":5.40465, "heading":-3.13875, "vx":-1.49918, "vy":-0.03891, "omega":-0.00376, "ax":0.0, "ay":0.0, "alpha":-0.00932, "fx":[-0.02675,-0.0266,0.02675,0.0266], "fy":[0.0266,-0.02675,-0.0266,0.02675]},
-    {"t":2.90897, "x":3.64943, "y":5.40278, "heading":-3.13893, "vx":-1.49918, "vy":-0.03891, "omega":-0.0042, "ax":0.0, "ay":0.0, "alpha":-0.00614, "fx":[-0.01762,-0.01753,0.01762,0.01753], "fy":[0.01753,-0.01762,-0.01753,0.01762]},
-    {"t":2.95705, "x":3.57734, "y":5.40091, "heading":-3.13913, "vx":-1.49918, "vy":-0.03891, "omega":-0.0045, "ax":0.0, "ay":0.0, "alpha":-0.00398, "fx":[-0.01142,-0.01137,0.01142,0.01137], "fy":[0.01137,-0.01142,-0.01137,0.01142]},
-    {"t":3.00514, "x":3.50526, "y":5.39904, "heading":-3.13935, "vx":-1.49918, "vy":-0.03891, "omega":-0.00469, "ax":0.0, "ay":0.0, "alpha":-0.00248, "fx":[-0.00712,-0.00709,0.00712,0.00709], "fy":[0.00709,-0.00712,-0.00709,0.00712]},
-    {"t":3.05322, "x":3.43317, "y":5.39717, "heading":-3.13957, "vx":-1.49918, "vy":-0.03891, "omega":-0.00481, "ax":0.0, "ay":0.0, "alpha":-0.0014, "fx":[-0.00401,-0.004,0.00401,0.004], "fy":[0.004,-0.00401,-0.004,0.00401]},
-    {"t":3.1013, "x":3.36109, "y":5.3953, "heading":-3.1398, "vx":-1.49918, "vy":-0.03891, "omega":-0.00488, "ax":0.0, "ay":0.0, "alpha":-0.00055, "fx":[-0.00157,-0.00156,0.00157,0.00156], "fy":[0.00156,-0.00157,-0.00156,0.00157]},
-    {"t":3.14939, "x":3.289, "y":5.39343, "heading":-3.14004, "vx":-1.49918, "vy":-0.03891, "omega":-0.0049, "ax":0.0, "ay":0.0, "alpha":0.00021, "fx":[0.00061,0.00061,-0.00061,-0.00061], "fy":[-0.00061,0.00061,0.00061,-0.00061]},
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-    {"t":3.3898, "x":2.92858, "y":5.38407, "heading":-3.14119, "vx":-1.49918, "vy":-0.03891, "omega":-0.00435, "ax":0.0, "ay":0.0, "alpha":0.00779, "fx":[0.02231,0.02229,-0.02231,-0.02229], "fy":[-0.02229,0.02231,0.02229,-0.02231]},
-    {"t":3.43788, "x":2.85649, "y":5.3822, "heading":-3.1414, "vx":-1.49918, "vy":-0.03891, "omega":-0.00397, "ax":0.00649, "ay":0.00017, "alpha":0.01178, "fx":[0.1339,0.13388,0.06649,0.06651], "fy":[-0.03109,0.0363,0.03629,-0.0311]},
-    {"t":3.48596, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-1.49887, "vy":-0.0389, "omega":-0.00341, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FLMtoSLT.traj b/src/main/deploy/choreo/FLMtoSLT.traj
deleted file mode 100644
index 207cad5a..00000000
--- a/src/main/deploy/choreo/FLMtoSLT.traj
+++ /dev/null
@@ -1,547 +0,0 @@
-{
- "name":"FLMtoSLT",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":219, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.714456081390381, "y":7.341778755187988, "heading":-3.116906638819587, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.465227127075195, "y":7.376699447631836, "heading":3.127229582083786, "intervals":112, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "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":1.5}}, "enabled":true}],
-  "targetDt":0.01
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":219, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.714456081390381 m", "val":6.714456081390381}, "y":{"exp":"7.341778755187988 m", "val":7.341778755187988}, "heading":{"exp":"-3.116906638819587 rad", "val":-3.116906638819587}, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"3.127229582083786 rad", "val":3.127229582083786}, "intervals":112, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "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":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.01 s",
-   "val":0.01
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
-   },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.03549,3.5392,4.64117],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.53389, "vy":1.39486, "omega":-0.82227, "ax":-0.18573, "ay":0.48537, "alpha":0.00061, "fx":[-2.86657,-2.87005,-2.87005,-2.86657], "fy":[7.49744,7.49744,7.49396,7.49396]},
-    {"t":0.00929, "x":7.8154, "y":4.51656, "heading":-1.57844, "vx":-0.53562, "vy":1.39938, "omega":-0.82226, "ax":0.0, "ay":0.00028, "alpha":0.00027, "fx":[0.00079,-0.00074,-0.00075,0.00078], "fy":[0.00507,0.00508,0.00355,0.00354]},
-    {"t":0.01859, "x":7.81042, "y":4.52956, "heading":-1.58608, "vx":-0.53562, "vy":1.39938, "omega":-0.82226, "ax":0.00011, "ay":0.00004, "alpha":-0.00007, "fx":[0.00152,0.00192,0.00193,0.00153], "fy":[0.00048,0.00047,0.00087,0.00088]},
-    {"t":0.02788, "x":7.80544, "y":4.54257, "heading":-1.59372, "vx":-0.53562, "vy":1.39938, "omega":-0.82226, "ax":0.00012, "ay":0.00005, "alpha":-0.0004, "fx":[0.00068,0.00299,0.00304,0.00073], "fy":[-0.0004,-0.00045,0.00186,0.00191]},
-    {"t":0.03718, "x":7.80046, "y":4.55558, "heading":-1.60137, "vx":-0.53562, "vy":1.39938, "omega":-0.82226, "ax":0.00013, "ay":0.00005, "alpha":-0.00073, "fx":[-0.00021,0.004,0.00412,-0.00008], "fy":[-0.00127,-0.0014,0.0028,0.00293]},
-    {"t":0.04647, "x":7.79548, "y":4.56858, "heading":-1.60901, "vx":-0.53562, "vy":1.39938, "omega":-0.82227, "ax":0.00013, "ay":0.00005, "alpha":-0.00106, "fx":[-0.00111,0.00497,0.0052,-0.00088], "fy":[-0.00213,-0.00236,0.00372,0.00395]},
-    {"t":0.05577, "x":7.7905, "y":4.58159, "heading":-1.61665, "vx":-0.53562, "vy":1.39938, "omega":-0.82228, "ax":0.00014, "ay":0.00005, "alpha":-0.00139, "fx":[-0.00202,0.00592,0.00628,-0.00166], "fy":[-0.00296,-0.00332,0.00462,0.00498]},
-    {"t":0.06506, "x":7.78553, "y":4.5946, "heading":-1.62429, "vx":-0.53561, "vy":1.39938, "omega":-0.82229, "ax":0.00014, "ay":0.00006, "alpha":-0.00171, "fx":[-0.00294,0.00685,0.00737,-0.00242], "fy":[-0.00377,-0.00429,0.0055,0.00602]},
-    {"t":0.07436, "x":7.78055, "y":4.6076, "heading":-1.63194, "vx":-0.53561, "vy":1.39938, "omega":-0.82231, "ax":0.00015, "ay":0.00006, "alpha":-0.00204, "fx":[-0.00387,0.00776,0.00847,-0.00315], "fy":[-0.00456,-0.00527,0.00635,0.00706]},
-    {"t":0.08365, "x":7.77557, "y":4.62061, "heading":-1.63958, "vx":-0.53561, "vy":1.39938, "omega":-0.82233, "ax":0.00015, "ay":0.00006, "alpha":-0.00236, "fx":[-0.0048,0.00865,0.00957,-0.00387], "fy":[-0.00533,-0.00626,0.00719,0.00812]},
-    {"t":0.09294, "x":7.77059, "y":4.63362, "heading":-1.64722, "vx":-0.53561, "vy":1.39938, "omega":-0.82235, "ax":0.00016, "ay":0.00006, "alpha":-0.00267, "fx":[-0.00574,0.00952,0.01069,-0.00457], "fy":[-0.00608,-0.00725,0.00801,0.00918]},
-    {"t":0.10224, "x":7.76561, "y":4.64662, "heading":-1.65487, "vx":-0.53561, "vy":1.39938, "omega":-0.82237, "ax":0.00017, "ay":0.00006, "alpha":-0.00299, "fx":[-0.00669,0.01037,0.01181,-0.00525], "fy":[-0.00681,-0.00825,0.00881,0.01025]},
-    {"t":0.11153, "x":7.76063, "y":4.65963, "heading":-1.66251, "vx":-0.53561, "vy":1.39938, "omega":-0.8224, "ax":0.00017, "ay":0.00007, "alpha":-0.00331, "fx":[-0.00765,0.0112,0.01294,-0.00591], "fy":[-0.00753,-0.00926,0.00959,0.01132]},
-    {"t":0.12083, "x":7.75566, "y":4.67264, "heading":-1.67015, "vx":-0.53561, "vy":1.39938, "omega":-0.82243, "ax":0.00018, "ay":0.00007, "alpha":-0.00362, "fx":[-0.00861,0.01202,0.01408,-0.00655], "fy":[-0.00822,-0.01028,0.01035,0.01241]},
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-    {"t":0.13942, "x":7.7457, "y":4.69865, "heading":-1.68544, "vx":-0.5356, "vy":1.39938, "omega":-0.8225, "ax":0.00019, "ay":0.00007, "alpha":-0.00425, "fx":[-0.01056,0.0136,0.01638,-0.00778], "fy":[-0.00956,-0.01234,0.01182,0.0146]},
-    {"t":0.14871, "x":7.74072, "y":4.71166, "heading":-1.69309, "vx":-0.5356, "vy":1.39939, "omega":-0.82254, "ax":0.00019, "ay":0.00008, "alpha":-0.00456, "fx":[-0.01155,0.01436,0.01755,-0.00837], "fy":[-0.0102,-0.01338,0.01253,0.01572]},
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-    {"t":0.1766, "x":7.72579, "y":4.75068, "heading":-1.71602, "vx":-0.5356, "vy":1.39939, "omega":-0.82268, "ax":0.00021, "ay":0.00008, "alpha":-0.00549, "fx":[-0.01456,0.01654,0.02109,-0.01001], "fy":[-0.01201,-0.01655,0.01454,0.01909]},
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-    {"t":4.30664, "x":3.31577, "y":7.3419, "heading":3.14148, "vx":-1.49801, "vy":-0.03722, "omega":0.00114, "ax":-0.00054, "ay":0.02154, "alpha":-0.00977, "fx":[-0.03622,-0.03623,0.01967,0.01968], "fy":[0.36055,0.30464,0.30464,0.36054]},
-    {"t":4.31648, "x":3.30103, "y":7.34153, "heading":3.14149, "vx":-1.49802, "vy":-0.03701, "omega":0.00105, "ax":-0.00053, "ay":0.02151, "alpha":-0.00908, "fx":[-0.0342,-0.0342,0.01776,0.01777], "fy":[0.35822,0.30625,0.30625,0.35821]},
-    {"t":4.32632, "x":3.28629, "y":7.34117, "heading":3.1415, "vx":-1.49802, "vy":-0.0368, "omega":0.00096, "ax":-0.00053, "ay":0.02149, "alpha":-0.00844, "fx":[-0.0323,-0.0323,0.01597,0.01597], "fy":[0.35601,0.30774,0.30774,0.35601]},
-    {"t":4.33616, "x":3.27156, "y":7.34081, "heading":3.14151, "vx":-1.49803, "vy":-0.03659, "omega":0.00087, "ax":-0.00053, "ay":0.02147, "alpha":-0.00783, "fx":[-0.03051,-0.03051,0.01429,0.0143], "fy":[0.35392,0.30912,0.30912,0.35392]},
-    {"t":4.346, "x":3.25682, "y":7.34045, "heading":3.14152, "vx":-1.49803, "vy":-0.03638, "omega":0.0008, "ax":-0.00052, "ay":0.02144, "alpha":-0.00726, "fx":[-0.02883,-0.02883,0.01272,0.01273], "fy":[0.35195,0.31039,0.31039,0.35194]},
-    {"t":4.35584, "x":3.24208, "y":7.34009, "heading":3.14153, "vx":-1.49804, "vy":-0.03617, "omega":0.00072, "ax":-0.00052, "ay":0.02142, "alpha":-0.00673, "fx":[-0.02725,-0.02725,0.01126,0.01126], "fy":[0.35007,0.31156,0.31156,0.35007]},
-    {"t":4.36567, "x":3.22734, "y":7.33974, "heading":3.14154, "vx":-1.49804, "vy":-0.03596, "omega":0.00066, "ax":-0.00051, "ay":0.0214, "alpha":-0.00623, "fx":[-0.02577,-0.02577,0.00988,0.00989], "fy":[0.3483,0.31264,0.31264,0.3483]},
-    {"t":4.37551, "x":3.2126, "y":7.33939, "heading":3.14154, "vx":-1.49805, "vy":-0.03575, "omega":0.0006, "ax":-0.00051, "ay":0.02138, "alpha":-0.00577, "fx":[-0.02438,-0.02439,0.00861,0.00861], "fy":[0.34662,0.31363,0.31363,0.34662]},
-    {"t":4.38535, "x":3.19786, "y":7.33904, "heading":3.14155, "vx":-1.49805, "vy":-0.03554, "omega":0.00054, "ax":-0.00051, "ay":0.02135, "alpha":-0.00533, "fx":[-0.02308,-0.02308,0.00741,0.00741], "fy":[0.34503,0.31454,0.31454,0.34503]},
-    {"t":4.39519, "x":3.18312, "y":7.33869, "heading":3.14155, "vx":-1.49806, "vy":-0.03533, "omega":0.00049, "ax":-0.0005, "ay":0.02133, "alpha":-0.00492, "fx":[-0.02186,-0.02186,0.0063,0.0063], "fy":[0.34353,0.31537,0.31537,0.34353]},
-    {"t":4.40503, "x":3.16838, "y":7.33834, "heading":3.14156, "vx":-1.49806, "vy":-0.03512, "omega":0.00044, "ax":-0.0005, "ay":0.02131, "alpha":-0.00454, "fx":[-0.02072,-0.02072,0.00526,0.00526], "fy":[0.3421,0.31612,0.31612,0.3421]},
-    {"t":4.41487, "x":3.15364, "y":7.338, "heading":3.14156, "vx":-1.49807, "vy":-0.03491, "omega":0.00039, "ax":-0.0005, "ay":0.02129, "alpha":-0.00418, "fx":[-0.01964,-0.01964,0.00429,0.00429], "fy":[0.34075,0.31681,0.31681,0.34075]},
-    {"t":4.42471, "x":3.1389, "y":7.33765, "heading":3.14157, "vx":-1.49807, "vy":-0.0347, "omega":0.00035, "ax":-0.00049, "ay":0.02127, "alpha":-0.00385, "fx":[-0.01864,-0.01864,0.00339,0.00339], "fy":[0.33946,0.31744,0.31743,0.33946]},
-    {"t":4.43455, "x":3.12416, "y":7.33731, "heading":3.14157, "vx":-1.49808, "vy":-0.03449, "omega":0.00032, "ax":-0.00049, "ay":0.02125, "alpha":-0.00354, "fx":[-0.01769,-0.01769,0.00255,0.00255], "fy":[0.33824,0.318,0.318,0.33824]},
-    {"t":4.44439, "x":3.10942, "y":7.33698, "heading":3.14157, "vx":-1.49808, "vy":-0.03428, "omega":0.00028, "ax":-0.00049, "ay":0.02123, "alpha":-0.00325, "fx":[-0.0168,-0.01681,0.00177,0.00177], "fy":[0.33709,0.31851,0.31851,0.33709]},
-    {"t":4.45423, "x":3.09468, "y":7.33664, "heading":3.14158, "vx":-1.49809, "vy":-0.03407, "omega":0.00025, "ax":-0.00048, "ay":0.02121, "alpha":-0.00297, "fx":[-0.01597,-0.01597,0.00105,0.00105], "fy":[0.33598,0.31896,0.31896,0.33598]},
-    {"t":4.46406, "x":3.07994, "y":7.3363, "heading":3.14158, "vx":-1.49809, "vy":-0.03386, "omega":0.00022, "ax":-0.00048, "ay":0.02118, "alpha":-0.00272, "fx":[-0.01519,-0.01519,0.00037,0.00037], "fy":[0.33494,0.31937,0.31937,0.33494]},
-    {"t":4.4739, "x":3.0652, "y":7.33597, "heading":3.14158, "vx":-1.4981, "vy":-0.03365, "omega":0.00019, "ax":-0.00048, "ay":0.02116, "alpha":-0.00248, "fx":[-0.01446,-0.01446,-0.00026,-0.00026], "fy":[0.33394,0.31974,0.31974,0.33394]},
-    {"t":4.48374, "x":3.05046, "y":7.33564, "heading":3.14158, "vx":-1.4981, "vy":-0.03344, "omega":0.00017, "ax":-0.00047, "ay":0.02114, "alpha":-0.00226, "fx":[-0.01377,-0.01377,-0.00085,-0.00085], "fy":[0.33298,0.32006,0.32006,0.33298]},
-    {"t":4.49358, "x":3.03572, "y":7.33531, "heading":3.14158, "vx":-1.49811, "vy":-0.03324, "omega":0.00015, "ax":-0.00047, "ay":0.02112, "alpha":-0.00205, "fx":[-0.01312,-0.01312,-0.00139,-0.00139], "fy":[0.33207,0.32035,0.32035,0.33207]},
-    {"t":4.50342, "x":3.02098, "y":7.33499, "heading":3.14159, "vx":-1.49811, "vy":-0.03303, "omega":0.00013, "ax":-0.00047, "ay":0.0211, "alpha":-0.00185, "fx":[-0.0125,-0.0125,-0.0019,-0.0019], "fy":[0.3312,0.3206,0.3206,0.3312]},
-    {"t":4.51326, "x":3.00624, "y":7.33466, "heading":3.14159, "vx":-1.49812, "vy":-0.03282, "omega":0.00011, "ax":-0.00046, "ay":0.02108, "alpha":-0.00167, "fx":[-0.01192,-0.01192,-0.00238,-0.00238], "fy":[0.33036,0.32082,0.32082,0.33036]},
-    {"t":4.5231, "x":2.9915, "y":7.33434, "heading":3.14159, "vx":-1.49812, "vy":-0.03261, "omega":0.00009, "ax":-0.00046, "ay":0.02106, "alpha":-0.00149, "fx":[-0.01137,-0.01137,-0.00283,-0.00283], "fy":[0.32956,0.32102,0.32102,0.32956]},
-    {"t":4.53294, "x":2.97676, "y":7.33402, "heading":3.14159, "vx":-1.49813, "vy":-0.03241, "omega":0.00008, "ax":-0.00046, "ay":0.02104, "alpha":-0.00133, "fx":[-0.01085,-0.01085,-0.00325,-0.00325], "fy":[0.32878,0.32119,0.32118,0.32878]},
-    {"t":4.54278, "x":2.96202, "y":7.33371, "heading":3.14159, "vx":-1.49813, "vy":-0.0322, "omega":0.00006, "ax":-0.00045, "ay":0.02102, "alpha":-0.00117, "fx":[-0.01035,-0.01035,-0.00365,-0.00365], "fy":[0.32803,0.32133,0.32133,0.32803]},
-    {"t":4.55262, "x":2.94728, "y":7.33339, "heading":3.14159, "vx":-1.49813, "vy":-0.03199, "omega":0.00005, "ax":-0.00045, "ay":0.021, "alpha":-0.00102, "fx":[-0.00987,-0.00987,-0.00402,-0.00402], "fy":[0.32731,0.32146,0.32146,0.32731]},
-    {"t":4.56246, "x":2.93254, "y":7.33308, "heading":3.14159, "vx":-1.49814, "vy":-0.03179, "omega":0.00004, "ax":-0.00045, "ay":0.02099, "alpha":-0.00088, "fx":[-0.00942,-0.00942,-0.00437,-0.00437], "fy":[0.3266,0.32156,0.32156,0.3266]},
-    {"t":4.57229, "x":2.9178, "y":7.33276, "heading":3.14159, "vx":-1.49814, "vy":-0.03158, "omega":0.00003, "ax":-0.00044, "ay":0.02097, "alpha":-0.00075, "fx":[-0.00898,-0.00898,-0.00471,-0.00471], "fy":[0.3259,0.32164,0.32164,0.3259]},
-    {"t":4.58213, "x":2.90306, "y":7.33245, "heading":3.14159, "vx":-1.49815, "vy":-0.03137, "omega":0.00003, "ax":-0.00044, "ay":0.02094, "alpha":-0.00061, "fx":[-0.00855,-0.00855,-0.00503,-0.00503], "fy":[0.32514,0.32162,0.32162,0.32514]},
-    {"t":4.59197, "x":2.88832, "y":7.33215, "heading":3.14159, "vx":-1.49815, "vy":-0.03117, "omega":0.00002, "ax":-0.00044, "ay":0.02089, "alpha":-0.00049, "fx":[-0.00813,-0.00813,-0.00534,-0.00534], "fy":[0.32406,0.32127,0.32127,0.32406]},
-    {"t":4.60181, "x":2.87358, "y":7.33184, "heading":3.14159, "vx":-1.49816, "vy":-0.03096, "omega":0.00002, "ax":-0.00043, "ay":0.02075, "alpha":-0.00036, "fx":[-0.00769,-0.00769,-0.0056,-0.0056], "fy":[0.32156,0.31948,0.31948,0.32156]},
-    {"t":4.61165, "x":2.85884, "y":7.33154, "heading":3.14159, "vx":-1.49816, "vy":-0.03076, "omega":0.00001, "ax":-0.00042, "ay":0.02021, "alpha":-0.00024, "fx":[-0.00713,-0.00713,-0.00574,-0.00574], "fy":[0.31286,0.31147,0.31147,0.31286]},
-    {"t":4.62149, "x":2.8441, "y":7.33124, "heading":3.14159, "vx":-1.49816, "vy":-0.03056, "omega":0.00001, "ax":-0.00031, "ay":0.01792, "alpha":-0.00012, "fx":[-0.00509,-0.00509,-0.00438,-0.00438], "fy":[0.27717,0.27646,0.27646,0.27717]},
-    {"t":4.63133, "x":2.82936, "y":7.33094, "heading":3.14159, "vx":-1.49817, "vy":-0.03038, "omega":0.00001, "ax":0.15459, "ay":0.01117, "alpha":-0.00001, "fx":[2.38737,2.38737,2.3874,2.3874], "fy":[0.17246,0.17242,0.17242,0.17246]},
-    {"t":4.64117, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49665, "vy":-0.03027, "omega":0.00001, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj
index b630bc0d..a7fe0ccc 100644
--- a/src/main/deploy/choreo/FLtoFLM.traj
+++ b/src/main/deploy/choreo/FLtoFLM.traj
@@ -3,24 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.82036542892456, "y":4.503572463989258, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.8}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.8 m / s", "val":1.8}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -36,12 +36,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -51,28 +51,29 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.90843],
+  "waypoints":[0.0,0.75707],
   "samples":[
-    {"t":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":-1.49875, "omega":0.0, "ax":0.0, "ay":-0.01968, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.30399,-0.30399,-0.30399,-0.30399]},
-    {"t":0.04781, "x":7.82037, "y":5.79422, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.09562, "x":7.82037, "y":5.72252, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.14344, "x":7.82037, "y":5.65082, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.19125, "x":7.82037, "y":5.57911, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.23906, "x":7.82037, "y":5.50741, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.28687, "x":7.82037, "y":5.43571, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.33468, "x":7.82037, "y":5.364, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.3825, "x":7.82037, "y":5.2923, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.43031, "x":7.82037, "y":5.2206, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.47812, "x":7.82037, "y":5.14889, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.52593, "x":7.82037, "y":5.07719, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.57375, "x":7.82037, "y":5.00549, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.62156, "x":7.82037, "y":4.93378, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.66937, "x":7.82037, "y":4.86208, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.71718, "x":7.82037, "y":4.79038, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.76499, "x":7.82037, "y":4.71867, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.81281, "x":7.82037, "y":4.64697, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "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":0.86062, "x":7.82037, "y":4.57527, "heading":-1.5708, "vx":0.0, "vy":-1.49969, "omega":0.0, "ax":0.0, "ay":0.00656, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.10137,0.10137,0.10137,0.10137]},
-    {"t":0.90843, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":0.0, "vy":-1.49937, "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":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.0, "vy":-1.7981, "omega":0.0, "ax":0.0, "ay":-0.03772, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.62362,-0.62362,-0.62362,-0.62362]},
+    {"t":0.03785, "x":7.82037, "y":5.79781, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
+    {"t":0.07571, "x":7.82037, "y":5.72969, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.11356, "x":7.82037, "y":5.66157, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.15141, "x":7.82037, "y":5.59346, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.18927, "x":7.82037, "y":5.52534, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.22712, "x":7.82037, "y":5.45722, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":0.45424, "x":7.82037, "y":5.04851, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.4921, "x":7.82037, "y":4.98039, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.52995, "x":7.82037, "y":4.91227, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.5678, "x":7.82037, "y":4.84415, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.60566, "x":7.82037, "y":4.77604, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":0.68136, "x":7.82037, "y":4.6398, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "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":0.71922, "x":7.82037, "y":4.57168, "heading":-1.5708, "vx":0.0, "vy":-1.79952, "omega":0.0, "ax":0.0, "ay":0.01258, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.20805,0.20805,0.20805,0.20805]},
+    {"t":0.75707, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":0.0, "vy":-1.79905, "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/FLtoSL.traj b/src/main/deploy/choreo/FLtoSL.traj
deleted file mode 100644
index 896b622c..00000000
--- a/src/main/deploy/choreo/FLtoSL.traj
+++ /dev/null
@@ -1,140 +0,0 @@
-{
- "name":"FLtoSL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.347630977630615, "y":7.2292633056640625, "heading":-1.781889328027542, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":14, "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":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "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":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.33981,3.69811],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":-1.09366, "vy":1.0247, "omega":-1.12231, "ax":-0.01519, "ay":0.01459, "alpha":-0.00953, "fx":[-0.26192,-0.20736,-0.20736,-0.26191], "fy":[0.19811,0.19811,0.25267,0.25266]},
-    {"t":0.0462, "x":7.76982, "y":5.91326, "heading":-1.62265, "vx":-1.09437, "vy":1.02537, "omega":-1.12275, "ax":0.00037, "ay":0.00039, "alpha":-0.02224, "fx":[-0.0595,0.06775,0.0708,-0.05645], "fy":[-0.05607,-0.05912,0.06814,0.07119]},
-    {"t":0.0924, "x":7.71926, "y":5.96063, "heading":-1.67452, "vx":-1.09435, "vy":1.02539, "omega":-1.12378, "ax":0.00038, "ay":0.00041, "alpha":-0.03653, "fx":[-0.10711,0.10122,0.11887,-0.08945], "fy":[-0.08905,-0.10671,0.10162,0.11927]},
-    {"t":0.1386, "x":7.6687, "y":6.00801, "heading":-1.72644, "vx":-1.09433, "vy":1.02541, "omega":-1.12547, "ax":0.0004, "ay":0.00042, "alpha":-0.03678, "fx":[-0.11234,0.09623,0.12458,-0.08399], "fy":[-0.08358,-0.11193,0.09664,0.12499]},
-    {"t":0.1848, "x":7.61815, "y":6.05538, "heading":-1.77843, "vx":-1.09431, "vy":1.02543, "omega":-1.12716, "ax":0.00041, "ay":0.00044, "alpha":-0.05947, "fx":[-0.1948,0.13837,0.20753,-0.12564], "fy":[-0.12521,-0.19437,0.1388,0.20796]},
-    {"t":0.231, "x":7.56759, "y":6.10276, "heading":-1.83051, "vx":-1.09429, "vy":1.02545, "omega":-1.12991, "ax":0.00043, "ay":0.00046, "alpha":-0.05109, "fx":[-0.17096,0.11244,0.18421,-0.09919], "fy":[-0.09874,-0.17051,0.11289,0.18465]},
-    {"t":0.2772, "x":7.51703, "y":6.15013, "heading":-1.88271, "vx":-1.09427, "vy":1.02547, "omega":-1.13227, "ax":0.00045, "ay":0.00048, "alpha":-0.0751, "fx":[-0.26482,0.14295,0.27862,-0.12915], "fy":[-0.12868,-0.26435,0.14341,0.27908]},
-    {"t":0.3234, "x":7.46648, "y":6.19751, "heading":-1.93502, "vx":-1.09425, "vy":1.02549, "omega":-1.13574, "ax":0.00047, "ay":0.0005, "alpha":-0.06362, "fx":[-0.22705,0.11398,0.24143,-0.09959], "fy":[-0.09911,-0.22657,0.11446,0.24192]},
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-    {"t":3.21682, "x":3.53613, "y":7.31081, "heading":-3.14159, "vx":-1.49915, "vy":0.04022, "omega":-0.00004, "ax":0.00011, "ay":0.00402, "alpha":0.00051, "fx":[0.00894,-0.00266,-0.00561,0.006], "fy":[0.0664,0.06935,0.05775,0.0548]},
-    {"t":3.26495, "x":3.46397, "y":7.31275, "heading":-3.14159, "vx":-1.49914, "vy":0.04041, "omega":-0.00001, "ax":0.00011, "ay":0.00404, "alpha":-0.00059, "fx":[0.00708,-0.00709,-0.00371,0.01046], "fy":[0.07117,0.06779,0.05362,0.057]},
-    {"t":3.31308, "x":3.39182, "y":7.3147, "heading":-3.14159, "vx":-1.49914, "vy":0.0406, "omega":-0.00004, "ax":0.00011, "ay":0.00406, "alpha":0.00071, "fx":[0.00812,-0.00066,-0.00472,0.00406], "fy":[0.06508,0.06915,0.06036,0.05629]},
-    {"t":3.36121, "x":3.31967, "y":7.31666, "heading":3.14159, "vx":-1.49913, "vy":0.0408, "omega":-0.00001, "ax":0.00011, "ay":0.00408, "alpha":-0.00052, "fx":[0.00492,-0.00445,-0.00148,0.00788], "fy":[0.06921,0.06625,0.05689,0.05985]},
-    {"t":3.40934, "x":3.24752, "y":7.31863, "heading":3.14159, "vx":-1.49913, "vy":0.041, "omega":-0.00003, "ax":0.00011, "ay":0.0041, "alpha":0.00058, "fx":[0.00648,0.00031,-0.00301,0.00316], "fy":[0.0648,0.06813,0.06196,0.05864]},
-    {"t":3.45747, "x":3.17537, "y":7.32061, "heading":3.14159, "vx":-1.49912, "vy":0.04119, "omega":0.0, "ax":0.00011, "ay":0.00413, "alpha":-0.00014, "fx":[0.00411,-0.00142,-0.0006,0.00493], "fy":[0.0669,0.06608,0.06055,0.06137]},
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-    {"t":3.55372, "x":3.03107, "y":7.32459, "heading":3.14159, "vx":-1.49911, "vy":0.04159, "omega":0.00001, "ax":0.00012, "ay":0.00417, "alpha":0.00027, "fx":[0.00393,0.00121,-0.00035,0.00237], "fy":[0.065,0.06656,0.06384,0.06228]},
-    {"t":3.60185, "x":2.95892, "y":7.3266, "heading":3.14159, "vx":-1.49911, "vy":0.04179, "omega":0.00002, "ax":0.00012, "ay":0.00419, "alpha":0.00048, "fx":[0.00403,0.00234,-0.00042,0.00127], "fy":[0.06413,0.06689,0.06521,0.06244]},
-    {"t":3.64998, "x":2.88677, "y":7.32861, "heading":3.14159, "vx":-1.4991, "vy":0.04199, "omega":0.00005, "ax":0.00653, "ay":0.00191, "alpha":0.00065, "fx":[0.10307,0.10224,0.09854,0.09937], "fy":[0.02813,0.03183,0.031,0.0273]},
-    {"t":3.69811, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49879, "vy":0.04209, "omega":0.00008, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FRMtoCR.traj b/src/main/deploy/choreo/FRMtoCR.traj
deleted file mode 100644
index 4ae15621..00000000
--- a/src/main/deploy/choreo/FRMtoCR.traj
+++ /dev/null
@@ -1,189 +0,0 @@
-{
- "name":"FRMtoCR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.002846717834473, "y":0.6756622195243835, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.641608238220215, "y":0.6834654211997986, "heading":3.1309276014165053, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.199887990951538, "y":0.7819570302963257, "heading":-3.1415930390595, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.002846717834473 m", "val":6.002846717834473}, "y":{"exp":"0.6756622195243835 m", "val":0.6756622195243835}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.641608238220215 m", "val":4.641608238220215}, "y":{"exp":"0.6834654211997986 m", "val":0.6834654211997986}, "heading":{"exp":"3.1309276014165053 rad", "val":3.1309276014165053}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.199887990951538 m", "val":3.199887990951538}, "y":{"exp":"0.7819570302963257 m", "val":0.7819570302963257}, "heading":{"exp":"-3.1415930390595 rad", "val":-3.1415930390595}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.2747,3.18537,4.15151,5.76241],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.79298, "vy":-1.27174, "omega":0.73013, "ax":-0.0108, "ay":-0.01784, "alpha":-0.07511, "fx":[0.04519,-0.3907,-0.37883,0.05689], "fy":[-0.06946,-0.05771,-0.48144,-0.49328]},
-    {"t":0.04642, "x":7.78354, "y":3.49793, "heading":1.60469, "vx":-0.79348, "vy":-1.27256, "omega":0.72664, "ax":-0.00011, "ay":0.00007, "alpha":-0.07405, "fx":[0.20258,-0.22155,-0.20583,0.21825], "fy":[0.21897,0.20592,-0.21691,-0.2039]},
-    {"t":0.09285, "x":7.74671, "y":3.43885, "heading":1.63842, "vx":-0.79349, "vy":-1.27256, "omega":0.7232, "ax":-0.00001, "ay":0.00001, "alpha":-0.04983, "fx":[0.13244,-0.15209,-0.13279,0.15174], "fy":[0.15191,0.13276,-0.15169,-0.13255]},
-    {"t":0.13927, "x":7.70987, "y":3.37978, "heading":1.672, "vx":-0.79349, "vy":-1.27256, "omega":0.72089, "ax":0.00004, "ay":-0.00002, "alpha":-0.02837, "fx":[0.07321,-0.08832,-0.072,0.08952], "fy":[0.08854,0.07223,-0.08929,-0.07298]},
-    {"t":0.18569, "x":7.67303, "y":3.3207, "heading":1.70546, "vx":-0.79349, "vy":-1.27256, "omega":0.71957, "ax":-0.00001, "ay":0.00001, "alpha":-0.01353, "fx":[0.03302,-0.04374,-0.03345,0.04331], "fy":[0.04366,0.03337,-0.04339,-0.0331]},
-    {"t":0.23211, "x":7.6362, "y":3.26162, "heading":1.73887, "vx":-0.79349, "vy":-1.27256, "omega":0.71895, "ax":0.0, "ay":0.0, "alpha":-0.00415, "fx":[0.00973,-0.01369,-0.00981,0.0136], "fy":[0.01367,0.0098,-0.01362,-0.00975]},
-    {"t":0.27854, "x":7.59936, "y":3.20255, "heading":1.77224, "vx":-0.79349, "vy":-1.27256, "omega":0.71875, "ax":0.0, "ay":0.0, "alpha":0.0016, "fx":[-0.00349,0.00545,0.00355,-0.00539], "fy":[-0.00544,-0.00354,0.0054,0.0035]},
-    {"t":0.32496, "x":7.56253, "y":3.14347, "heading":1.80561, "vx":-0.79349, "vy":-1.27256, "omega":0.71883, "ax":0.0, "ay":0.0, "alpha":0.00487, "fx":[-0.01028,0.0168,0.0103,-0.01678], "fy":[-0.01679,-0.01029,0.01678,0.01028]},
-    {"t":0.37138, "x":7.52569, "y":3.0844, "heading":1.83898, "vx":-0.79349, "vy":-1.27256, "omega":0.71905, "ax":0.0, "ay":0.0, "alpha":0.00674, "fx":[-0.0135,0.02369,0.0135,-0.0237], "fy":[-0.0237,-0.0135,0.0237,0.0135]},
-    {"t":0.4178, "x":7.48886, "y":3.02532, "heading":1.87236, "vx":-0.79349, "vy":-1.27256, "omega":0.71937, "ax":0.0, "ay":0.0, "alpha":0.00755, "fx":[-0.01426,0.02701,0.01425,-0.02701], "fy":[-0.02701,-0.01425,0.02701,0.01426]},
-    {"t":0.46423, "x":7.45202, "y":2.96625, "heading":1.90575, "vx":-0.79349, "vy":-1.27256, "omega":0.71972, "ax":0.0, "ay":0.0, "alpha":0.00792, "fx":[-0.01402,0.0288,0.01402,-0.0288], "fy":[-0.0288,-0.01402,0.0288,0.01402]},
-    {"t":0.51065, "x":7.41518, "y":2.90717, "heading":1.93916, "vx":-0.79349, "vy":-1.27256, "omega":0.72008, "ax":0.0, "ay":0.0, "alpha":0.00779, "fx":[-0.01287,0.02875,0.01287,-0.02876], "fy":[-0.02875,-0.01287,0.02876,0.01287]},
-    {"t":0.55707, "x":7.37835, "y":2.8481, "heading":1.97259, "vx":-0.79349, "vy":-1.27256, "omega":0.72045, "ax":0.0, "ay":0.0, "alpha":0.00761, "fx":[-0.01166,0.02849,0.01166,-0.02849], "fy":[-0.02849,-0.01166,0.02849,0.01166]},
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-    {"t":0.64992, "x":7.30468, "y":2.72995, "heading":2.0395, "vx":-0.79349, "vy":-1.27256, "omega":0.72113, "ax":0.0, "ay":0.0, "alpha":0.00663, "fx":[-0.00854,0.02542,0.00854,-0.02542], "fy":[-0.02542,-0.00854,0.02542,0.00854]},
-    {"t":0.69634, "x":7.26784, "y":2.67087, "heading":2.07297, "vx":-0.79349, "vy":-1.27256, "omega":0.72144, "ax":0.0, "ay":0.0, "alpha":0.00588, "fx":[-0.00688,0.02278,0.00687,-0.02279], "fy":[-0.02278,-0.00687,0.02279,0.00688]},
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-    {"t":4.33562, "x":3.04229, "y":1.00431, "heading":-2.96575, "vx":-0.7916, "vy":1.27373, "omega":1.17799, "ax":0.00327, "ay":0.00203, "alpha":0.8244, "fx":[2.81413,1.91884,-2.71323,-1.818], "fy":[-1.83734,2.79486,1.90008,-2.73224]},
-    {"t":4.38164, "x":3.00585, "y":1.06294, "heading":-2.91154, "vx":-0.79145, "vy":1.27383, "omega":1.21593, "ax":-0.00169, "ay":-0.00105, "alpha":0.86103, "fx":[2.88616,1.88828,-2.93829,-1.94042], "fy":[-1.93061,2.89602,1.89821,-2.9284]},
-    {"t":4.42767, "x":2.96943, "y":1.12156, "heading":-2.85557, "vx":-0.79153, "vy":1.27378, "omega":1.25556, "ax":-0.00064, "ay":-0.0004, "alpha":0.0281, "fx":[0.28853,-0.31943,-0.30823,0.29973], "fy":[0.30345,0.29226,-0.31571,-0.30449]},
-    {"t":4.47369, "x":2.93299, "y":1.18019, "heading":-2.79778, "vx":-0.79156, "vy":1.27376, "omega":1.25685, "ax":0.00013, "ay":0.00008, "alpha":0.81799, "fx":[2.95587,1.49788,-2.95176,-1.49377], "fy":[-1.49456,2.9551,1.49711,-2.95254]},
-    {"t":4.51972, "x":2.89656, "y":1.23882, "heading":-2.73994, "vx":-0.79155, "vy":1.27376, "omega":1.2945, "ax":0.00015, "ay":0.00009, "alpha":-0.82602, "fx":[-2.70466,-2.22053,2.70916,2.22503], "fy":[2.22417,-2.7055,-2.22139,2.70832]},
-    {"t":4.56575, "x":2.86013, "y":1.29744, "heading":-2.68036, "vx":-0.79155, "vy":1.27377, "omega":1.25649, "ax":0.00002, "ay":0.00002, "alpha":1.13758, "fx":[4.33348,1.55584,-4.33272,-1.55507], "fy":[-1.55522,4.33334,1.55569,-4.33286]},
-    {"t":4.61177, "x":2.8237, "y":1.35607, "heading":-2.62252, "vx":-0.79155, "vy":1.27377, "omega":1.30884, "ax":-0.00002, "ay":-0.00001, "alpha":-1.80554, "fx":[-6.56851,-3.68167,6.56793,3.68108], "fy":[3.68119,-6.5684,-3.68155,6.56803]},
-    {"t":4.6578, "x":2.78727, "y":1.41469, "heading":-2.56228, "vx":-0.79155, "vy":1.27377, "omega":1.22574, "ax":-0.00001, "ay":-0.00001, "alpha":1.70514, "fx":[6.74147,1.46722,-6.74189,-1.46764], "fy":[-1.46756,6.74155,1.4673,-6.74181]},
-    {"t":4.70382, "x":2.75084, "y":1.47332, "heading":-2.50587, "vx":-0.79155, "vy":1.27377, "omega":1.30422, "ax":0.0, "ay":0.0, "alpha":-2.79187, "fx":[-10.79869,-4.14765,10.79861,4.14758], "fy":[4.14759,-10.79867,-4.14763,10.79862]},
-    {"t":4.74985, "x":2.71441, "y":1.53195, "heading":-2.44584, "vx":-0.79155, "vy":1.27377, "omega":1.17572, "ax":0.0, "ay":0.0, "alpha":2.33129, "fx":[9.40269,0.75868,-9.40264,-0.75862], "fy":[-0.75863,9.40268,0.75867,-9.40265]},
-    {"t":4.79587, "x":2.67797, "y":1.59057, "heading":-2.39173, "vx":-0.79155, "vy":1.27377, "omega":1.28302, "ax":0.0, "ay":0.0, "alpha":-3.54875, "fx":[-14.25054,-3.3018,14.25059,3.30185], "fy":[3.30185,-14.25055,-3.30181,14.25058]},
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-    {"t":4.88792, "x":2.60511, "y":1.70782, "heading":-2.28114, "vx":-0.79155, "vy":1.27377, "omega":1.24627, "ax":0.0, "ay":0.0, "alpha":-3.8214, "fx":[-15.61347,-1.43332,15.61348,1.43332], "fy":[1.43332,-15.61347,-1.43332,15.61348]},
-    {"t":4.93395, "x":2.56868, "y":1.76645, "heading":-2.22378, "vx":-0.79155, "vy":1.27377, "omega":1.07039, "ax":0.0, "ay":0.0, "alpha":2.68968, "fx":[10.69839,-2.10702,-10.6984,2.10701], "fy":[2.10702,10.69839,-2.10702,-10.6984]},
-    {"t":4.97998, "x":2.53225, "y":1.82508, "heading":-2.17452, "vx":-0.79155, "vy":1.27377, "omega":1.19418, "ax":0.0, "ay":0.0, "alpha":-3.45844, "fx":[-14.12015,0.58506,14.12013,-0.58508], "fy":[-0.58508,-14.12015,0.58507,14.12014]},
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-    {"t":5.71639, "x":1.95525, "y":2.75359, "heading":-1.57386, "vx":-0.53498, "vy":0.86089, "omega":0.00141, "ax":11.62345, "ay":-18.70451, "alpha":-0.03065, "fx":[179.29831,179.55067,179.70836,179.45596], "fy":[-288.98483,-288.82835,-288.72988,-288.88657]},
-    {"t":5.76241, "x":1.94294, "y":2.7734, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FRMtoER.traj b/src/main/deploy/choreo/FRMtoER.traj
deleted file mode 100644
index 47f932d8..00000000
--- a/src/main/deploy/choreo/FRMtoER.traj
+++ /dev/null
@@ -1,167 +0,0 @@
-{
- "name":"FRMtoER",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.02736234664917, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.548489570617676, "y":0.7100500464439392, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.1974267959594727, "y":0.9764090180397034, "heading":1.5718817860612435, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.02736234664917 m", "val":6.02736234664917}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.548489570617676 m", "val":4.548489570617676}, "y":{"exp":"0.7100500464439392 m", "val":0.7100500464439392}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"ER.x", "val":2.1974267959594727}, "y":{"exp":"ER.y", "val":0.9764090180397034}, "heading":{"exp":"ER.heading", "val":1.5718817860612435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.24665,3.23575,4.81354],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.79192, "vy":-1.27241, "omega":0.72149, "ax":-0.01084, "ay":-0.01742, "alpha":-0.00058, "fx":[-0.16572,-0.16905,-0.16905,-0.16572], "fy":[-0.26728,-0.26728,-0.27061,-0.27061]},
-    {"t":0.04681, "x":7.78329, "y":3.49741, "heading":1.60457, "vx":-0.79243, "vy":-1.27322, "omega":0.72146, "ax":0.0, "ay":0.0, "alpha":-0.00041, "fx":[0.00112,-0.0012,-0.00112,0.0012], "fy":[0.0012,0.00112,-0.0012,-0.00112]},
-    {"t":0.09361, "x":7.7462, "y":3.43782, "heading":1.63833, "vx":-0.79243, "vy":-1.27322, "omega":0.72145, "ax":0.0, "ay":0.0, "alpha":-0.00028, "fx":[0.00076,-0.00087,-0.00076,0.00087], "fy":[0.00087,0.00076,-0.00087,-0.00076]},
-    {"t":0.14042, "x":7.70911, "y":3.37822, "heading":1.6721, "vx":-0.79243, "vy":-1.27322, "omega":0.72143, "ax":0.0, "ay":0.0, "alpha":-0.0002, "fx":[0.00051,-0.00062,-0.00051,0.00062], "fy":[0.00062,0.00051,-0.00062,-0.00051]},
-    {"t":0.18722, "x":7.67202, "y":3.31863, "heading":1.70587, "vx":-0.79243, "vy":-1.27322, "omega":0.72142, "ax":0.0, "ay":0.0, "alpha":-0.00014, "fx":[0.00033,-0.00044,-0.00033,0.00044], "fy":[0.00044,0.00033,-0.00044,-0.00033]},
-    {"t":0.23403, "x":7.63493, "y":3.25904, "heading":1.73963, "vx":-0.79243, "vy":-1.27322, "omega":0.72142, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[0.00021,-0.00029,-0.00021,0.00029], "fy":[0.00029,0.00021,-0.00029,-0.00021]},
-    {"t":0.28083, "x":7.59784, "y":3.19944, "heading":1.7734, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":-0.00005, "fx":[0.00012,-0.00018,-0.00012,0.00018], "fy":[0.00018,0.00012,-0.00018,-0.00012]},
-    {"t":0.32764, "x":7.56075, "y":3.13985, "heading":1.80717, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":-0.00002, "fx":[0.00005,-0.00008,-0.00005,0.00008], "fy":[0.00008,0.00005,-0.00008,-0.00005]},
-    {"t":0.37444, "x":7.52366, "y":3.08026, "heading":1.84093, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,-0.00001,0.0,0.00001], "fy":[0.00001,0.0,-0.00001,0.0]},
-    {"t":0.42125, "x":7.48657, "y":3.02066, "heading":1.8747, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":0.00002, "fx":[-0.00003,0.00006,0.00003,-0.00006], "fy":[-0.00006,-0.00003,0.00006,0.00003]},
-    {"t":0.46805, "x":7.44948, "y":2.96107, "heading":1.90846, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":0.00003, "fx":[-0.00006,0.00013,0.00006,-0.00013], "fy":[-0.00013,-0.00006,0.00013,0.00006]},
-    {"t":0.51486, "x":7.41239, "y":2.90148, "heading":1.94223, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":0.00005, "fx":[-0.00008,0.00019,0.00008,-0.00019], "fy":[-0.00019,-0.00008,0.00019,0.00008]},
-    {"t":0.56166, "x":7.3753, "y":2.84188, "heading":1.97599, "vx":-0.79243, "vy":-1.27322, "omega":0.72141, "ax":0.0, "ay":0.0, "alpha":0.00006, "fx":[-0.00009,0.00023,0.00009,-0.00023], "fy":[-0.00023,-0.00009,0.00023,0.00009]},
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-    {"t":3.50622, "x":4.14532, "y":0.7542, "heading":2.90813, "vx":-1.49, "vy":0.16997, "omega":-1.01128, "ax":0.0, "ay":0.0, "alpha":-0.27971, "fx":[-0.59342,-0.96369,0.59342,0.96369], "fy":[0.96369,-0.59342,-0.96369,0.59342]},
-    {"t":3.5513, "x":4.07815, "y":0.76186, "heading":2.86254, "vx":-1.49, "vy":0.16997, "omega":-1.02389, "ax":0.0, "ay":0.0, "alpha":-0.18968, "fx":[-0.37221,-0.67116,0.37221,0.67116], "fy":[0.67116,-0.37221,-0.67116,0.37221]},
-    {"t":3.59638, "x":4.01098, "y":0.76952, "heading":2.81639, "vx":-1.49, "vy":0.16997, "omega":-1.03244, "ax":0.0, "ay":0.0, "alpha":-0.12853, "fx":[-0.23097,-0.46595,0.23097,0.46595], "fy":[0.46595,-0.23097,-0.46595,0.23097]},
-    {"t":3.64146, "x":3.94382, "y":0.77719, "heading":2.76985, "vx":-1.49, "vy":0.16997, "omega":-1.03823, "ax":0.0, "ay":0.0, "alpha":-0.08699, "fx":[-0.14149,-0.32231,0.14149,0.32231], "fy":[0.32231,-0.14149,-0.32231,0.14149]},
-    {"t":3.68654, "x":3.87665, "y":0.78485, "heading":2.72304, "vx":-1.49, "vy":0.16997, "omega":-1.04215, "ax":0.0, "ay":0.0, "alpha":-0.05877, "fx":[-0.08529,-0.22196,0.08529,0.22196], "fy":[0.22196,-0.08529,-0.22196,0.08529]},
-    {"t":3.73162, "x":3.80948, "y":0.79251, "heading":2.67606, "vx":-1.49, "vy":0.16997, "omega":-1.0448, "ax":0.0, "ay":0.0, "alpha":-0.03956, "fx":[-0.05033,-0.15195,0.05033,0.15195], "fy":[0.15195,-0.05033,-0.15195,0.05033]},
-    {"t":3.7767, "x":3.74231, "y":0.80017, "heading":2.62896, "vx":-1.49, "vy":0.16997, "omega":-1.04659, "ax":0.0, "ay":0.0, "alpha":-0.02646, "fx":[-0.02884,-0.10309,0.02884,0.10309], "fy":[0.10309,-0.02884,-0.10309,0.02884]},
-    {"t":3.82178, "x":3.67514, "y":0.80784, "heading":2.58178, "vx":-1.49, "vy":0.16997, "omega":-1.04778, "ax":0.0, "ay":0.0, "alpha":-0.01746, "fx":[-0.0158,-0.06885,0.0158,0.06885], "fy":[0.06885,-0.0158,-0.06885,0.0158]},
-    {"t":3.86686, "x":3.60797, "y":0.8155, "heading":2.53455, "vx":-1.49, "vy":0.16997, "omega":-1.04857, "ax":0.0, "ay":0.0, "alpha":-0.0112, "fx":[-0.00804,-0.04459,0.00804,0.04459], "fy":[0.04459,-0.00804,-0.04459,0.00804]},
-    {"t":3.91194, "x":3.5408, "y":0.82316, "heading":2.48728, "vx":-1.49, "vy":0.16997, "omega":-1.04907, "ax":0.0, "ay":0.0, "alpha":-0.00672, "fx":[-0.00355,-0.02694,0.00355,0.02694], "fy":[0.02694,-0.00355,-0.02694,0.00355]},
-    {"t":3.95702, "x":3.47363, "y":0.83082, "heading":2.43999, "vx":-1.49, "vy":0.16997, "omega":-1.04937, "ax":0.0, "ay":0.0, "alpha":-0.00332, "fx":[-0.00112,-0.01338,0.00112,0.01338], "fy":[0.01338,-0.00112,-0.01338,0.00112]},
-    {"t":4.0021, "x":3.40646, "y":0.83849, "heading":2.39268, "vx":-1.49, "vy":0.16997, "omega":-1.04952, "ax":0.0, "ay":0.0, "alpha":-0.00048, "fx":[-0.00007,-0.00194,0.00007,0.00194], "fy":[0.00194,-0.00007,-0.00194,0.00007]},
-    {"t":4.04718, "x":3.33929, "y":0.84615, "heading":2.34537, "vx":-1.49, "vy":0.16997, "omega":-1.04954, "ax":0.0, "ay":0.0, "alpha":0.00225, "fx":[-0.0001,0.00909,0.0001,-0.00909], "fy":[-0.00909,-0.0001,0.00909,0.0001]},
-    {"t":4.09226, "x":3.27212, "y":0.85381, "heading":2.29806, "vx":-1.49, "vy":0.16997, "omega":-1.04944, "ax":0.0, "ay":0.0, "alpha":0.00529, "fx":[-0.00124,0.02136,0.00124,-0.02136], "fy":[-0.02136,-0.00124,0.02136,0.00124]},
-    {"t":4.13734, "x":3.20496, "y":0.86147, "heading":2.25075, "vx":-1.49, "vy":0.16997, "omega":-1.0492, "ax":0.0, "ay":0.0, "alpha":0.00912, "fx":[-0.00389,0.03671,0.00389,-0.03671], "fy":[-0.03671,-0.00389,0.03671,0.00388]},
-    {"t":4.18242, "x":3.13779, "y":0.86914, "heading":2.20345, "vx":-1.49, "vy":0.16997, "omega":-1.04879, "ax":0.0, "ay":0.0, "alpha":0.01435, "fx":[-0.00883,0.05739,0.00883,-0.05739], "fy":[-0.05739,-0.00884,0.05739,0.00883]},
-    {"t":4.2275, "x":3.07062, "y":0.8768, "heading":2.15617, "vx":-1.49, "vy":0.16997, "omega":-1.04815, "ax":0.0, "ay":0.0, "alpha":0.02178, "fx":[-0.01751,0.08638,0.01751,-0.08638], "fy":[-0.08638,-0.01751,0.08638,0.01751]},
-    {"t":4.27258, "x":3.00345, "y":0.88446, "heading":2.10892, "vx":-1.49, "vy":0.16997, "omega":-1.04716, "ax":0.0, "ay":0.0, "alpha":0.03257, "fx":[-0.03225,0.12776,0.03225,-0.12776], "fy":[-0.12776,-0.03225,0.12776,0.03225]},
-    {"t":4.31766, "x":2.93628, "y":0.89212, "heading":2.06172, "vx":-1.49, "vy":0.16997, "omega":-1.0457, "ax":0.0, "ay":0.0, "alpha":0.04835, "fx":[-0.05679,0.18723,0.05679,-0.18723], "fy":[-0.18723,-0.05679,0.18723,0.05679]},
-    {"t":4.36274, "x":2.86911, "y":0.89979, "heading":2.01458, "vx":-1.49, "vy":0.16997, "omega":-1.04352, "ax":0.0, "ay":0.0, "alpha":0.07157, "fx":[-0.09701,0.27283,0.09701,-0.27283], "fy":[-0.27283,-0.09701,0.27283,0.09701]},
-    {"t":4.40782, "x":2.80194, "y":0.90745, "heading":1.96753, "vx":-1.49, "vy":0.16997, "omega":-1.04029, "ax":0.0, "ay":0.0, "alpha":0.10574, "fx":[-0.16213,0.39593,0.16213,-0.39593], "fy":[-0.39593,-0.16213,0.39593,0.16213]},
-    {"t":4.4529, "x":2.73477, "y":0.91511, "heading":1.92064, "vx":-1.49, "vy":0.16997, "omega":-1.03552, "ax":0.0, "ay":0.0, "alpha":0.15608, "fx":[-0.26645,0.57255,0.26645,-0.57255], "fy":[-0.57255,-0.26645,0.57255,0.26645]},
-    {"t":4.49798, "x":2.6676, "y":0.92277, "heading":1.87396, "vx":-1.49, "vy":0.16997, "omega":-1.02849, "ax":0.0, "ay":0.0, "alpha":0.23023, "fx":[-0.43203,0.82533,0.43203,-0.82533], "fy":[-0.82533,-0.43203,0.82533,0.43203]},
-    {"t":4.54306, "x":2.60043, "y":0.93044, "heading":1.82759, "vx":-1.49, "vy":0.16997, "omega":-1.01811, "ax":0.0, "ay":0.0, "alpha":0.33946, "fx":[-0.69271,1.18606,0.69271,-1.18606], "fy":[-1.18606,-0.69271,1.18606,0.69271]},
-    {"t":4.58814, "x":2.53326, "y":0.9381, "heading":1.7817, "vx":-1.49, "vy":0.16997, "omega":-1.00281, "ax":0.0, "ay":0.0, "alpha":0.50031, "fx":[-1.10005,1.69935,1.10005,-1.69935], "fy":[-1.69935,-1.10005,1.69935,1.10005]},
-    {"t":4.63322, "x":2.4661, "y":0.94576, "heading":1.73649, "vx":-1.49, "vy":0.16997, "omega":-0.98025, "ax":0.0, "ay":0.0, "alpha":0.73705, "fx":[-1.73206,2.42768,1.73206,-2.42768], "fy":[-2.42768,-1.73206,2.42768,1.73206]},
-    {"t":4.6783, "x":2.39893, "y":0.95342, "heading":1.6923, "vx":-1.49, "vy":0.16997, "omega":-0.94703, "ax":0.0, "ay":0.0, "alpha":1.08528, "fx":[-2.70583,3.45853,2.70583,-3.45853], "fy":[-3.45853,-2.70583,3.45853,2.70583]},
-    {"t":4.72338, "x":2.33176, "y":0.96109, "heading":1.64961, "vx":-1.49, "vy":0.16997, "omega":-0.8981, "ax":0.0, "ay":0.0, "alpha":1.59701, "fx":[-4.19526,4.91473,4.19526,-4.91473], "fy":[-4.91473,-4.19526,4.91473,4.19526]},
-    {"t":4.76846, "x":2.26459, "y":0.96875, "heading":1.60912, "vx":-1.49, "vy":0.16997, "omega":-0.82611, "ax":0.00734, "ay":-0.00084, "alpha":2.34786, "fx":[-6.34178,7.08316,6.56841,-6.8566], "fy":[-6.98289,-6.46793,6.95687,6.44226]},
-    {"t":4.81354, "x":2.19743, "y":0.97641, "heading":1.57188, "vx":-1.48967, "vy":0.16994, "omega":-0.72027, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/FRMtoMR.traj
index ca96c5b8..0a0701bf 100644
--- a/src/main/deploy/choreo/FRMtoMR.traj
+++ b/src/main/deploy/choreo/FRMtoMR.traj
@@ -3,26 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "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":1.5}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.3}}, "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}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"MR.x", "val":4.557889461517334}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.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":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2.3 m / s", "val":2.3}}}, "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}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -38,12 +42,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -53,84 +57,91 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,2.00159,3.57913],
+  "waypoints":[0.0,1.37739,2.93811],
   "samples":[
-    {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.44166, "vy":-1.43216, "omega":0.8161, "ax":-0.00611, "ay":-0.0198, "alpha":-0.00059, "fx":[-0.09263,-0.09599,-0.09599,-0.09264], "fy":[-0.30413,-0.30414,-0.3075,-0.30749]},
-    {"t":0.04655, "x":7.7998, "y":3.4903, "heading":1.60878, "vx":-0.44195, "vy":-1.43308, "omega":0.81608, "ax":0.0, "ay":0.0, "alpha":0.00092, "fx":[-0.00251,0.00272,0.00251,-0.00272], "fy":[-0.00272,-0.00251,0.00272,0.00251]},
-    {"t":0.0931, "x":7.77923, "y":3.42359, "heading":1.64677, "vx":-0.44195, "vy":-1.43308, "omega":0.81612, "ax":0.0, "ay":0.0, "alpha":-0.00061, "fx":[0.0016,-0.00185,-0.0016,0.00185], "fy":[0.00185,0.0016,-0.00185,-0.0016]},
-    {"t":0.13965, "x":7.75866, "y":3.35688, "heading":1.68476, "vx":-0.44195, "vy":-1.43308, "omega":0.81609, "ax":0.0, "ay":0.0, "alpha":0.00456, "fx":[-0.01148,0.01446,0.01148,-0.01446], "fy":[-0.01446,-0.01148,0.01446,0.01148]},
-    {"t":0.18619, "x":7.73808, "y":3.29017, "heading":1.72275, "vx":-0.44195, "vy":-1.43308, "omega":0.8163, "ax":0.0, "ay":0.0, "alpha":-0.00212, "fx":[0.00511,-0.0069,-0.00511,0.0069], "fy":[0.0069,0.00511,-0.0069,-0.00511]},
-    {"t":0.23274, "x":7.71751, "y":3.22346, "heading":1.76075, "vx":-0.44195, "vy":-1.43308, "omega":0.81621, "ax":0.0, "ay":0.0, "alpha":0.00892, "fx":[-0.02024,0.02988,0.02024,-0.02988], "fy":[-0.02988,-0.02024,0.02988,0.02024]},
-    {"t":0.27929, "x":7.69694, "y":3.15676, "heading":1.79874, "vx":-0.44195, "vy":-1.43308, "omega":0.81662, "ax":0.0, "ay":0.0, "alpha":-0.00433, "fx":[0.00934,-0.01484,-0.00934,0.01484], "fy":[0.01484,0.00934,-0.01484,-0.00934]},
-    {"t":0.32584, "x":7.67637, "y":3.09005, "heading":1.83675, "vx":-0.44195, "vy":-1.43308, "omega":0.81642, "ax":0.0, "ay":0.0, "alpha":0.01394, "fx":[-0.02799,0.04895,0.02799,-0.04895], "fy":[-0.04895,-0.02799,0.04895,0.02799]},
-    {"t":0.37239, "x":7.65579, "y":3.02334, "heading":1.87476, "vx":-0.44195, "vy":-1.43308, "omega":0.81707, "ax":0.0, "ay":0.0, "alpha":-0.00646, "fx":[0.01224,-0.02311,-0.01224,0.02311], "fy":[0.02311,0.01224,-0.02311,-0.01224]},
-    {"t":0.41894, "x":7.63522, "y":2.95663, "heading":1.91279, "vx":-0.44195, "vy":-1.43308, "omega":0.81677, "ax":0.0, "ay":0.0, "alpha":0.01951, "fx":[-0.03388,0.07129,0.03388,-0.07129], "fy":[-0.07129,-0.03388,0.07129,0.03388]},
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+    {"t":1.74704, "x":6.06845, "y":0.6969, "heading":-2.93358, "vx":-2.29944, "vy":0.00022, "omega":0.11653, "ax":0.00001, "ay":-0.04211, "alpha":-1.33623, "fx":[-7.47299,-4.86268,7.46685,4.8696], "fy":[4.16825,-8.16416,-5.56342,6.77475]},
+    {"t":1.78811, "x":5.97401, "y":0.69687, "heading":-2.92879, "vx":-2.29944, "vy":-0.00151, "omega":0.06165, "ax":0.00003, "ay":-0.03378, "alpha":-1.15194, "fx":[-6.46099,-4.16161,6.45819,4.16656], "fy":[3.60449,-7.017,-4.72333,5.90166]},
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+    {"t":2.89704, "x":3.4241, "y":0.68857, "heading":-3.13183, "vx":-2.29943, "vy":-0.00873, "omega":-0.23774, "ax":0.01362, "ay":0.00003, "alpha":0.12662, "fx":[0.82835,0.81668,-0.37794,-0.36627], "fy":[-0.59098,0.60363,0.59198,-0.60267]},
+    {"t":2.93811, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-2.29887, "vy":-0.00873, "omega":-0.23254, "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/FRMtoSR.traj b/src/main/deploy/choreo/FRMtoSR.traj
deleted file mode 100644
index 30440a62..00000000
--- a/src/main/deploy/choreo/FRMtoSR.traj
+++ /dev/null
@@ -1,160 +0,0 @@
-{
- "name":"FRMtoSR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.502653121948242, "y":0.7615315914154053, "heading":-3.128260189486699, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.8253278732299805, "y":0.7128239274024963, "heading":-3.138122385310093, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.03554674983024597, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.502653121948242 m", "val":6.502653121948242}, "y":{"exp":"0.7615315914154053 m", "val":0.7615315914154053}, "heading":{"exp":"-3.128260189486699 rad", "val":-3.128260189486699}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.8253278732299805 m", "val":4.8253278732299805}, "y":{"exp":"0.7128239274024963 m", "val":0.7128239274024963}, "heading":{"exp":"-3.138122385310093 rad", "val":-3.138122385310093}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "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":"35.54674983024597 mm", "val":0.03554674983024597}, "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":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.06444,3.1868,4.55826],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.63077, "vy":-1.35949, "omega":0.83372, "ax":-0.00897, "ay":-0.01938, "alpha":0.00075, "fx":[-0.14063,-0.13632,-0.13632,-0.14063], "fy":[-0.30144,-0.30144,-0.29712,-0.29712]},
-    {"t":0.04588, "x":7.79142, "y":3.49459, "heading":1.60904, "vx":-0.63118, "vy":-1.36038, "omega":0.83376, "ax":0.00004, "ay":-0.00002, "alpha":0.00242, "fx":[-0.00596,0.00785,0.00732,-0.00649], "fy":[-0.00749,-0.00696,0.00686,0.00633]},
-    {"t":0.09175, "x":7.76246, "y":3.43218, "heading":1.64729, "vx":-0.63118, "vy":-1.36038, "omega":0.83387, "ax":0.00005, "ay":-0.00002, "alpha":0.00404, "fx":[-0.00986,0.01318,0.01141,-0.01162], "fy":[-0.01276,-0.011,0.01204,0.01027]},
-    {"t":0.13763, "x":7.73351, "y":3.36978, "heading":1.68555, "vx":-0.63117, "vy":-1.36038, "omega":0.83405, "ax":0.00006, "ay":-0.00003, "alpha":0.00563, "fx":[-0.01329,0.01873,0.01504,-0.01698], "fy":[-0.01826,-0.01457,0.01745,0.01376]},
-    {"t":0.18351, "x":7.70455, "y":3.30737, "heading":1.72381, "vx":-0.63117, "vy":-1.36038, "omega":0.83431, "ax":0.00006, "ay":-0.00003, "alpha":0.0072, "fx":[-0.01624,0.02448,0.0182,-0.02252], "fy":[-0.02396,-0.01768,0.02305,0.01677]},
-    {"t":0.22938, "x":7.67559, "y":3.24496, "heading":1.76209, "vx":-0.63117, "vy":-1.36038, "omega":0.83464, "ax":0.00007, "ay":-0.00003, "alpha":0.00871, "fx":[-0.01864,0.03028,0.02081,-0.02812], "fy":[-0.0297,-0.02023,0.0287,0.01922]},
-    {"t":0.27526, "x":7.64664, "y":3.18255, "heading":1.80038, "vx":-0.63117, "vy":-1.36039, "omega":0.83504, "ax":0.00008, "ay":-0.00004, "alpha":0.01015, "fx":[-0.02047,0.03606,0.02285,-0.03368], "fy":[-0.03542,-0.02221,0.03432,0.02111]},
-    {"t":0.32113, "x":7.61768, "y":3.12014, "heading":1.83869, "vx":-0.63116, "vy":-1.36039, "omega":0.83551, "ax":0.00008, "ay":-0.00004, "alpha":0.01146, "fx":[-0.02164,0.0416,0.02424,-0.039], "fy":[-0.0409,-0.02354,0.03969,0.02234]},
-    {"t":0.36701, "x":7.58873, "y":3.05773, "heading":1.87702, "vx":-0.63116, "vy":-1.36039, "omega":0.83603, "ax":0.00009, "ay":-0.00004, "alpha":0.01263, "fx":[-0.02215,0.04677,0.02498,-0.04394], "fy":[-0.04601,-0.02422,0.0447,0.02291]},
-    {"t":0.41289, "x":7.55977, "y":2.99532, "heading":1.91537, "vx":-0.63115, "vy":-1.36039, "omega":0.83661, "ax":0.0001, "ay":-0.00005, "alpha":0.01357, "fx":[-0.0219,0.05119,0.02496,-0.04814], "fy":[-0.05038,-0.02414,0.04896,0.02272]},
-    {"t":0.45876, "x":7.53082, "y":2.93291, "heading":1.95375, "vx":-0.63115, "vy":-1.36039, "omega":0.83724, "ax":0.00011, "ay":-0.00005, "alpha":0.01427, "fx":[-0.02097,0.05478,0.02427,-0.05149], "fy":[-0.0539,-0.02338,0.05237,0.02185]},
-    {"t":0.50464, "x":7.50186, "y":2.8705, "heading":1.99216, "vx":-0.63114, "vy":-1.3604, "omega":0.83789, "ax":0.00011, "ay":-0.00005, "alpha":0.01461, "fx":[-0.01928,0.05703,0.02283,-0.05348], "fy":[-0.05608,-0.02188,0.05443,0.02023]},
-    {"t":0.55052, "x":7.47291, "y":2.80809, "heading":2.0306, "vx":-0.63114, "vy":-1.3604, "omega":0.83856, "ax":0.00012, "ay":-0.00006, "alpha":0.01457, "fx":[-0.01695,0.05775,0.02076,-0.05394], "fy":[-0.05673,-0.01974,0.05496,0.01797]},
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-    {"t":3.38272, "x":4.53152, "y":0.7141, "heading":-3.13986, "vx":-1.49967, "vy":0.00845, "omega":-0.00888, "ax":-0.00003, "ay":-0.00507, "alpha":0.03288, "fx":[0.0938,0.09348,-0.09468,-0.09435], "fy":[-0.17215,0.01601,0.01568,-0.17247]},
-    {"t":3.4317, "x":4.45806, "y":0.71451, "heading":-3.14029, "vx":-1.49967, "vy":0.0082, "omega":-0.00727, "ax":-0.00003, "ay":-0.00506, "alpha":0.03223, "fx":[0.0919,0.09166,-0.09274,-0.0925], "fy":[-0.1702,0.0142,0.01396,-0.17044]},
-    {"t":3.48069, "x":4.38461, "y":0.7149, "heading":-3.14065, "vx":-1.49967, "vy":0.00796, "omega":-0.0057, "ax":-0.00003, "ay":-0.00505, "alpha":0.02849, "fx":[0.08117,0.08102,-0.08199,-0.08183], "fy":[-0.15944,0.00357,0.00341,-0.15959]},
-    {"t":3.52967, "x":4.31115, "y":0.71528, "heading":-3.14093, "vx":-1.49967, "vy":0.00771, "omega":-0.0043, "ax":-0.00003, "ay":-0.00504, "alpha":0.02359, "fx":[0.06716,0.06707,-0.06795,-0.06786], "fy":[-0.14537,-0.01035,-0.01044,-0.14546]},
-    {"t":3.57865, "x":4.2377, "y":0.71566, "heading":-3.14114, "vx":-1.49968, "vy":0.00746, "omega":-0.00314, "ax":-0.00002, "ay":-0.00504, "alpha":0.01864, "fx":[0.05298,0.05293,-0.05374,-0.0537], "fy":[-0.13112,-0.02444,-0.02449,-0.13117]},
-    {"t":3.62763, "x":4.16424, "y":0.71602, "heading":-3.14129, "vx":-1.49968, "vy":0.00722, "omega":-0.00223, "ax":-0.00002, "ay":-0.00503, "alpha":0.01418, "fx":[0.04023,0.0402,-0.04096,-0.04094], "fy":[-0.11828,-0.03711,-0.03713,-0.1183]},
-    {"t":3.67661, "x":4.09078, "y":0.71636, "heading":-3.1414, "vx":-1.49968, "vy":0.00697, "omega":-0.00154, "ax":-0.00002, "ay":-0.00503, "alpha":0.01045, "fx":[0.02954,0.02953,-0.03025,-0.03024], "fy":[-0.10749,-0.04772,-0.04773,-0.1075]},
-    {"t":3.72559, "x":4.01733, "y":0.7167, "heading":-3.14148, "vx":-1.49968, "vy":0.00672, "omega":-0.00102, "ax":-0.00002, "ay":-0.00502, "alpha":0.00746, "fx":[0.02101,0.02101,-0.0217,-0.02169], "fy":[-0.09887,-0.05616,-0.05617,-0.09888]},
-    {"t":3.77457, "x":3.94387, "y":0.71702, "heading":-3.14153, "vx":-1.49968, "vy":0.00648, "omega":-0.00066, "ax":-0.00002, "ay":-0.00501, "alpha":0.00518, "fx":[0.01448,0.01448,-0.01514,-0.01514], "fy":[-0.09224,-0.06262,-0.06262,-0.09224]},
-    {"t":3.82355, "x":3.87042, "y":0.71733, "heading":-3.14156, "vx":-1.49968, "vy":0.00623, "omega":-0.00041, "ax":-0.00002, "ay":-0.00501, "alpha":0.00348, "fx":[0.00964,0.00964,-0.01028,-0.01027], "fy":[-0.0873,-0.06739,-0.06739,-0.0873]},
-    {"t":3.87253, "x":3.79696, "y":0.71763, "heading":-3.14158, "vx":-1.49968, "vy":0.00599, "omega":-0.00024, "ax":-0.00002, "ay":-0.005, "alpha":0.00226, "fx":[0.00616,0.00616,-0.00677,-0.00677], "fy":[-0.08373,-0.0708,-0.0708,-0.08373]},
-    {"t":3.92151, "x":3.72351, "y":0.71792, "heading":-3.14159, "vx":-1.49968, "vy":0.00574, "omega":-0.00012, "ax":-0.00002, "ay":-0.005, "alpha":0.00141, "fx":[0.00374,0.00374,-0.00432,-0.00432], "fy":[-0.08122,-0.07316,-0.07316,-0.08122]},
-    {"t":3.97049, "x":3.65005, "y":0.71819, "heading":3.14159, "vx":-1.49968, "vy":0.0055, "omega":-0.00006, "ax":-0.00002, "ay":-0.00499, "alpha":0.00083, "fx":[0.0021,0.0021,-0.00265,-0.00265], "fy":[-0.07949,-0.07473,-0.07473,-0.07949]},
-    {"t":4.01947, "x":3.5766, "y":0.71846, "heading":3.14159, "vx":-1.49968, "vy":0.00525, "omega":-0.00001, "ax":-0.00002, "ay":-0.00499, "alpha":0.00045, "fx":[0.00103,0.00103,-0.00156,-0.00156], "fy":[-0.07834,-0.07575,-0.07575,-0.07834]},
-    {"t":4.06845, "x":3.50314, "y":0.71871, "heading":3.14159, "vx":-1.49969, "vy":0.00501, "omega":0.00001, "ax":-0.00002, "ay":-0.00498, "alpha":0.00021, "fx":[0.00036,0.00036,-0.00087,-0.00087], "fy":[-0.07759,-0.07636,-0.07636,-0.07759]},
-    {"t":4.11744, "x":3.42968, "y":0.71895, "heading":3.14159, "vx":-1.49969, "vy":0.00476, "omega":0.00002, "ax":-0.00002, "ay":-0.00498, "alpha":0.00007, "fx":[-0.00003,-0.00003,-0.00045,-0.00045], "fy":[-0.07712,-0.0767,-0.0767,-0.07712]},
-    {"t":4.16642, "x":3.35623, "y":0.71918, "heading":3.14159, "vx":-1.49969, "vy":0.00452, "omega":0.00002, "ax":-0.00001, "ay":-0.00498, "alpha":-0.00001, "fx":[-0.00024,-0.00024,-0.00021,-0.00021], "fy":[-0.07683,-0.07686,-0.07686,-0.07683]},
-    {"t":4.2154, "x":3.28277, "y":0.71939, "heading":3.14159, "vx":-1.49969, "vy":0.00428, "omega":0.00002, "ax":-0.00001, "ay":-0.00497, "alpha":-0.00004, "fx":[-0.00034,-0.00034,-0.00009,-0.00009], "fy":[-0.07666,-0.07692,-0.07692,-0.07666]},
-    {"t":4.26438, "x":3.20932, "y":0.71959, "heading":3.14159, "vx":-1.49969, "vy":0.00403, "omega":0.00002, "ax":-0.00001, "ay":-0.00497, "alpha":-0.00006, "fx":[-0.00037,-0.00037,-0.00003,-0.00003], "fy":[-0.07657,-0.0769,-0.0769,-0.07657]},
-    {"t":4.31336, "x":3.13586, "y":0.71979, "heading":3.14159, "vx":-1.49969, "vy":0.00379, "omega":0.00002, "ax":-0.00001, "ay":-0.00497, "alpha":-0.00006, "fx":[-0.00036,-0.00036,-0.00002,-0.00002], "fy":[-0.07651,-0.07685,-0.07685,-0.07651]},
-    {"t":4.36234, "x":3.0624, "y":0.71997, "heading":3.14159, "vx":-1.49969, "vy":0.00355, "omega":0.00001, "ax":-0.00001, "ay":-0.00496, "alpha":-0.00005, "fx":[-0.00032,-0.00032,-0.00003,-0.00003], "fy":[-0.07649,-0.07678,-0.07678,-0.07649]},
-    {"t":4.41132, "x":2.98895, "y":0.72013, "heading":3.14159, "vx":-1.49969, "vy":0.0033, "omega":0.00001, "ax":-0.00001, "ay":-0.00496, "alpha":-0.00004, "fx":[-0.00028,-0.00028,-0.00005,-0.00005], "fy":[-0.07647,-0.0767,-0.0767,-0.07647]},
-    {"t":4.4603, "x":2.91549, "y":0.72029, "heading":3.14159, "vx":-1.49969, "vy":0.00306, "omega":0.00001, "ax":-0.00001, "ay":-0.00495, "alpha":-0.00003, "fx":[-0.00024,-0.00024,-0.00007,-0.00007], "fy":[-0.07634,-0.07651,-0.07651,-0.07634]},
-    {"t":4.50928, "x":2.84204, "y":0.72043, "heading":3.14159, "vx":-1.49969, "vy":0.00282, "omega":0.00001, "ax":0.00625, "ay":-0.00248, "alpha":-0.00002, "fx":[0.09643,0.09643,0.09656,0.09656], "fy":[-0.03825,-0.03838,-0.03838,-0.03825]},
-    {"t":4.55826, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49939, "vy":0.0027, "omega":0.00001, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/FRMtoSRB.traj b/src/main/deploy/choreo/FRMtoSRB.traj
deleted file mode 100644
index 37cca46f..00000000
--- a/src/main/deploy/choreo/FRMtoSRB.traj
+++ /dev/null
@@ -1,140 +0,0 @@
-{
- "name":"FRMtoSRB",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.859950542449951, "y":2.5344107151031494, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.438337326049805, "y":2.5778985023498535, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.859950542449951 m", "val":5.859950542449951}, "y":{"exp":"2.5344107151031494 m", "val":2.5344107151031494}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.438337326049805 m", "val":4.438337326049805}, "y":{"exp":"2.5778985023498535 m", "val":2.5778985023498535}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.47519,2.42433,3.5273],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-1.32593, "vy":-0.69849, "omega":1.11356, "ax":-0.01991, "ay":-0.01049, "alpha":-0.00074, "fx":[-0.3054,-0.30963,-0.30963,-0.3054], "fy":[-0.15989,-0.15989,-0.16411,-0.16411]},
-    {"t":0.0447, "x":7.76107, "y":3.52575, "heading":1.62058, "vx":-1.32682, "vy":-0.69896, "omega":1.11352, "ax":0.0, "ay":0.0, "alpha":-0.00033, "fx":[0.00091,-0.001,-0.00091,0.001], "fy":[0.001,0.00091,-0.001,-0.00091]},
-    {"t":0.08941, "x":7.70176, "y":3.4945, "heading":1.67035, "vx":-1.32682, "vy":-0.69896, "omega":1.11351, "ax":0.0, "ay":0.0, "alpha":-0.00009, "fx":[0.00022,-0.00027,-0.00022,0.00027], "fy":[0.00027,0.00022,-0.00027,-0.00022]},
-    {"t":0.13411, "x":7.64245, "y":3.46326, "heading":1.72013, "vx":-1.32682, "vy":-0.69896, "omega":1.1135, "ax":0.0, "ay":0.0, "alpha":0.00005, "fx":[-0.00012,0.00016,0.00012,-0.00016], "fy":[-0.00016,-0.00012,0.00016,0.00012]},
-    {"t":0.17881, "x":7.58313, "y":3.43201, "heading":1.76991, "vx":-1.32682, "vy":-0.69896, "omega":1.11351, "ax":0.0, "ay":0.0, "alpha":0.00009, "fx":[-0.00021,0.00032,0.00021,-0.00032], "fy":[-0.00032,-0.00021,0.00032,0.00021]},
-    {"t":0.22351, "x":7.52382, "y":3.40077, "heading":1.81968, "vx":-1.32682, "vy":-0.69896, "omega":1.11351, "ax":0.0, "ay":0.0, "alpha":0.00007, "fx":[-0.00014,0.00023,0.00014,-0.00023], "fy":[-0.00023,-0.00014,0.00023,0.00014]},
-    {"t":0.26822, "x":7.46451, "y":3.36952, "heading":1.86946, "vx":-1.32682, "vy":-0.69896, "omega":1.11351, "ax":0.0, "ay":0.0, "alpha":-0.00003, "fx":[0.00006,-0.00011,-0.00006,0.00011], "fy":[0.00011,0.00006,-0.00011,-0.00006]},
-    {"t":0.31292, "x":7.4052, "y":3.33828, "heading":1.91924, "vx":-1.32682, "vy":-0.69896, "omega":1.11351, "ax":0.0, "ay":0.0, "alpha":-0.00019, "fx":[0.00033,-0.0007,-0.00033,0.0007], "fy":[0.0007,0.00033,-0.0007,-0.00033]},
-    {"t":0.35762, "x":7.34588, "y":3.30703, "heading":1.96902, "vx":-1.32682, "vy":-0.69896, "omega":1.1135, "ax":0.0, "ay":0.0, "alpha":-0.00043, "fx":[0.00066,-0.00161,-0.00066,0.00162], "fy":[0.00161,0.00066,-0.00162,-0.00066]},
-    {"t":0.40233, "x":7.28657, "y":3.27578, "heading":2.01879, "vx":-1.32682, "vy":-0.69896, "omega":1.11348, "ax":0.0, "ay":0.0, "alpha":-0.00076, "fx":[0.00102,-0.00289,-0.00102,0.00289], "fy":[0.00289,0.00101,-0.00289,-0.00102]},
-    {"t":0.44703, "x":7.22726, "y":3.24454, "heading":2.06857, "vx":-1.32682, "vy":-0.69896, "omega":1.11345, "ax":0.0, "ay":0.0, "alpha":-0.00121, "fx":[0.00139,-0.00471,-0.00139,0.00471], "fy":[0.00471,0.00139,-0.00471,-0.00139]},
-    {"t":0.49173, "x":7.16795, "y":3.21329, "heading":2.11834, "vx":-1.32682, "vy":-0.69896, "omega":1.1134, "ax":0.0, "ay":0.0, "alpha":-0.00183, "fx":[0.00174,-0.00719,-0.00174,0.00719], "fy":[0.00719,0.00174,-0.00719,-0.00174]},
-    {"t":0.53643, "x":7.10863, "y":3.18205, "heading":2.16811, "vx":-1.32682, "vy":-0.69896, "omega":1.11331, "ax":0.0, "ay":0.0, "alpha":-0.0027, "fx":[0.00204,-0.01074,-0.00204,0.01074], "fy":[0.01074,0.00204,-0.01074,-0.00204]},
-    {"t":0.58114, "x":7.04932, "y":3.1508, "heading":2.21788, "vx":-1.32682, "vy":-0.69896, "omega":1.11319, "ax":0.0, "ay":0.0, "alpha":-0.00391, "fx":[0.00218,-0.01568,-0.00218,0.01568], "fy":[0.01568,0.00218,-0.01568,-0.00218]},
-    {"t":0.62584, "x":6.99001, "y":3.11956, "heading":2.26765, "vx":-1.32682, "vy":-0.69896, "omega":1.11302, "ax":0.0, "ay":0.0, "alpha":-0.00567, "fx":[0.00203,-0.02287,-0.00203,0.02287], "fy":[0.02287,0.00203,-0.02287,-0.00203]},
-    {"t":0.67054, "x":6.9307, "y":3.08831, "heading":2.3174, "vx":-1.32682, "vy":-0.69896, "omega":1.11276, "ax":0.0, "ay":0.0, "alpha":-0.00818, "fx":[0.00128,-0.03305,-0.00128,0.03305], "fy":[0.03305,0.00128,-0.03305,-0.00128]},
-    {"t":0.71525, "x":6.87138, "y":3.05707, "heading":2.36714, "vx":-1.32682, "vy":-0.69896, "omega":1.1124, "ax":0.0, "ay":0.0, "alpha":-0.01186, "fx":[-0.00053,-0.048,0.00053,0.048], "fy":[0.048,-0.00053,-0.048,0.00053]},
-    {"t":0.75995, "x":6.81207, "y":3.02582, "heading":2.41687, "vx":-1.32682, "vy":-0.69896, "omega":1.11187, "ax":0.0, "ay":0.0, "alpha":-0.01719, "fx":[-0.00422,-0.06942,0.00422,0.06942], "fy":[0.06942,-0.00422,-0.06942,0.00422]},
-    {"t":0.80465, "x":6.75276, "y":2.99458, "heading":2.46658, "vx":-1.32682, "vy":-0.69896, "omega":1.1111, "ax":0.0, "ay":0.0, "alpha":-0.02506, "fx":[-0.01117,-0.1008,0.01117,0.1008], "fy":[0.1008,-0.01117,-0.1008,0.01117]},
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-    {"t":3.47934, "x":2.85632, "y":2.60031, "heading":3.1414, "vx":-1.49954, "vy":0.02084, "omega":0.00394, "ax":0.00652, "ay":-0.00009, "alpha":-0.01167, "fx":[0.06737,0.06736,0.13413,0.13415], "fy":[0.03199,-0.03478,-0.03479,0.03198]},
-    {"t":3.5273, "x":2.78441, "y":2.60131, "heading":3.14159, "vx":-1.49923, "vy":0.02084, "omega":0.00338, "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/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj
index af79c52d..35a3f4d2 100644
--- a/src/main/deploy/choreo/FRtoFRM.traj
+++ b/src/main/deploy/choreo/FRtoFRM.traj
@@ -3,24 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
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+    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":false}],
   "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":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}],
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":false}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -36,12 +36,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -51,23 +51,26 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.67018],
+  "waypoints":[0.0,0.38237],
   "samples":[
-    {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":1.99833, "omega":0.0, "ax":0.0, "ay":0.0262, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.40454,0.40454,0.40454,0.40454]},
-    {"t":0.04787, "x":7.82037, "y":2.31264, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.09574, "x":7.82037, "y":2.40836, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.14361, "x":7.82037, "y":2.50408, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.19148, "x":7.82037, "y":2.5998, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.23935, "x":7.82037, "y":2.69551, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.28722, "x":7.82037, "y":2.79123, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.33509, "x":7.82037, "y":2.88695, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.38296, "x":7.82037, "y":2.98267, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.43083, "x":7.82037, "y":3.07839, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.4787, "x":7.82037, "y":3.17411, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.52657, "x":7.82037, "y":3.26983, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.57444, "x":7.82037, "y":3.36555, "heading":1.5708, "vx":0.0, "vy":1.99958, "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":0.62231, "x":7.82037, "y":3.46127, "heading":1.5708, "vx":0.0, "vy":1.99958, "omega":0.0, "ax":0.0, "ay":-0.00874, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.13491,-0.13491,-0.13491,-0.13491]},
-    {"t":0.67018, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":1.99916, "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":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":3.49881, "omega":0.0, "ax":0.0, "ay":0.27281, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[4.51056,4.51056,4.51056,4.51056]},
+    {"t":0.02249, "x":7.82037, "y":2.29571, "heading":1.5708, "vx":0.0, "vy":3.50495, "omega":0.0, "ax":0.0, "ay":0.00074, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.01218,0.01218,0.01218,0.01218]},
+    {"t":0.04498, "x":7.82037, "y":2.37454, "heading":1.5708, "vx":0.0, "vy":3.50497, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00003,0.00003,0.00003,0.00003]},
+    {"t":0.06748, "x":7.82037, "y":2.45338, "heading":1.5708, "vx":0.0, "vy":3.50497, "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":0.08997, "x":7.82037, "y":2.53221, "heading":1.5708, "vx":0.0, "vy":3.50497, "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":0.11246, "x":7.82037, "y":2.61105, "heading":1.5708, "vx":0.0, "vy":3.50497, "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":0.13495, "x":7.82037, "y":2.68988, "heading":1.5708, "vx":0.0, "vy":3.50497, "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":0.15744, "x":7.82037, "y":2.76871, "heading":1.5708, "vx":0.0, "vy":3.50497, "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":0.17994, "x":7.82037, "y":2.84755, "heading":1.5708, "vx":0.0, "vy":3.50497, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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+    {"t":0.35987, "x":7.82037, "y":3.47822, "heading":1.5708, "vx":0.0, "vy":3.50495, "omega":0.0, "ax":0.0, "ay":-0.27281, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-4.51056,-4.51056,-4.51056,-4.51056]},
+    {"t":0.38237, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":3.49881, "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/FRtoSRT.traj b/src/main/deploy/choreo/FRtoSRT.traj
deleted file mode 100644
index 962194a1..00000000
--- a/src/main/deploy/choreo/FRtoSRT.traj
+++ /dev/null
@@ -1,149 +0,0 @@
-{
- "name":"FRtoSRT",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.078125953674316, "y":0.7482186555862427, "heading":2.690139597310213, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.742544174194336, "y":0.6929386258125305, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "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":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.078125953674316 m", "val":7.078125953674316}, "y":{"exp":"0.7482186555862427 m", "val":0.7482186555862427}, "heading":{"exp":"2.690139597310213 rad", "val":2.690139597310213}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.742544174194336 m", "val":4.742544174194336}, "y":{"exp":"0.6929386258125305 m", "val":0.6929386258125305}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.10072,2.66177,3.97816],
-  "samples":[
-    {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":-0.66107, "vy":-1.34496, "omega":1.0694, "ax":-0.01021, "ay":-0.02077, "alpha":-0.00125, "fx":[-0.15411,-0.16124,-0.16124,-0.15411], "fy":[-0.31722,-0.31722,-0.32435,-0.32435]},
-    {"t":0.04403, "x":7.79125, "y":2.15771, "heading":1.61788, "vx":-0.66152, "vy":-1.34587, "omega":1.06935, "ax":0.0, "ay":0.0, "alpha":-0.00133, "fx":[0.00362,-0.00398,-0.00362,0.00398], "fy":[0.00398,0.00362,-0.00398,-0.00362]},
-    {"t":0.08806, "x":7.76212, "y":2.09845, "heading":1.66496, "vx":-0.66152, "vy":-1.34587, "omega":1.06929, "ax":0.0, "ay":0.0, "alpha":-0.00154, "fx":[0.00396,-0.00479,-0.00396,0.00479], "fy":[0.00479,0.00396,-0.00479,-0.00396]},
-    {"t":0.13209, "x":7.733, "y":2.03919, "heading":1.71204, "vx":-0.66152, "vy":-1.34587, "omega":1.06922, "ax":0.0, "ay":0.0, "alpha":-0.00191, "fx":[0.00463,-0.00617,-0.00463,0.00617], "fy":[0.00617,0.00463,-0.00617,-0.00463]},
-    {"t":0.17612, "x":7.70387, "y":1.97994, "heading":1.75912, "vx":-0.66152, "vy":-1.34587, "omega":1.06914, "ax":0.0, "ay":0.0, "alpha":-0.0025, "fx":[0.00568,-0.00836,-0.00568,0.00836], "fy":[0.00836,0.00568,-0.00836,-0.00568]},
-    {"t":0.22014, "x":7.67475, "y":1.92068, "heading":1.80619, "vx":-0.66152, "vy":-1.34587, "omega":1.06903, "ax":0.0, "ay":0.0, "alpha":-0.00342, "fx":[0.00724,-0.0118,-0.00724,0.0118], "fy":[0.0118,0.00724,-0.0118,-0.00724]},
-    {"t":0.26417, "x":7.64562, "y":1.86142, "heading":1.85326, "vx":-0.66152, "vy":-1.34587, "omega":1.06888, "ax":0.0, "ay":0.0, "alpha":-0.00481, "fx":[0.00938,-0.01705,-0.00938,0.01705], "fy":[0.01705,0.00938,-0.01705,-0.00938]},
-    {"t":0.3082, "x":7.61649, "y":1.80217, "heading":1.90032, "vx":-0.66152, "vy":-1.34587, "omega":1.06867, "ax":0.0, "ay":0.0, "alpha":-0.00689, "fx":[0.01228,-0.02505,-0.01228,0.02505], "fy":[0.02505,0.01228,-0.02505,-0.01228]},
-    {"t":0.35223, "x":7.58737, "y":1.74291, "heading":1.94737, "vx":-0.66152, "vy":-1.34587, "omega":1.06836, "ax":0.0, "ay":0.0, "alpha":-0.00998, "fx":[0.01605,-0.03705,-0.01605,0.03705], "fy":[0.03705,0.01605,-0.03705,-0.01605]},
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-    {"t":3.24683, "x":3.86523, "y":0.70491, "heading":-3.13301, "vx":-1.49954, "vy":0.02141, "omega":-0.01164, "ax":0.0, "ay":0.0, "alpha":-0.00543, "fx":[-0.01568,-0.01542,0.01568,0.01542], "fy":[0.01542,-0.01568,-0.01542,0.01568]},
-    {"t":3.29559, "x":3.79212, "y":0.70596, "heading":-3.13358, "vx":-1.49954, "vy":0.02141, "omega":-0.0119, "ax":0.0, "ay":0.0, "alpha":-0.00353, "fx":[-0.01017,-0.01001,0.01017,0.01001], "fy":[0.01001,-0.01017,-0.01001,0.01017]},
-    {"t":3.34434, "x":3.71901, "y":0.707, "heading":-3.13416, "vx":-1.49954, "vy":0.02141, "omega":-0.01207, "ax":0.0, "ay":0.0, "alpha":-0.00222, "fx":[-0.0064,-0.00631,0.0064,0.00631], "fy":[0.00631,-0.0064,-0.00631,0.0064]},
-    {"t":3.3931, "x":3.6459, "y":0.70804, "heading":-3.13474, "vx":-1.49954, "vy":0.02141, "omega":-0.01218, "ax":0.0, "ay":0.0, "alpha":-0.0013, "fx":[-0.00373,-0.00368,0.00373,0.00368], "fy":[0.00368,-0.00373,-0.00368,0.00373]},
-    {"t":3.44185, "x":3.57279, "y":0.70909, "heading":-3.13534, "vx":-1.49954, "vy":0.02141, "omega":-0.01224, "ax":0.0, "ay":0.0, "alpha":-0.00059, "fx":[-0.00171,-0.00169,0.00171,0.00169], "fy":[0.00169,-0.00171,-0.00169,0.00171]},
-    {"t":3.49061, "x":3.49968, "y":0.71013, "heading":-3.13594, "vx":-1.49954, "vy":0.02141, "omega":-0.01227, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[0.00003,0.00003,-0.00003,-0.00003], "fy":[-0.00003,0.00003,0.00003,-0.00003]},
-    {"t":3.53936, "x":3.42657, "y":0.71117, "heading":-3.13653, "vx":-1.49954, "vy":0.02141, "omega":-0.01227, "ax":0.0, "ay":0.0, "alpha":0.00061, "fx":[0.00176,0.00175,-0.00176,-0.00175], "fy":[-0.00175,0.00176,0.00175,-0.00176]},
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-    {"t":3.73438, "x":3.13413, "y":0.71535, "heading":-3.13891, "vx":-1.49954, "vy":0.02141, "omega":-0.01189, "ax":0.0, "ay":0.0, "alpha":0.00551, "fx":[0.01581,0.01573,-0.01581,-0.01573], "fy":[-0.01573,0.01581,0.01573,-0.01581]},
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-    {"t":3.9294, "x":2.84169, "y":0.71952, "heading":-3.14112, "vx":-1.49954, "vy":0.02141, "omega":-0.00966, "ax":0.00631, "ay":-0.00009, "alpha":0.02893, "fx":[0.18028,0.1802,0.01467,0.01475], "fy":[-0.08412,0.08142,0.08134,-0.0842]},
-    {"t":3.97816, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":-1.49923, "vy":0.0214, "omega":-0.00825, "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/MLtoCL.traj b/src/main/deploy/choreo/MLtoCL.traj
index 515c0a4d..b7150c2d 100644
--- a/src/main/deploy/choreo/MLtoCL.traj
+++ b/src/main/deploy/choreo/MLtoCL.traj
@@ -3,32 +3,28 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.544271945953369, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.0158181190490723, "y":7.425209999084473, "heading":-3.1406456185206153, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.6784799098968506, "y":4.864363193511963, "heading":1.5728533535678788, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.2979655265808103, "y":4.857726097106934, "heading":1.5728533535678788, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.2225897312164307, "y":7.436997413635254, "heading":0.0, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.7218598127365112, "y":5.351567268371582, "heading":1.6207547225168395, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "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":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":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
-    {"from":2, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"MLL.x", "val":4.544271945953369}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.0158181190490723 m", "val":3.0158181190490723}, "y":{"exp":"7.425209999084473 m", "val":7.425209999084473}, "heading":{"exp":"-3.1406456185206153 rad", "val":-3.1406456185206153}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.6784799098968506 m", "val":2.6784799098968506}, "y":{"exp":"4.864363193511963 m", "val":4.864363193511963}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.2979655265808105 m", "val":1.2979655265808103}, "y":{"exp":"4.857726097106934 m", "val":4.857726097106934}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.7218598127365112 m", "val":1.7218598127365112}, "y":{"exp":"5.351567268371582 m", "val":5.351567268371582}, "heading":{"exp":"1.6207547225168395 rad", "val":1.6207547225168395}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.5524598956108093 m", "val":0.5524598956108093}, "y":{"exp":"4.88380765914917 m", "val":4.88380765914917}, "heading":{"exp":"CL.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":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":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
-    {"from":2, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slowest", "val":1.0}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -44,12 +40,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -59,108 +55,82 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.02549,2.76594,4.15193,4.73724],
+  "waypoints":[0.0,1.31982,2.64799],
   "samples":[
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-    {"t":0.04883, "x":4.47106, "y":7.44926, "heading":-3.13704, "vx":-1.49969, "vy":0.00264, "omega":0.09317, "ax":0.0, "ay":0.0, "alpha":0.01375, "fx":[0.03966,0.039,-0.03966,-0.039], "fy":[-0.039,0.03966,0.039,-0.03966]},
-    {"t":0.09767, "x":4.39783, "y":7.44939, "heading":-3.13249, "vx":-1.49969, "vy":0.00264, "omega":0.09384, "ax":0.0, "ay":0.0, "alpha":-0.03426, "fx":[-0.10111,-0.0949,0.10111,0.0949], "fy":[0.0949,-0.10111,-0.0949,0.10111]},
-    {"t":0.1465, "x":4.32459, "y":7.44952, "heading":-3.12791, "vx":-1.49969, "vy":0.00264, "omega":0.09217, "ax":0.0, "ay":0.0, "alpha":0.05318, "fx":[0.15654,0.14768,-0.15654,-0.14768], "fy":[-0.14768,0.15654,0.14768,-0.15654]},
-    {"t":0.19533, "x":4.25136, "y":7.44965, "heading":-3.1234, "vx":-1.49969, "vy":0.00264, "omega":0.09476, "ax":0.0, "ay":0.0, "alpha":-0.08077, "fx":[-0.24522,-0.21653,0.24522,0.21653], "fy":[0.21653,-0.24522,-0.21653,0.24522]},
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diff --git a/src/main/deploy/choreo/MLtoD.traj b/src/main/deploy/choreo/MLtoD.traj
new file mode 100644
index 00000000..a13e50b0
--- /dev/null
+++ b/src/main/deploy/choreo/MLtoD.traj
@@ -0,0 +1,144 @@
+{
+ "name":"MLtoD",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+    {"x":1.581623911857605, "y":6.8643670082092285, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":4.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
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+    {"x":{"exp":"1.581623911857605 m", "val":1.581623911857605}, "y":{"exp":"6.8643670082092285 m", "val":6.8643670082092285}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"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":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"4 m / s ^ 2", "val":4.0}}}, "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,
+   "vmax":485.8996637552213,
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+   "cof":2.25,
+   "bumper":{
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+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.72084,2.09872],
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+    {"t":1.80346, "x":0.82118, "y":6.09795, "heading":2.91376, "vx":-0.69049, "vy":-0.72292, "omega":1.36933, "ax":0.00068, "ay":-0.00054, "alpha":-5.30614, "fx":[-18.89433,-30.01168,19.2026,29.74862], "fy":[29.84742,-18.87211,-29.94038,18.92958]},
+    {"t":1.83627, "x":0.79853, "y":6.07423, "heading":2.95868, "vx":-0.69047, "vy":-0.72294, "omega":1.19525, "ax":1.72557, "ay":1.80372, "alpha":-4.7822, "fx":[9.72975,1.82585,51.17273,51.39032], "fy":[58.11022,13.6684,2.70291,44.80539]},
+    {"t":1.86907, "x":0.77681, "y":6.05149, "heading":2.99789, "vx":-0.63386, "vy":-0.66377, "omega":1.03836, "ax":2.75598, "ay":2.88625, "alpha":-3.80361, "fx":[26.62087,26.94504,67.55042,61.14723], "fy":[71.53385,37.86636,24.15006,57.32817]},
+    {"t":1.90188, "x":0.75749, "y":6.03126, "heading":3.03196, "vx":-0.54344, "vy":-0.56908, "omega":0.91358, "ax":2.75928, "ay":2.88951, "alpha":-4.01428, "fx":[24.83021,27.02822,69.3736,61.24967], "fy":[72.69829,36.49735,23.15893,58.73977]},
+    {"t":1.93469, "x":0.74115, "y":6.01415, "heading":3.06193, "vx":-0.45292, "vy":-0.47428, "omega":0.78188, "ax":2.76037, "ay":2.89061, "alpha":-4.26302, "fx":[23.03158,26.57651,71.23568,61.7102], "fy":[74.0596,34.8036,22.28747,60.0161]},
+    {"t":1.96749, "x":0.72778, "y":6.00015, "heading":3.08758, "vx":-0.36236, "vy":-0.37945, "omega":0.64203, "ax":2.76092, "ay":2.89115, "alpha":-4.51374, "fx":[21.16751,26.2765,73.12361,62.02261], "fy":[75.40944,33.14295,21.27222,61.37824]},
+    {"t":2.0003, "x":0.71737, "y":5.98925, "heading":3.10864, "vx":-0.27178, "vy":-0.2846, "omega":0.49395, "ax":2.76125, "ay":2.89148, "alpha":-4.76689, "fx":[19.46996,25.74312,74.90709,62.49173], "fy":[76.79917,31.45772,20.35543,62.61224]},
+    {"t":2.03311, "x":0.70994, "y":5.98147, "heading":3.12485, "vx":-0.1812, "vy":-0.18974, "omega":0.33756, "ax":2.76147, "ay":2.8917, "alpha":-5.01999, "fx":[17.74565,25.24701,76.69388,62.9399], "fy":[78.19732,29.88837,19.34132,63.81195]},
+    {"t":2.06591, "x":0.70549, "y":5.9768, "heading":3.13592, "vx":-0.0906, "vy":-0.09487, "omega":0.17287, "ax":2.76163, "ay":2.89185, "alpha":-5.2693, "fx":[16.24709,24.55978,78.34648,63.48356], "fy":[79.64274,28.4449,18.26213,64.89939]},
+    {"t":2.09872, "x":0.704, "y":5.97525, "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/MLtoSL.traj b/src/main/deploy/choreo/MLtoSL.traj
deleted file mode 100644
index 72f72075..00000000
--- a/src/main/deploy/choreo/MLtoSL.traj
+++ /dev/null
@@ -1,84 +0,0 @@
-{
- "name":"MLtoSL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":4.544271945953369, "y":7.44913311004639, "heading":-3.1415920392274765, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"MLL.x", "val":4.544271945953369}, "y":{"exp":"MLL.y", "val":7.44913311004639}, "heading":{"exp":"MLL.heading", "val":-3.1415920392274765}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.15606],
-  "samples":[
-    {"t":0.0, "x":4.54427, "y":7.44913, "heading":-3.14159, "vx":-1.49525, "vy":-0.10244, "omega":0.0, "ax":-0.01935, "ay":-0.00133, "alpha":0.0, "fx":[-0.2988,-0.2988,-0.2988,-0.2988], "fy":[-0.02047,-0.02047,-0.02047,-0.02047]},
-    {"t":0.04817, "x":4.47222, "y":7.4442, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.09634, "x":4.40015, "y":7.43926, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.14451, "x":4.32809, "y":7.43432, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.19268, "x":4.25602, "y":7.42939, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.24085, "x":4.18395, "y":7.42445, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.28901, "x":4.11188, "y":7.41951, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.33718, "x":4.03981, "y":7.41457, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.38535, "x":3.96774, "y":7.40964, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.43352, "x":3.89567, "y":7.4047, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.48169, "x":3.8236, "y":7.39976, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.52986, "x":3.75153, "y":7.39482, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.57803, "x":3.67946, "y":7.38989, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.6262, "x":3.60739, "y":7.38495, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.67437, "x":3.53532, "y":7.38001, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.72254, "x":3.46325, "y":7.37507, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.77071, "x":3.39118, "y":7.37014, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.81888, "x":3.31911, "y":7.3652, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.86704, "x":3.24704, "y":7.36026, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.91521, "x":3.17497, "y":7.35532, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "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":0.96338, "x":3.1029, "y":7.35039, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.01155, "x":3.03083, "y":7.34545, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.05972, "x":2.95876, "y":7.34051, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.10789, "x":2.88669, "y":7.33557, "heading":-3.14159, "vx":-1.49618, "vy":-0.1025, "omega":0.0, "ax":0.00645, "ay":0.00044, "alpha":0.0, "fx":[0.09964,0.09964,0.09963,0.09963], "fy":[0.00682,0.00683,0.00683,0.00682]},
-    {"t":1.15606, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-1.49587, "vy":-0.10248, "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/MRtoCR.traj b/src/main/deploy/choreo/MRtoCR.traj
index 9de690e4..26effdaa 100644
--- a/src/main/deploy/choreo/MRtoCR.traj
+++ b/src/main/deploy/choreo/MRtoCR.traj
@@ -3,26 +3,24 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.0365591049194336, "y":0.6721228361129761, "heading":-3.128402086626287, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":35, "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":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":false}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"MR.x", "val":4.557889461517334}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.0365591049194336 m", "val":3.0365591049194336}, "y":{"exp":"0.6721228361129761 m", "val":0.6721228361129761}, "heading":{"exp":"-3.128402086626287 rad", "val":-3.128402086626287}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":false}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -38,12 +36,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -53,65 +51,44 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.018,2.63918],
+  "waypoints":[0.0,1.06081],
   "samples":[
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diff --git a/src/main/deploy/choreo/MRtoO.traj b/src/main/deploy/choreo/MRtoO.traj
new file mode 100644
index 00000000..0ddc0482
--- /dev/null
+++ b/src/main/deploy/choreo/MRtoO.traj
@@ -0,0 +1,132 @@
+{
+ "name":"MRtoO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0304315090179443, "y":0.749363362789154, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":0.7321799635887146, "y":0.7198631167411804, "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":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.0304315090179443 m", "val":2.0304315090179443}, "y":{"exp":"0.749363362789154 m", "val":0.749363362789154}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.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":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":true},
+    {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "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":[0.0,0.55052,1.95031],
+  "samples":[
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+    {"t":1.77085, "x":0.81263, "y":0.72192, "heading":1.60353, "vx":-0.89638, "vy":-0.02292, "omega":-0.29775, "ax":4.99061, "ay":0.12708, "alpha":1.56637, "fx":[78.72119,87.00721,86.38021,77.93892], "fy":[-9.37374,-7.60368,12.02134,13.36056]},
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+    {"t":1.87853, "x":0.74505, "y":0.72019, "heading":1.57756, "vx":-0.35868, "vy":-0.0092, "omega":-0.1249, "ax":4.99642, "ay":0.12801, "alpha":1.7062, "fx":[78.45601,87.31015,86.86343,77.80271], "fy":[-10.19068,-8.81558,12.56053,14.91159]},
+    {"t":1.91442, "x":0.7354, "y":0.71995, "heading":1.57308, "vx":-0.17935, "vy":-0.0046, "omega":-0.06366, "ax":4.99681, "ay":0.12826, "alpha":1.77369, "fx":[78.13615,87.52598,87.06932,77.72609], "fy":[-10.79722,-9.06473,12.91187,15.43268]},
+    {"t":1.95031, "x":0.73218, "y":0.71986, "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/MRtoSR.traj b/src/main/deploy/choreo/MRtoSR.traj
deleted file mode 100644
index f21c3802..00000000
--- a/src/main/deploy/choreo/MRtoSR.traj
+++ /dev/null
@@ -1,84 +0,0 @@
-{
- "name":"MRtoSR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":4.557889461517334, "y":0.688210129737854, "heading":3.141592653589793, "intervals":24, "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":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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
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-    {"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},
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-  "targetDt":{
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diff --git a/src/main/deploy/choreo/OBtoFR.traj b/src/main/deploy/choreo/OBtoFR.traj
deleted file mode 100644
index 8673d799..00000000
--- a/src/main/deploy/choreo/OBtoFR.traj
+++ /dev/null
@@ -1,195 +0,0 @@
-{
- "name":"OBtoFR",
- "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":1.5}}, "enabled":true}],
-  "targetDt":0.05
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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":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
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- },
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-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/OTtoFR.traj b/src/main/deploy/choreo/OTtoFR.traj
deleted file mode 100644
index ea585cb8..00000000
--- a/src/main/deploy/choreo/OTtoFR.traj
+++ /dev/null
@@ -1,185 +0,0 @@
-{
- "name":"OTtoFR",
- "version":3,
- "snapshot":{
-  "waypoints":[
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-    {"x":2.405749559402466, "y":0.7364640235900879, "heading":0.8728935406274366, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.684704303741455, "y":0.7244694828987122, "heading":0.008196575740831446, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.24398946762085, "y":0.7484585046768188, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.509115219116211, "y":1.1714202165603638, "heading":1.0370889895879676, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":0.017363756895065308, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
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-    {"t":4.93336, "x":7.67216, "y":1.68994, "heading":1.34795, "vx":0.40595, "vy":1.44368, "omega":0.67604, "ax":0.00026, "ay":-0.00007, "alpha":-0.33603, "fx":[1.15406,-0.72124,-1.14614,0.72916], "fy":[0.72408,1.14898,-0.72632,-1.15122]},
-    {"t":4.97899, "x":7.69068, "y":1.75581, "heading":1.3788, "vx":0.40596, "vy":1.44368, "omega":0.6607, "ax":0.00024, "ay":-0.00007, "alpha":-0.31607, "fx":[1.06389,-0.71149,-1.05647,0.71891], "fy":[0.71415,1.05913,-0.71625,-1.06123]},
-    {"t":5.02462, "x":7.70921, "y":1.82169, "heading":1.40895, "vx":0.40597, "vy":1.44368, "omega":0.64628, "ax":0.00023, "ay":-0.00006, "alpha":-0.33517, "fx":[1.10433,-0.78852,-1.09737,0.79548], "fy":[0.79102,1.09987,-0.79299,-1.10183]},
-    {"t":5.07026, "x":7.72773, "y":1.88757, "heading":1.43844, "vx":0.40598, "vy":1.44367, "omega":0.63099, "ax":0.00021, "ay":-0.00006, "alpha":-0.39864, "fx":[1.28422,-0.97692,-1.27768,0.98346], "fy":[0.97926,1.28003,-0.98111,-1.28187]},
-    {"t":5.11589, "x":7.74626, "y":1.95345, "heading":1.46723, "vx":0.40599, "vy":1.44367, "omega":0.6128, "ax":0.0002, "ay":-0.00006, "alpha":-0.51752, "fx":[1.62875,-1.31675,-1.62261,1.32289], "fy":[1.31895,1.62481,-1.32069,-1.62655]},
-    {"t":5.16152, "x":7.76479, "y":2.01932, "heading":1.49519, "vx":0.406, "vy":1.44367, "omega":0.58918, "ax":0.00019, "ay":-0.00005, "alpha":-0.71041, "fx":[2.18304,-1.87043,-2.17726,1.87621], "fy":[1.87251,2.17934,-1.87414,-2.18097]},
-    {"t":5.20715, "x":7.78331, "y":2.0852, "heading":1.52208, "vx":0.40601, "vy":1.44367, "omega":0.55676, "ax":0.00018, "ay":-0.00005, "alpha":-1.00573, "fx":[3.01689,-2.73122,-3.01146,2.73665], "fy":[2.73317,3.01341,-2.73471,-3.01494]},
-    {"t":5.25278, "x":7.80184, "y":2.15108, "heading":1.54748, "vx":0.40602, "vy":1.44366, "omega":0.51087, "ax":-0.00186, "ay":-0.00694, "alpha":-1.44543, "fx":[4.20219,-4.06662,-4.25952,4.00911], "fy":[3.93073,4.12371,-4.14498,-4.338]},
-    {"t":5.29841, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.40594, "vy":1.44335, "omega":0.44491, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/OTtoRR.traj b/src/main/deploy/choreo/OTtoRR.traj
deleted file mode 100644
index 6bd91fd5..00000000
--- a/src/main/deploy/choreo/OTtoRR.traj
+++ /dev/null
@@ -1,120 +0,0 @@
-{
- "name":"OTtoRR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":0.8321799635887146, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":3.388601064682007, "y":0.7079737186431885, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":4.659694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"3.388601064682007 m", "val":3.388601064682007}, "y":{"exp":"0.7079737186431885 m", "val":0.7079737186431885}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"RR.x", "val":4.659694671630859}, "y":{"exp":"RR.y", "val":0.6415539979934692}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.70473,2.55348],
-  "samples":[
-    {"t":0.0, "x":0.83218, "y":0.71986, "heading":-3.14159, "vx":1.49859, "vy":-0.00208, "omega":1.98617, "ax":0.02478, "ay":0.02918, "alpha":0.34797, "fx":[1.37839,1.37828,-0.61293,-0.6129], "fy":[-0.54505,1.44619,1.44618,-0.54474]},
-    {"t":0.04262, "x":0.89607, "y":0.7198, "heading":-3.05695, "vx":1.49965, "vy":-0.00084, "omega":2.001, "ax":-0.00001, "ay":-0.01676, "alpha":0.64245, "fx":[2.13864,1.49637,-2.13908,-1.4968], "fy":[-1.75553,1.87961,1.23731,-2.39651]},
-    {"t":0.08524, "x":0.95998, "y":0.71975, "heading":-2.97167, "vx":1.49965, "vy":-0.00155, "omega":2.02838, "ax":-0.00001, "ay":-0.0073, "alpha":0.65612, "fx":[2.36903,1.24796,-2.36938,-1.24817], "fy":[-1.36089,2.25618,1.13508,-2.48124]},
-    {"t":0.12785, "x":1.02389, "y":0.71968, "heading":-2.88522, "vx":1.49965, "vy":-0.00186, "omega":2.05634, "ax":-0.00001, "ay":-0.00448, "alpha":0.94598, "fx":[3.44502,1.69096,-3.44532,-1.69107], "fy":[-1.7602,3.37592,1.62179,-3.51413]},
-    {"t":0.17047, "x":1.08781, "y":0.71959, "heading":-2.79758, "vx":1.49965, "vy":-0.00205, "omega":2.09665, "ax":-0.00001, "ay":-0.00544, "alpha":0.71842, "fx":[2.69119,1.10815,-2.69154,-1.10832], "fy":[-1.19235,2.60729,1.02413,-2.77538]},
-    {"t":0.21309, "x":1.15172, "y":0.7195, "heading":-2.70823, "vx":1.49965, "vy":-0.00228, "omega":2.12727, "ax":-0.00001, "ay":-0.00661, "alpha":0.83936, "fx":[3.18087,1.18962,-3.1813,-1.18988], "fy":[-1.29193,3.07898,1.08768,-3.28296]},
-    {"t":0.25571, "x":1.21563, "y":0.7194, "heading":-2.61757, "vx":1.49965, "vy":-0.00256, "omega":2.16304, "ax":-0.00001, "ay":-0.00728, "alpha":0.5725, "fx":[2.2136,0.68822,-2.21409,-0.68857], "fy":[-0.80111,2.10122,0.57602,-2.32587]},
-    {"t":0.29833, "x":1.27954, "y":0.71928, "heading":-2.52538, "vx":1.49965, "vy":-0.00288, "omega":2.18744, "ax":-0.00002, "ay":-0.00765, "alpha":0.36759, "fx":[1.44012,0.4022,-1.44065,-0.40266], "fy":[-0.52104,1.32185,0.2845,-1.55777]},
-    {"t":0.34095, "x":1.34346, "y":0.71915, "heading":-2.43216, "vx":1.49964, "vy":-0.0032, "omega":2.20311, "ax":-0.00002, "ay":-0.00781, "alpha":0.30109, "fx":[1.19845,0.30847,-1.19901,-0.30903], "fy":[-0.43018,1.07738,0.18853,-1.31825]},
-    {"t":0.38356, "x":1.40737, "y":0.71901, "heading":-2.33826, "vx":1.49964, "vy":-0.00353, "omega":2.21594, "ax":-0.00002, "ay":-0.00774, "alpha":-0.23014, "fx":[-0.9282,0.15373,0.92767,-0.15441], "fy":[-0.27477,-1.04845,0.03536,0.80989]},
-    {"t":0.42618, "x":1.47128, "y":0.71885, "heading":-2.24383, "vx":1.49964, "vy":-0.00386, "omega":2.20613, "ax":-0.00002, "ay":-0.00743, "alpha":-0.0293, "fx":[-0.09602,0.20018,0.09555,-0.20096], "fy":[-0.31697,-0.21186,0.08713,-0.01713]},
-    {"t":0.4688, "x":1.53519, "y":0.71868, "heading":-2.1498, "vx":1.49964, "vy":-0.00418, "omega":2.20488, "ax":-0.00002, "ay":-0.00695, "alpha":-0.63593, "fx":[-2.52946,0.47017,2.5291,-0.47107], "fy":[-0.58028,-2.6382,0.3651,2.42377]},
-    {"t":0.51142, "x":1.5991, "y":0.7185, "heading":-2.05584, "vx":1.49964, "vy":-0.00448, "omega":2.17778, "ax":-0.00002, "ay":-0.00644, "alpha":-0.25105, "fx":[-0.99184,0.22665,0.99161,-0.22766], "fy":[-0.32938,-1.09281,0.13031,0.89425]},
-    {"t":0.55404, "x":1.66302, "y":0.7183, "heading":-1.96302, "vx":1.49964, "vy":-0.00475, "omega":2.16708, "ax":-0.00002, "ay":-0.00596, "alpha":-0.68747, "fx":[-2.73998,0.65035,2.73992,-0.65151], "fy":[-0.74634,-2.8336,0.56207,2.64951]},
-    {"t":0.59666, "x":1.72693, "y":0.71809, "heading":-1.87066, "vx":1.49964, "vy":-0.00501, "omega":2.13778, "ax":-0.00002, "ay":-0.00559, "alpha":-0.23456, "fx":[-1.11202,-0.0777,1.11214,0.07639], "fy":[-0.01293,-1.1998,-0.15943,1.02706]},
-    {"t":0.63927, "x":1.79084, "y":0.71787, "heading":-1.77956, "vx":1.49964, "vy":-0.00524, "omega":2.12779, "ax":-0.00002, "ay":-0.00532, "alpha":-0.45561, "fx":[-2.11534,0.12508,2.11559,-0.12652], "fy":[-0.21185,-2.19878,0.04805,2.03383]},
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-    {"t":0.72451, "x":1.91866, "y":0.71741, "heading":-1.59902, "vx":1.49964, "vy":-0.00569, "omega":2.10679, "ax":-0.00002, "ay":-0.00514, "alpha":-0.12084, "fx":[-1.67624,-1.06453,1.67632,1.06321], "fy":[0.98095,-1.75621,-1.13798,1.59569]},
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-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/OtoCR.traj b/src/main/deploy/choreo/OtoCR.traj
new file mode 100644
index 00000000..b3c63403
--- /dev/null
+++ b/src/main/deploy/choreo/OtoCR.traj
@@ -0,0 +1,123 @@
+{
+ "name":"OtoCR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.918229579925537, "y":2.544593811035156, "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":1.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.918229579925537 m", "val":1.918229579925537}, "y":{"exp":"2.5445938110351562 m", "val":2.544593811035156}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":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":"1 m / s", "val":1.0}}}, "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":[0.0,2.31226],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/OtoRR.traj b/src/main/deploy/choreo/OtoRR.traj
new file mode 100644
index 00000000..13591b5f
--- /dev/null
+++ b/src/main/deploy/choreo/OtoRR.traj
@@ -0,0 +1,102 @@
+{
+ "name":"OtoRR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":0.7321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"O.x", "val":0.7321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "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":[0.0,0.60877,0.87919],
+  "samples":[
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+    {"t":0.28097, "x":0.88366, "y":0.71793, "heading":1.04488, "vx":1.20615, "vy":-0.04851, "omega":-3.72501, "ax":6.81079, "ay":0.11625, "alpha":-5.46173, "fx":[122.91897,97.39837,118.19895,111.90662], "fy":[16.39383,76.30477,-31.90649,-53.10401]},
+    {"t":0.30439, "x":0.91377, "y":0.71683, "heading":0.95766, "vx":1.36562, "vy":-0.04578, "omega":-3.85289, "ax":7.14507, "ay":0.31501, "alpha":-3.78478, "fx":[123.38869,109.82172,122.6923,116.62769], "fy":[10.6993,56.69091,-5.41217,-41.14501]},
+    {"t":0.3278, "x":0.9477, "y":0.71584, "heading":0.86745, "vx":1.53292, "vy":-0.03841, "omega":-3.94151, "ax":7.39525, "ay":0.32258, "alpha":-1.669, "fx":[123.41417,120.30621,123.05724,122.2978], "fy":[6.11953,27.45569,4.32432,-16.56587]},
+    {"t":0.35121, "x":0.98562, "y":0.71503, "heading":0.77516, "vx":1.70608, "vy":-0.03085, "omega":-3.98059, "ax":7.39091, "ay":0.26441, "alpha":1.5691, "fx":[122.75396,122.06351,123.31005,120.66137], "fy":[5.54545,-16.4765,3.58012,24.83754]},
+    {"t":0.37463, "x":1.0276, "y":0.71438, "heading":0.68196, "vx":1.87913, "vy":-0.02466, "omega":-3.94385, "ax":6.66668, "ay":0.41472, "alpha":5.68586, "fx":[114.37906,100.25604,123.47639,102.78147], "fy":[34.29356,-71.3271,-3.48193,67.94233]},
+    {"t":0.39804, "x":1.07342, "y":0.71392, "heading":0.58961, "vx":2.03522, "vy":-0.01495, "omega":-3.81072, "ax":5.04247, "ay":1.1932, "alpha":10.55352, "fx":[34.01149,79.3518,122.97288,97.1414], "fy":[109.9507,-94.18626,-12.92899,76.07506]},
+    {"t":0.42146, "x":1.12246, "y":0.71389, "heading":0.50039, "vx":2.15329, "vy":0.01298, "omega":-3.56361, "ax":5.15947, "ay":0.86451, "alpha":10.54379, "fx":[43.52955,73.19687,121.86231,102.62678], "fy":[109.15056,-99.20423,-21.5301,68.75683]},
+    {"t":0.44487, "x":1.17429, "y":0.71443, "heading":0.41695, "vx":2.2741, "vy":0.03323, "omega":-3.31674, "ax":5.22432, "ay":0.55585, "alpha":10.59167, "fx":[50.85859,67.24285,120.31276,107.08943], "fy":[107.70072,-103.45151,-29.29533,61.80682]},
+    {"t":0.46829, "x":1.22897, "y":0.71536, "heading":0.33929, "vx":2.39642, "vy":0.04624, "omega":-3.06874, "ax":5.2256, "ay":0.28311, "alpha":10.74546, "fx":[55.26,61.26435,118.45599,110.60806], "fy":[106.73746,-107.19162,-36.29471,55.47205]},
+    {"t":0.4917, "x":1.28651, "y":0.71652, "heading":0.26744, "vx":2.51877, "vy":0.05287, "omega":-2.81714, "ax":5.1723, "ay":0.04982, "alpha":10.99675, "fx":[57.20026,55.13336,116.39302,113.33713], "fy":[106.58823,-110.5421,-42.60073,49.84952]},
+    {"t":0.51512, "x":1.3469, "y":0.71778, "heading":0.20148, "vx":2.63988, "vy":0.05404, "omega":-2.55966, "ax":5.07202, "ay":-0.14452, "alpha":11.33474, "fx":[57.07132,48.73594,114.20201,115.42253], "fy":[107.30279,-113.56595,-48.28063,44.98637]},
+    {"t":0.53853, "x":1.41011, "y":0.719, "heading":0.14154, "vx":2.75864, "vy":0.05065, "omega":-2.29427, "ax":4.93095, "ay":-0.30229, "alpha":11.74683, "fx":[55.17744,41.98719,111.94703,116.99061], "fy":[108.77669,-116.27851,-53.38859,40.89906]},
+    {"t":0.56194, "x":1.47605, "y":0.7201, "heading":0.08782, "vx":2.87409, "vy":0.04357, "omega":-2.01922, "ax":4.72965, "ay":-0.41914, "alpha":12.2814, "fx":[50.62734,34.41745,109.65078,118.09422], "fy":[111.34427,-118.78076,-58.02816,37.74535]},
+    {"t":0.58536, "x":1.54464, "y":0.72101, "heading":0.04055, "vx":2.98483, "vy":0.03376, "omega":-1.73166, "ax":3.9645, "ay":-0.41019, "alpha":14.04528, "fx":[21.31069,16.56353,106.42315,117.89023], "fy":[120.7816,-122.59682,-63.80715,38.49505]},
+    {"t":0.60877, "x":1.61561, "y":0.72169, "heading":0.0, "vx":3.07766, "vy":0.02416, "omega":-1.4028, "ax":4.07135, "ay":-0.58711, "alpha":13.72729, "fx":[31.69599,14.24313,104.06504,119.24948], "fy":[117.68307,-122.52931,-67.23259,33.25114]},
+    {"t":0.62809, "x":1.67582, "y":0.72204, "heading":-0.0271, "vx":3.1563, "vy":0.01282, "omega":-1.13765, "ax":4.02238, "ay":-0.68429, "alpha":13.76168, "fx":[33.42746,10.55851,102.21457,119.81478], "fy":[116.6399,-122.63074,-69.75577,30.49182]},
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+    {"t":0.68603, "x":1.86535, "y":0.72154, "heading":-0.07759, "vx":3.38078, "vy":-0.03298, "omega":-0.33107, "ax":2.75032, "ay":-1.14122, "alpha":15.22834, "fx":[-11.54156,-15.41089,88.41962,120.42208], "fy":[111.55268,-119.96284,-84.43038,17.36739]},
+    {"t":0.70535, "x":1.93117, "y":0.72069, "heading":-0.08398, "vx":3.43391, "vy":-0.05502, "omega":-0.03693, "ax":0.09133, "ay":-3.27044, "alpha":14.28725, "fx":[-109.06907,-52.1174,53.1233,114.10345], "fy":[7.79667,-106.76304,-106.78745,-10.53256]},
+    {"t":0.72467, "x":1.99751, "y":0.71902, "heading":-0.08469, "vx":3.43567, "vy":-0.11819, "omega":0.23904, "ax":-2.44533, "ay":-4.60693, "alpha":8.2892, "fx":[-108.9408,-75.50029,-0.78353,23.50593], "fy":[-21.03468,-88.20277,-114.26266,-81.17323]},
+    {"t":0.74398, "x":2.06342, "y":0.71588, "heading":-0.08008, "vx":3.38844, "vy":-0.20718, "omega":0.39915, "ax":-2.68591, "ay":-3.75734, "alpha":8.4477, "fx":[-104.78632,-77.67068,-4.62576,9.45359], "fy":[-9.09679,-80.20947,-108.03285,-51.14804]},
+    {"t":0.7633, "x":2.12837, "y":0.71117, "heading":-0.07237, "vx":3.33656, "vy":-0.27976, "omega":0.56232, "ax":-2.74222, "ay":-3.11125, "alpha":7.47231, "fx":[-93.02623,-73.17691,-8.75044,-6.39987], "fy":[-7.68515,-71.82947,-95.83757,-30.40657]},
+    {"t":0.78261, "x":2.1923, "y":0.70519, "heading":-0.06151, "vx":3.28359, "vy":-0.33985, "omega":0.70665, "ax":-1.96615, "ay":-3.09524, "alpha":4.24193, "fx":[-59.54717,-50.18275,-10.12247,-10.17646], "fy":[-28.21387,-63.67888,-73.79899,-39.00807]},
+    {"t":0.80193, "x":2.25536, "y":0.69805, "heading":-0.04786, "vx":3.24561, "vy":-0.39964, "omega":0.78859, "ax":0.29191, "ay":-2.93359, "alpha":-3.08097, "fx":[18.90019,24.18189,-12.18039,-11.59643], "fy":[-60.91481,-36.43568,-35.92254,-60.73618]},
+    {"t":0.82124, "x":2.31811, "y":0.68978, "heading":-0.03262, "vx":3.25125, "vy":-0.4563, "omega":0.72908, "ax":2.07157, "ay":-1.99428, "alpha":-7.93011, "fx":[62.70384,79.50622,-1.55952,-3.64988], "fy":[-63.93522,2.04258,7.84882,-77.84565]},
+    {"t":0.84056, "x":2.38129, "y":0.6806, "heading":-0.01854, "vx":3.29126, "vy":-0.49482, "omega":0.5759, "ax":2.92799, "ay":-1.24789, "alpha":-9.93565, "fx":[81.18971,95.38525,12.10173,4.96261], "fy":[-60.81637,19.65315,46.65108,-88.01567]},
+    {"t":0.85988, "x":2.44541, "y":0.6708, "heading":-0.00742, "vx":3.34782, "vy":-0.51893, "omega":0.38399, "ax":3.23098, "ay":-0.64884, "alpha":-11.45432, "fx":[91.65728,101.03231,13.15554,7.83185], "fy":[-57.00342,32.82833,75.94142,-94.67634]},
+    {"t":0.87919, "x":2.51068, "y":0.66066, "heading":0.0, "vx":3.41023, "vy":-0.53146, "omega":0.16274, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PLBtoDLO.traj b/src/main/deploy/choreo/PLBtoDLO.traj
deleted file mode 100644
index bcf0647b..00000000
--- a/src/main/deploy/choreo/PLBtoDLO.traj
+++ /dev/null
@@ -1,151 +0,0 @@
-{
- "name":"PLBtoDLO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":3.708786010742188, "y":5.537450790405273, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.767721176147461, "y":5.537623882293701, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.146753311157227, "y":7.112152099609375, "heading":-0.941999816110815, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"PLB.x", "val":3.708786010742188}, "y":{"exp":"PLB.y", "val":5.537450790405273}, "heading":{"exp":"PLB.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.767721176147461 m", "val":5.767721176147461}, "y":{"exp":"5.537623882293701 m", "val":5.537623882293701}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.146753311157227 m", "val":8.146753311157227}, "y":{"exp":"7.112152099609375 m", "val":7.112152099609375}, "heading":{"exp":"-0.941999816110815 rad", "val":-0.941999816110815}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.41228,3.32637,4.21646],
-  "samples":[
-    {"t":0.0, "x":3.70879, "y":5.53745, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":22.02615, "ay":-0.11729, "alpha":0.00033, "fx":[340.15423,340.15421,340.15422,340.15424], "fy":[-1.80949,-1.81325,-1.81323,-1.80947]},
-    {"t":0.05044, "x":3.7368, "y":5.5373, "heading":0.0, "vx":1.11097, "vy":-0.00592, "omega":0.00002, "ax":7.70675, "ay":-0.04104, "alpha":0.16191, "fx":[118.61078,118.60958,119.42288,119.42409], "fy":[-0.11406,-1.1547,-1.15251,-0.11384]},
-    {"t":0.10088, "x":3.80264, "y":5.53695, "heading":0.0, "vx":1.49968, "vy":-0.00799, "omega":0.00818, "ax":0.00001, "ay":0.0, "alpha":0.13535, "fx":[-0.38716,-0.38716,0.38731,0.38731], "fy":[0.38723,-0.38723,-0.38723,0.38723]},
-    {"t":0.15132, "x":3.87828, "y":5.53655, "heading":0.00041, "vx":1.49968, "vy":-0.00799, "omega":0.01501, "ax":0.0, "ay":0.0, "alpha":0.08847, "fx":[-0.25324,-0.25303,0.25324,0.25303], "fy":[0.25303,-0.25324,-0.25303,0.25324]},
-    {"t":0.20175, "x":3.95393, "y":5.53615, "heading":0.00117, "vx":1.49968, "vy":-0.00799, "omega":0.01947, "ax":0.0, "ay":0.0, "alpha":0.05779, "fx":[-0.16553,-0.16515,0.16553,0.16515], "fy":[0.16515,-0.16553,-0.16515,0.16553]},
-    {"t":0.25219, "x":4.02957, "y":5.53574, "heading":0.00215, "vx":1.49968, "vy":-0.00799, "omega":0.02239, "ax":0.0, "ay":0.0, "alpha":0.03768, "fx":[-0.10803,-0.10756,0.10803,0.10756], "fy":[0.10756,-0.10803,-0.10756,0.10803]},
-    {"t":0.30263, "x":4.10521, "y":5.53534, "heading":0.00328, "vx":1.49968, "vy":-0.00799, "omega":0.02429, "ax":0.0, "ay":0.0, "alpha":0.02446, "fx":[-0.0702,-0.06974,0.0702,0.06974], "fy":[0.06974,-0.0702,-0.06974,0.0702]},
-    {"t":0.35307, "x":4.18085, "y":5.53494, "heading":0.00451, "vx":1.49968, "vy":-0.00799, "omega":0.02552, "ax":0.0, "ay":0.0, "alpha":0.01571, "fx":[-0.04515,-0.04475,0.04515,0.04475], "fy":[0.04475,-0.04515,-0.04475,0.04515]},
-    {"t":0.40351, "x":4.25649, "y":5.53453, "heading":0.00579, "vx":1.49968, "vy":-0.00799, "omega":0.02631, "ax":0.0, "ay":0.0, "alpha":0.00984, "fx":[-0.02832,-0.02799,0.02832,0.02799], "fy":[0.02799,-0.02832,-0.02799,0.02832]},
-    {"t":0.45395, "x":4.33213, "y":5.53413, "heading":0.00712, "vx":1.49968, "vy":-0.00799, "omega":0.02681, "ax":0.0, "ay":0.0, "alpha":0.00577, "fx":[-0.01663,-0.01639,0.01663,0.01639], "fy":[0.01639,-0.01663,-0.01639,0.01663]},
-    {"t":0.50438, "x":4.40778, "y":5.53373, "heading":0.00847, "vx":1.49968, "vy":-0.00799, "omega":0.0271, "ax":0.0, "ay":0.0, "alpha":0.00275, "fx":[-0.00795,-0.00781,0.00795,0.00781], "fy":[0.00781,-0.00795,-0.00781,0.00795]},
-    {"t":0.55482, "x":4.48342, "y":5.53333, "heading":0.00984, "vx":1.49968, "vy":-0.00799, "omega":0.02724, "ax":0.0, "ay":0.0, "alpha":0.00024, "fx":[-0.0007,-0.00069,0.0007,0.00069], "fy":[0.00069,-0.0007,-0.00069,0.0007]},
-    {"t":0.60526, "x":4.55906, "y":5.53292, "heading":0.01121, "vx":1.49968, "vy":-0.00799, "omega":0.02725, "ax":0.0, "ay":0.0, "alpha":-0.00222, "fx":[0.00644,0.00629,-0.00644,-0.00629], "fy":[-0.00629,0.00644,0.00629,-0.00644]},
-    {"t":0.6557, "x":4.6347, "y":5.53252, "heading":0.01259, "vx":1.49968, "vy":-0.00799, "omega":0.02714, "ax":0.0, "ay":0.0, "alpha":-0.0051, "fx":[0.01477,0.0144,-0.01477,-0.0144], "fy":[-0.0144,0.01477,0.0144,-0.01477]},
-    {"t":0.70614, "x":4.71034, "y":5.53212, "heading":0.01396, "vx":1.49968, "vy":-0.00799, "omega":0.02688, "ax":0.0, "ay":0.0, "alpha":-0.0089, "fx":[0.02583,0.02512,-0.02583,-0.02512], "fy":[-0.02512,0.02583,0.02512,-0.02583]},
-    {"t":0.75658, "x":4.78598, "y":5.53171, "heading":0.01531, "vx":1.49968, "vy":-0.00799, "omega":0.02643, "ax":0.0, "ay":0.0, "alpha":-0.01434, "fx":[0.04165,0.0404,-0.04165,-0.0404], "fy":[-0.0404,0.04165,0.0404,-0.04165]},
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-    {"t":3.70115, "x":8.35098, "y":6.60407, "heading":-1.20488, "vx":0.4436, "vy":-1.43257, "omega":-0.74692, "ax":0.0, "ay":0.0, "alpha":-0.01892, "fx":[-0.03117,0.0699,0.03117,-0.0699], "fy":[-0.0699,-0.03117,0.0699,0.03117]},
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-    {"t":4.21646, "x":8.57957, "y":5.86585, "heading":-1.5708, "vx":0.4435, "vy":-1.43227, "omega":-0.51085, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/PLTtoD.traj b/src/main/deploy/choreo/PLTtoD.traj
deleted file mode 100644
index e7ee5eae..00000000
--- a/src/main/deploy/choreo/PLTtoD.traj
+++ /dev/null
@@ -1,106 +0,0 @@
-{
- "name":"PLTtoD",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.1236233711242676, "y":6.343014240264893, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.8098713755607605, "y":6.312607765197754, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"3.7620644569396973 m", "val":3.7620644569396977}, "y":{"exp":"7.357067584991455 m", "val":7.357067584991455}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.1236233711242676 m", "val":2.1236233711242676}, "y":{"exp":"6.343014240264893 m", "val":6.343014240264893}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":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":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.32401,2.20118],
-  "samples":[
-    {"t":0.0, "x":3.76206, "y":7.35707, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-18.6688, "ay":-11.69017, "alpha":0.0, "fx":[-288.30592,-288.30592,-288.30592,-288.30592], "fy":[-180.53365,-180.53365,-180.53365,-180.53365]},
-    {"t":0.05092, "x":3.73786, "y":7.34191, "heading":3.14159, "vx":-0.95068, "vy":-0.5953, "omega":0.0, "ax":-6.29163, "ay":-3.93974, "alpha":0.0, "fx":[-97.16287,-97.16287,-97.16287,-97.16287], "fy":[-60.8422,-60.8422,-60.8422,-60.8422]},
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-    {"t":0.15277, "x":3.61656, "y":7.26596, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":0.25462, "x":3.48711, "y":7.18489, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "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":0.30554, "x":3.42238, "y":7.14436, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":0.45831, "x":3.2282, "y":7.02277, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "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":0.50923, "x":3.16347, "y":6.98224, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":0.61108, "x":3.03402, "y":6.90117, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "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":0.662, "x":2.96929, "y":6.86064, "heading":3.14159, "vx":-1.27107, "vy":-0.79593, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":1.95752, "x":1.17523, "y":6.31825, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":2.00625, "x":1.10216, "y":6.31713, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":2.05498, "x":1.02908, "y":6.316, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":2.10371, "x":0.95601, "y":6.31487, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":2.15244, "x":0.88294, "y":6.31374, "heading":3.14159, "vx":-1.49951, "vy":-0.02318, "omega":0.0, "ax":0.00631, "ay":0.0001, "alpha":0.0, "fx":[0.09746,0.09746,0.09746,0.09746], "fy":[0.00151,0.00151,0.00151,0.00151]},
-    {"t":2.20118, "x":0.80987, "y":6.31261, "heading":3.14159, "vx":-1.49921, "vy":-0.02317, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/PLTtoDRO.traj b/src/main/deploy/choreo/PLTtoDRO.traj
deleted file mode 100644
index 580a7438..00000000
--- a/src/main/deploy/choreo/PLTtoDRO.traj
+++ /dev/null
@@ -1,149 +0,0 @@
-{
- "name":"PLTtoDRO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":3.7620644569396977, "y":7.357067584991455, "heading":3.141592690548533, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"PLT.x", "val":3.7620644569396977}, "y":{"exp":"PLT.y", "val":7.357067584991455}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, "y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.42367,3.14546,4.0268],
-  "samples":[
-    {"t":0.0, "x":3.76206, "y":7.35707, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":22.02194, "ay":-0.46304, "alpha":-0.00007, "fx":[340.08923,340.08921,340.08921,340.08923], "fy":[-7.15049,-7.15128,-7.15126,-7.15047]},
-    {"t":0.05085, "x":3.79053, "y":7.35647, "heading":-3.14159, "vx":1.11972, "vy":-0.02354, "omega":0.0, "ax":7.46687, "ay":-0.157, "alpha":-0.03498, "fx":[115.22429,115.22332,115.40057,115.40153], "fy":[-2.31351,-2.53669,-2.53568,-2.31259]},
-    {"t":0.10169, "x":3.85712, "y":7.35507, "heading":3.14159, "vx":1.49937, "vy":-0.03153, "omega":-0.00178, "ax":0.0, "ay":0.0, "alpha":-0.02869, "fx":[-0.08201,-0.08201,0.08215,0.08215], "fy":[0.08208,-0.08208,-0.08208,0.08208]},
-    {"t":0.15254, "x":3.93335, "y":7.35347, "heading":3.1415, "vx":1.49937, "vy":-0.03153, "omega":-0.00324, "ax":0.0, "ay":0.0, "alpha":-0.01866, "fx":[-0.05338,-0.05339,0.05338,0.05339], "fy":[0.05339,-0.05338,-0.05339,0.05338]},
-    {"t":0.20338, "x":4.00959, "y":7.35186, "heading":3.14134, "vx":1.49937, "vy":-0.03153, "omega":-0.00419, "ax":0.0, "ay":0.0, "alpha":-0.0121, "fx":[-0.03461,-0.03463,0.03461,0.03463], "fy":[0.03463,-0.03461,-0.03463,0.03461]},
-    {"t":0.25423, "x":4.08582, "y":7.35026, "heading":3.14112, "vx":1.49937, "vy":-0.03153, "omega":-0.00481, "ax":0.0, "ay":0.0, "alpha":-0.00779, "fx":[-0.02227,-0.02229,0.02227,0.02229], "fy":[0.02229,-0.02227,-0.02229,0.02227]},
-    {"t":0.30507, "x":4.16206, "y":7.34866, "heading":3.14088, "vx":1.49937, "vy":-0.03153, "omega":-0.0052, "ax":0.0, "ay":0.0, "alpha":-0.00493, "fx":[-0.01408,-0.0141,0.01408,0.0141], "fy":[0.0141,-0.01408,-0.0141,0.01408]},
-    {"t":0.35592, "x":4.2383, "y":7.34705, "heading":3.14062, "vx":1.49937, "vy":-0.03153, "omega":-0.00545, "ax":0.0, "ay":0.0, "alpha":-0.00298, "fx":[-0.00852,-0.00853,0.00852,0.00853], "fy":[0.00853,-0.00852,-0.00853,0.00852]},
-    {"t":0.40676, "x":4.31453, "y":7.34545, "heading":3.14034, "vx":1.49937, "vy":-0.03153, "omega":-0.0056, "ax":0.0, "ay":0.0, "alpha":-0.00159, "fx":[-0.00453,-0.00455,0.00453,0.00455], "fy":[0.00455,-0.00453,-0.00455,0.00453]},
-    {"t":0.45761, "x":4.39077, "y":7.34385, "heading":3.14005, "vx":1.49937, "vy":-0.03153, "omega":-0.00568, "ax":0.0, "ay":0.0, "alpha":-0.00049, "fx":[-0.0014,-0.0014,0.0014,0.0014], "fy":[0.0014,-0.0014,-0.0014,0.0014]},
-    {"t":0.50845, "x":4.46701, "y":7.34225, "heading":3.13976, "vx":1.49937, "vy":-0.03153, "omega":-0.00571, "ax":0.0, "ay":0.0, "alpha":0.00052, "fx":[0.00148,0.00149,-0.00148,-0.00149], "fy":[-0.00149,0.00148,0.00149,-0.00148]},
-    {"t":0.5593, "x":4.54324, "y":7.34064, "heading":3.13947, "vx":1.49937, "vy":-0.03153, "omega":-0.00568, "ax":0.0, "ay":0.0, "alpha":0.00163, "fx":[0.00464,0.00466,-0.00464,-0.00466], "fy":[-0.00466,0.00464,0.00466,-0.00464]},
-    {"t":0.61015, "x":4.61948, "y":7.33904, "heading":3.13919, "vx":1.49937, "vy":-0.03153, "omega":-0.0056, "ax":0.0, "ay":0.0, "alpha":0.00303, "fx":[0.00866,0.0087,-0.00866,-0.0087], "fy":[-0.0087,0.00866,0.0087,-0.00866]},
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-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/PLtoD.traj b/src/main/deploy/choreo/PLtoD.traj
new file mode 100644
index 00000000..5f8fc76e
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoD.traj
@@ -0,0 +1,113 @@
+{
+ "name":"PLtoD",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.6529273986816406, "y":7.408985614776611, "heading":3.141592653589793, "intervals":30, "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":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.6529273986816406 m", "val":3.6529273986816406}, "y":{"exp":"7.408985614776611 m", "val":7.408985614776611}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":30, "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":"D.x", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.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":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slower", "val":1.5}}}, "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":[0.0,1.32999,2.15117],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PLtoDRO.traj b/src/main/deploy/choreo/PLtoDRO.traj
new file mode 100644
index 00000000..c573b70f
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoDRO.traj
@@ -0,0 +1,185 @@
+{
+ "name":"PLtoDRO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.7620644569396977, "y":7.357067584991455, "heading":1.5707963452742666, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.839240550994873, "y":7.312925338745117, "heading":-3.1196182570906053, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.408936500549316, "y":7.168707847595215, "heading":-2.276364851412617, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.579570770263672, "y":5.865847587585449, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"PLT.x", "val":3.7620644569396977}, "y":{"exp":"PLT.y", "val":7.357067584991455}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, "y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "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":[0.0,1.4855,3.2145,4.10253],
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PLtoFL.traj b/src/main/deploy/choreo/PLtoFL.traj
new file mode 100644
index 00000000..0c4d4486
--- /dev/null
+++ b/src/main/deploy/choreo/PLtoFL.traj
@@ -0,0 +1,141 @@
+{
+ "name":"PLtoFL",
+ "version":3,
+ "snapshot":{
+  "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":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":3, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}],
+  "targetDt":0.05
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+ "params":{
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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+    {"from":0, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}],
+  "targetDt":{
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+    {"t":1.48622, "x":7.10487, "y":7.24861, "heading":-0.55446, "vx":1.97466, "vy":-0.3123, "omega":-1.22285, "ax":-1.22173, "ay":-6.1339, "alpha":-0.07724, "fx":[-19.87617,-19.4072,-20.5273,-20.98696], "fy":[-101.62798,-101.50395,-101.2012,-101.32469]},
+    {"t":1.51157, "x":7.15453, "y":7.23873, "heading":-0.58545, "vx":1.9437, "vy":-0.46776, "omega":-1.22481, "ax":-1.94504, "ay":-6.74287, "alpha":-0.02788, "fx":[-32.01028,-31.85869,-32.30694,-32.45688], "fy":[-111.54835,-111.55733,-111.41743,-111.40844]},
+    {"t":1.53691, "x":7.20317, "y":7.22471, "heading":-0.61649, "vx":1.8944, "vy":-0.63866, "omega":-1.22551, "ax":-2.63942, "ay":-6.77414, "alpha":-0.01307, "fx":[-43.55989,-43.50291,-43.7176,-43.77418], "fy":[-112.036,-112.04934,-111.96355,-111.95025]},
+    {"t":1.56226, "x":7.25034, "y":7.20634, "heading":-0.64755, "vx":1.8275, "vy":-0.81036, "omega":-1.22584, "ax":-3.30474, "ay":-6.59458, "alpha":-0.00718, "fx":[-54.59199,-54.5691,-54.68562,-54.70838], "fy":[-109.0564,-109.06478,-109.00584,-108.99749]},
+    {"t":1.5876, "x":7.29559, "y":7.18369, "heading":-0.67862, "vx":1.74374, "vy":-0.9775, "omega":-1.22602, "ax":-3.93837, "ay":-6.29972, "alpha":-0.00436, "fx":[-65.08504,-65.07619,-65.14445,-65.15324], "fy":[-104.17532,-104.17953,-104.1367,-104.13252]},
+    {"t":1.61295, "x":7.33852, "y":7.15689, "heading":-0.7097, "vx":1.64392, "vy":-1.13717, "omega":-1.22614, "ax":-4.56788, "ay":-5.89744, "alpha":-0.00282, "fx":[-75.50324,-75.5008,-75.54243,-75.54485], "fy":[-97.52046,-97.52169,-97.48942,-97.4882]},
+    {"t":1.6383, "x":7.37872, "y":7.12617, "heading":-0.74077, "vx":1.52815, "vy":-1.28664, "omega":-1.22621, "ax":-5.02953, "ay":-5.50802, "alpha":-0.00259, "fx":[-83.13778,-83.13742,-83.17313,-83.17347], "fy":[-91.08304,-91.08272,-91.05011,-91.05045]},
+    {"t":1.66334, "x":7.41542, "y":7.09222, "heading":-0.77149, "vx":1.40218, "vy":-1.42459, "omega":-1.22627, "ax":-5.52794, "ay":-4.96302, "alpha":-0.00332, "fx":[-91.37413,-91.37628,-91.41751,-91.41534], "fy":[-82.08053,-82.07686,-82.03102,-82.03472]},
+    {"t":1.68839, "x":7.4488, "y":7.05498, "heading":-0.8022, "vx":1.26373, "vy":-1.54889, "omega":-1.22635, "ax":-5.92321, "ay":-4.39668, "alpha":-0.00453, "fx":[-97.90368,-97.90874,-97.95843,-97.95334], "fy":[-72.73033,-72.72059,-72.65402,-72.6638]},
+    {"t":1.71343, "x":7.4786, "y":7.01481, "heading":-0.83291, "vx":1.11538, "vy":-1.65901, "omega":-1.22647, "ax":-6.21388, "ay":-3.78074, "alpha":-0.00678, "fx":[-102.70062,-102.70919,-102.77303,-102.76442], "fy":[-62.57148,-62.54923,-62.44586,-62.46822]},
+    {"t":1.73848, "x":7.50458, "y":6.97207, "heading":-0.86363, "vx":0.95975, "vy":-1.7537, "omega":-1.22664, "ax":-6.31251, "ay":-3.10276, "alpha":-0.01176, "fx":[-104.31643,-104.32673,-104.41866,-104.40829], "fy":[-51.41484,-51.36276,-51.18363,-51.23601]},
+    {"t":1.76352, "x":7.52664, "y":6.92718, "heading":-0.89435, "vx":0.80165, "vy":-1.83141, "omega":-1.22693, "ax":-5.89504, "ay":-2.30705, "alpha":-0.02586, "fx":[-97.39223,-97.37376,-97.53859,-97.55688], "fy":[-38.39463,-38.25443,-37.8917,-38.03303]},
+    {"t":1.78857, "x":7.54487, "y":6.88058, "heading":-0.92508, "vx":0.654, "vy":-1.8892, "omega":-1.22758, "ax":-3.87793, "ay":-1.23291, "alpha":-0.0708, "fx":[-64.08732,-63.74774,-64.14476,-64.48256], "fy":[-20.95148,-20.54541,-19.81529,-20.2249]},
+    {"t":1.81362, "x":7.56003, "y":6.83288, "heading":-0.95583, "vx":0.55688, "vy":-1.92007, "omega":-1.22935, "ax":-1.19796, "ay":-0.33737, "alpha":-0.10302, "fx":[-19.91103,-19.14261,-19.70261,-20.46909], "fy":[-6.26891,-5.70716,-4.88601,-5.44929]},
+    {"t":1.83866, "x":7.5736, "y":6.78469, "heading":-0.98662, "vx":0.52687, "vy":-1.92852, "omega":-1.23193, "ax":-0.27031, "ay":-0.07334, "alpha":-0.08891, "fx":[-4.58722,-3.88844,-4.3512,-5.04965], "fy":[-1.79433,-1.33174,-0.63069,-1.09354]},
+    {"t":1.86371, "x":7.58672, "y":6.73636, "heading":-1.01747, "vx":0.5201, "vy":-1.93036, "omega":-1.23416, "ax":-0.05932, "ay":-0.01596, "alpha":-0.07002, "fx":[-1.08824,-0.52617,-0.87339,-1.43543], "fy":[-0.71853,-0.37134,0.19083,-0.1564]},
+    {"t":1.88875, "x":7.59972, "y":6.68801, "heading":-1.04838, "vx":0.51862, "vy":-1.93076, "omega":-1.23591, "ax":-0.013, "ay":-0.00349, "alpha":-0.05128, "fx":[-0.30386,0.11547,-0.12597,-0.5453], "fy":[-0.38809,-0.14666,0.27268,0.03124]},
+    {"t":1.9138, "x":7.61271, "y":6.63965, "heading":-1.07934, "vx":0.51829, "vy":-1.93085, "omega":-1.2372, "ax":-0.00285, "ay":-0.00077, "alpha":-0.03278, "fx":[-0.11048,0.16216,0.01622,-0.25642], "fy":[-0.22194,-0.076,0.19664,0.0507]},
+    {"t":1.93884, "x":7.62569, "y":6.59129, "heading":-1.11032, "vx":0.51822, "vy":-1.93087, "omega":-1.23802, "ax":-0.00063, "ay":-0.00017, "alpha":-0.01439, "fx":[-0.04102,0.08056,0.02025,-0.10134], "fy":[-0.09374,-0.03343,0.08816,0.02785]},
+    {"t":1.96389, "x":7.63867, "y":6.54293, "heading":-1.14133, "vx":0.5182, "vy":-1.93087, "omega":-1.23838, "ax":-0.00014, "ay":-0.00004, "alpha":0.00401, "fx":[0.00698,-0.02742,-0.01167,0.02273], "fy":[0.02444,0.00869,-0.0257,-0.00995]},
+    {"t":1.98893, "x":7.65165, "y":6.49457, "heading":-1.17235, "vx":0.5182, "vy":-1.93087, "omega":-1.23828, "ax":-0.00004, "ay":-0.00001, "alpha":0.02253, "fx":[0.05612,-0.13976,-0.0573,0.13858], "fy":[0.13901,0.05655,-0.13933,-0.05687]},
+    {"t":2.01398, "x":7.66462, "y":6.44621, "heading":-1.20336, "vx":0.5182, "vy":-1.93087, "omega":-1.23772, "ax":-0.00001, "ay":0.0, "alpha":0.04128, "fx":[0.11158,-0.25191,-0.112,0.25149], "fy":[0.25164,0.11173,-0.25176,-0.11184]},
+    {"t":2.03903, "x":7.6776, "y":6.39785, "heading":-1.23436, "vx":0.5182, "vy":-1.93087, "omega":-1.23668, "ax":-0.00001, "ay":0.0, "alpha":0.06039, "fx":[0.17474,-0.3631,-0.175,0.36285], "fy":[0.36294,0.17484,-0.36301,-0.17491]},
+    {"t":2.06407, "x":7.69058, "y":6.34949, "heading":-1.26533, "vx":0.5182, "vy":-1.93087, "omega":-1.23517, "ax":-0.00001, "ay":0.0, "alpha":0.07998, "fx":[0.24625,-0.4734,-0.24647,0.47318], "fy":[0.47326,0.24633,-0.47332,-0.24639]},
+    {"t":2.08912, "x":7.70356, "y":6.30113, "heading":-1.29627, "vx":0.5182, "vy":-1.93087, "omega":-1.23317, "ax":-0.00001, "ay":0.0, "alpha":0.10016, "fx":[0.3266,-0.58299,-0.32682,0.58278], "fy":[0.58286,0.32668,-0.58291,-0.32674]},
+    {"t":2.11416, "x":7.71654, "y":6.25277, "heading":-1.32715, "vx":0.5182, "vy":-1.93087, "omega":-1.23066, "ax":-0.00001, "ay":0.0, "alpha":0.12106, "fx":[0.41636,-0.6921,-0.41656,0.6919], "fy":[0.69197,0.41643,-0.69203,-0.41649]},
+    {"t":2.13921, "x":7.72952, "y":6.20441, "heading":-1.35798, "vx":0.5182, "vy":-1.93087, "omega":-1.22763, "ax":-0.00001, "ay":0.0, "alpha":0.14281, "fx":[0.51612,-0.80091,-0.51631,0.80072], "fy":[0.80079,0.51619,-0.80084,-0.51624]},
+    {"t":2.16425, "x":7.7425, "y":6.15605, "heading":-1.38872, "vx":0.5182, "vy":-1.93087, "omega":-1.22405, "ax":-0.00001, "ay":0.0, "alpha":0.16555, "fx":[0.62659,-0.9096,-0.62677,0.90942], "fy":[0.90948,0.62665,-0.90953,-0.6267]},
+    {"t":2.1893, "x":7.75547, "y":6.10769, "heading":-1.41938, "vx":0.5182, "vy":-1.93087, "omega":-1.2199, "ax":0.0, "ay":0.0, "alpha":0.18943, "fx":[0.74854,-1.01829,-0.7487,1.01813], "fy":[1.01819,0.7486,-1.01823,-0.74864]},
+    {"t":2.21435, "x":7.76845, "y":6.05933, "heading":-1.44993, "vx":0.5182, "vy":-1.93087, "omega":-1.21516, "ax":0.0, "ay":0.0, "alpha":0.21459, "fx":[0.88284,-1.1271,-0.88299,1.12696], "fy":[1.12701,0.88289,-1.12705,-0.88294]},
+    {"t":2.23939, "x":7.78143, "y":6.01097, "heading":-1.48037, "vx":0.5182, "vy":-1.93087, "omega":-1.20978, "ax":0.0, "ay":0.0, "alpha":0.24121, "fx":[1.03045,-1.23612,-1.0306,1.23597], "fy":[1.23603,1.0305,-1.23607,-1.03055]},
+    {"t":2.26444, "x":7.79441, "y":5.96261, "heading":-1.51067, "vx":0.5182, "vy":-1.93087, "omega":-1.20374, "ax":-0.00001, "ay":0.0, "alpha":0.26946, "fx":[1.19239,-1.34543,-1.19266,1.34516], "fy":[1.34534,1.19256,-1.34526,-1.19248]},
+    {"t":2.28948, "x":7.80739, "y":5.91425, "heading":-1.54082, "vx":0.5182, "vy":-1.93087, "omega":-1.19699, "ax":-0.00832, "ay":0.03093, "alpha":0.29952, "fx":[1.23234,-1.5922,-1.50779,1.3173], "fy":[1.96609,1.8813,-0.94337,-0.85869]},
+    {"t":2.31453, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.51799, "vy":-1.9301, "omega":-1.18949, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PRBtoDRO.traj b/src/main/deploy/choreo/PRBtoDRO.traj
deleted file mode 100644
index 54e2eac9..00000000
--- a/src/main/deploy/choreo/PRBtoDRO.traj
+++ /dev/null
@@ -1,142 +0,0 @@
-{
- "name":"PRBtoDRO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":3.700773715972901, "y":2.531209707260132, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.691983699798584, "y":2.531209707260132, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.24791955947876, "y":1.0617146492004397, "heading":0.5880028060704902, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"PRB.x", "val":3.700773715972901}, "y":{"exp":"PRB.y", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.691983699798584 m", "val":5.691983699798584}, "y":{"exp":"2.531209707260132 m", "val":2.531209707260132}, "heading":{"exp":"PRB.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.24791955947876 m", "val":7.24791955947876}, "y":{"exp":"1.0617146492004395 m", "val":1.0617146492004397}, "heading":{"exp":"0.5880028060704902 rad", "val":0.5880028060704902}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.36785,2.80667,3.73297],
-  "samples":[
-    {"t":0.0, "x":3.70077, "y":2.53121, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":22.0261, "ay":0.15889, "alpha":-0.00027, "fx":[340.15351,340.15349,340.15348,340.15351], "fy":[2.45215,2.45527,2.45529,2.45217]},
-    {"t":0.05066, "x":3.72904, "y":2.53141, "heading":0.0, "vx":1.11587, "vy":0.00805, "omega":-0.00001, "ax":7.57572, "ay":0.05465, "alpha":-0.13603, "fx":[117.33721,117.33588,116.64936,116.65068], "fy":[0.40848,1.27808,1.28009,0.40912]},
-    {"t":0.10132, "x":3.79529, "y":2.53189, "heading":0.0, "vx":1.49967, "vy":0.01082, "omega":-0.00691, "ax":0.0, "ay":0.0, "alpha":-0.11255, "fx":[0.32208,0.32208,-0.32193,-0.32193], "fy":[-0.32201,0.32201,0.32201,-0.32201]},
-    {"t":0.15198, "x":3.87127, "y":2.53244, "heading":-0.00035, "vx":1.49967, "vy":0.01082, "omega":-0.01261, "ax":0.0, "ay":0.0, "alpha":-0.07342, "fx":[0.20998,0.21013,-0.20998,-0.21013], "fy":[-0.21013,0.20998,0.21013,-0.20998]},
-    {"t":0.20264, "x":3.94724, "y":2.53299, "heading":-0.00099, "vx":1.49967, "vy":0.01082, "omega":-0.01633, "ax":0.0, "ay":0.0, "alpha":-0.04784, "fx":[0.13673,0.137,-0.13673,-0.137], "fy":[-0.137,0.13673,0.137,-0.13673]},
-    {"t":0.25331, "x":4.02322, "y":2.53354, "heading":-0.00182, "vx":1.49967, "vy":0.01082, "omega":-0.01875, "ax":0.0, "ay":0.0, "alpha":-0.03109, "fx":[0.08878,0.0891,-0.08878,-0.0891], "fy":[-0.0891,0.08878,0.0891,-0.08878]},
-    {"t":0.30397, "x":4.09919, "y":2.53408, "heading":-0.00277, "vx":1.49967, "vy":0.01082, "omega":-0.02033, "ax":0.0, "ay":0.0, "alpha":-0.02007, "fx":[0.05727,0.05759,-0.05727,-0.05759], "fy":[-0.05759,0.05727,0.05759,-0.05727]},
-    {"t":0.35463, "x":4.17517, "y":2.53463, "heading":-0.0038, "vx":1.49967, "vy":0.01082, "omega":-0.02134, "ax":0.0, "ay":0.0, "alpha":-0.01277, "fx":[0.03639,0.03666,-0.03639,-0.03666], "fy":[-0.03666,0.03639,0.03666,-0.03639]},
-    {"t":0.40529, "x":4.25114, "y":2.53518, "heading":-0.00488, "vx":1.49967, "vy":0.01082, "omega":-0.02199, "ax":0.0, "ay":0.0, "alpha":-0.00781, "fx":[0.02225,0.02246,-0.02225,-0.02246], "fy":[-0.02246,0.02225,0.02246,-0.02225]},
-    {"t":0.45595, "x":4.32712, "y":2.53573, "heading":-0.00599, "vx":1.49967, "vy":0.01082, "omega":-0.02238, "ax":0.0, "ay":0.0, "alpha":-0.0043, "fx":[0.01224,0.01239,-0.01224,-0.01239], "fy":[-0.01239,0.01224,0.01239,-0.01224]},
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-    {"t":3.46831, "x":7.77917, "y":1.88319, "heading":1.29681, "vx":0.75866, "vy":1.2936, "omega":1.13127, "ax":0.0, "ay":0.0, "alpha":-0.37505, "fx":[1.32335,-0.74268,-1.32335,0.74268], "fy":[0.74268,1.32335,-0.74268,-1.32335]},
-    {"t":3.51242, "x":7.81264, "y":1.94025, "heading":1.34671, "vx":0.75866, "vy":1.2936, "omega":1.11472, "ax":0.0, "ay":0.0, "alpha":-0.55819, "fx":[1.912,-1.20222,-1.912,1.20222], "fy":[1.20222,1.912,-1.20222,-1.912]},
-    {"t":3.55653, "x":7.8461, "y":1.99731, "heading":1.39588, "vx":0.75866, "vy":1.2936, "omega":1.0901, "ax":0.0, "ay":0.0, "alpha":-0.82297, "fx":[2.72842,-1.90889,-2.72842,1.90889], "fy":[1.90889,2.72842,-1.90889,-2.72842]},
-    {"t":3.60064, "x":7.87957, "y":2.05437, "heading":1.44396, "vx":0.75866, "vy":1.2936, "omega":1.0538, "ax":0.0, "ay":0.0, "alpha":-1.20779, "fx":[3.86496,-2.99071,-3.86496,2.99072], "fy":[2.99072,3.86496,-2.99072,-3.86496]},
-    {"t":3.64475, "x":7.91303, "y":2.11143, "heading":1.49044, "vx":0.75866, "vy":1.2936, "omega":1.00053, "ax":0.0, "ay":0.0, "alpha":-1.76804, "fx":[5.44823,-4.63616,-5.44822,4.63616], "fy":[4.63616,5.44822,-4.63616,-5.44822]},
-    {"t":3.68886, "x":7.94649, "y":2.16849, "heading":1.53458, "vx":0.75866, "vy":1.2936, "omega":0.92254, "ax":-0.00389, "ay":-0.00664, "alpha":-2.5833, "fx":[7.59383,-7.17873,-7.71383,7.05832], "fy":[7.01609,7.5513,-7.22095,-7.75636]},
-    {"t":3.73297, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.75849, "vy":1.29331, "omega":0.80859, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/PRTtoDRO.traj b/src/main/deploy/choreo/PRTtoDRO.traj
deleted file mode 100644
index fd847fa1..00000000
--- a/src/main/deploy/choreo/PRTtoDRO.traj
+++ /dev/null
@@ -1,141 +0,0 @@
-{
- "name":"PRTtoDRO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":3.7242095470428462, "y":0.7309682965278625, "heading":3.141592690548533, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.997579574584961, "y":0.722095251083374, "heading":3.141592690548533, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.710022926330566, "y":0.8485172390937805, "heading":1.867343098442764, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":3.141592690548533}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.710022926330566 m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.5542,2.70391,3.64448],
-  "samples":[
-    {"t":0.0, "x":3.72421, "y":0.73097, "heading":-3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":22.02595, "ay":-0.09725, "alpha":0.00069, "fx":[340.15113,340.15117,340.15116,340.15112], "fy":[-1.50574,-1.4978,-1.49784,-1.50577]},
-    {"t":0.05014, "x":3.75189, "y":0.73085, "heading":-3.14159, "vx":1.10428, "vy":-0.00488, "omega":0.00003, "ax":7.88677, "ay":-0.03482, "alpha":0.3329, "fx":[122.62573,122.6279,120.96815,120.96599], "fy":[-1.6095,0.53618,0.53837,-1.61602]},
-    {"t":0.10027, "x":3.81717, "y":0.73056, "heading":-3.14159, "vx":1.49969, "vy":-0.00662, "omega":0.01672, "ax":0.00001, "ay":0.0, "alpha":0.2822, "fx":[0.80747,0.80747,-0.80731,-0.8073], "fy":[-0.80739,0.80739,0.80739,-0.80739]},
-    {"t":0.15041, "x":3.89235, "y":0.73023, "heading":-3.14075, "vx":1.49969, "vy":-0.00662, "omega":0.03087, "ax":0.0, "ay":0.0, "alpha":0.18473, "fx":[0.52896,0.52807,-0.52896,-0.52807], "fy":[-0.52807,0.52896,0.52807,-0.52896]},
-    {"t":0.20054, "x":3.96754, "y":0.72989, "heading":-3.1392, "vx":1.49969, "vy":-0.00662, "omega":0.04013, "ax":0.0, "ay":0.0, "alpha":0.12088, "fx":[0.34669,0.34502,-0.34669,-0.34502], "fy":[-0.34502,0.34669,0.34502,-0.34669]},
-    {"t":0.25068, "x":4.04273, "y":0.72956, "heading":-3.13719, "vx":1.49969, "vy":-0.00662, "omega":0.04619, "ax":0.0, "ay":0.0, "alpha":0.07905, "fx":[0.22717,0.22516,-0.22717,-0.22516], "fy":[-0.22516,0.22717,0.22516,-0.22717]},
-    {"t":0.30081, "x":4.11792, "y":0.72923, "heading":-3.13488, "vx":1.49969, "vy":-0.00662, "omega":0.05016, "ax":0.0, "ay":0.0, "alpha":0.05164, "fx":[0.14874,0.14674,-0.14874,-0.14674], "fy":[-0.14674,0.14874,0.14674,-0.14874]},
-    {"t":0.35095, "x":4.1931, "y":0.7289, "heading":-3.13236, "vx":1.49969, "vy":-0.00662, "omega":0.05275, "ax":0.0, "ay":0.0, "alpha":0.03355, "fx":[0.09687,0.09508,-0.09687,-0.09508], "fy":[-0.09508,0.09687,0.09508,-0.09687]},
-    {"t":0.40108, "x":4.26829, "y":0.72857, "heading":-3.12972, "vx":1.49969, "vy":-0.00662, "omega":0.05443, "ax":0.0, "ay":0.0, "alpha":0.02163, "fx":[0.06263,0.06115,-0.06263,-0.06115], "fy":[-0.06115,0.06263,0.06115,-0.06263]},
-    {"t":0.45122, "x":4.34348, "y":0.72823, "heading":-3.12699, "vx":1.49969, "vy":-0.00662, "omega":0.05551, "ax":0.0, "ay":0.0, "alpha":0.01374, "fx":[0.03988,0.03872,-0.03988,-0.03872], "fy":[-0.03872,0.03988,0.03872,-0.03988]},
-    {"t":0.50135, "x":4.41867, "y":0.7279, "heading":-3.12421, "vx":1.49969, "vy":-0.00662, "omega":0.0562, "ax":0.0, "ay":0.0, "alpha":0.00827, "fx":[0.02408,0.02325,-0.02408,-0.02325], "fy":[-0.02325,0.02408,0.02325,-0.02408]},
-    {"t":0.55149, "x":4.49385, "y":0.72757, "heading":-3.12139, "vx":1.49969, "vy":-0.00662, "omega":0.05662, "ax":0.0, "ay":0.0, "alpha":0.00436, "fx":[0.01273,0.01223,-0.01273,-0.01223], "fy":[-0.01223,0.01273,0.01223,-0.01273]},
-    {"t":0.60162, "x":4.56904, "y":0.72724, "heading":-3.11855, "vx":1.49969, "vy":-0.00662, "omega":0.05684, "ax":0.0, "ay":0.0, "alpha":0.00128, "fx":[0.00375,0.00358,-0.00375,-0.00358], "fy":[-0.00358,0.00375,0.00358,-0.00375]},
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-    {"t":1.64264, "x":6.13001, "y":0.72904, "heading":3.06791, "vx":1.49686, "vy":0.09159, "omega":-1.01063, "ax":0.0, "ay":0.00002, "alpha":-1.5872, "fx":[-4.19322,-4.86423,4.19317,4.86419], "fy":[4.86453,-4.19287,-4.86388,4.19352]},
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-    {"t":1.95218, "x":6.59334, "y":0.75739, "heading":2.71538, "vx":1.49686, "vy":0.09159, "omega":-1.21495, "ax":0.0, "ay":0.0, "alpha":-0.11587, "fx":[-0.16428,-0.4391,0.16428,0.4391], "fy":[0.4391,-0.16428,-0.4391,0.16428]},
-    {"t":1.9964, "x":6.65953, "y":0.76144, "heading":2.66166, "vx":1.49686, "vy":0.09159, "omega":-1.22008, "ax":0.0, "ay":0.0, "alpha":-0.02986, "fx":[-0.03582,-0.11539,0.03582,0.11539], "fy":[0.11539,-0.03582,-0.11539,0.03582]},
-    {"t":2.04062, "x":6.72572, "y":0.76549, "heading":2.60771, "vx":1.49686, "vy":0.09159, "omega":-1.2214, "ax":0.0, "ay":0.0, "alpha":-0.05926, "fx":[-0.0596,-0.23226,0.0596,0.23226], "fy":[0.23227,-0.0596,-0.23226,0.0596]},
-    {"t":2.08483, "x":6.79192, "y":0.76954, "heading":2.5537, "vx":1.49686, "vy":0.09159, "omega":-1.22402, "ax":0.0, "ay":0.0, "alpha":0.05374, "fx":[0.04283,0.21319,-0.04283,-0.21319], "fy":[-0.21319,0.04283,0.21319,-0.04283]},
-    {"t":2.12905, "x":6.85811, "y":0.77359, "heading":2.49957, "vx":1.49686, "vy":0.09159, "omega":-1.22164, "ax":0.0, "ay":0.0, "alpha":-0.01837, "fx":[-0.01109,-0.07351,0.01109,0.07351], "fy":[0.07351,-0.01109,-0.07351,0.01109]},
-    {"t":2.17327, "x":6.9243, "y":0.77764, "heading":2.44555, "vx":1.49686, "vy":0.09159, "omega":-1.22245, "ax":0.0, "ay":0.0, "alpha":0.13711, "fx":[0.04913,0.55261,-0.04913,-0.55261], "fy":[-0.5526,0.04913,0.55261,-0.04913]},
-    {"t":2.21749, "x":6.99049, "y":0.78169, "heading":2.39149, "vx":1.49686, "vy":0.09159, "omega":-1.21639, "ax":0.0, "ay":0.0, "alpha":0.04749, "fx":[0.00549,0.19208,-0.00549,-0.19208], "fy":[-0.19208,0.00549,0.19208,-0.00549]},
-    {"t":2.26171, "x":7.05668, "y":0.78574, "heading":2.3377, "vx":1.49686, "vy":0.09159, "omega":-1.21429, "ax":0.0, "ay":0.0, "alpha":0.24464, "fx":[-0.01969,0.98966,0.01969,-0.98966], "fy":[-0.98966,-0.01969,0.98966,0.01969]},
-    {"t":2.30593, "x":7.12287, "y":0.78979, "heading":2.28401, "vx":1.49686, "vy":0.09159, "omega":-1.20347, "ax":0.0, "ay":0.0, "alpha":0.20453, "fx":[-0.06218,0.82522,0.06218,-0.82522], "fy":[-0.82522,-0.06218,0.82522,0.06218]},
-    {"t":2.35015, "x":7.18906, "y":0.79384, "heading":2.23079, "vx":1.49686, "vy":0.09159, "omega":-1.19443, "ax":0.0, "ay":0.0, "alpha":0.43139, "fx":[-0.22139,1.73139,0.22139,-1.73139], "fy":[-1.73138,-0.22139,1.73139,0.22139]},
-    {"t":2.39437, "x":7.25525, "y":0.79789, "heading":2.17797, "vx":1.49686, "vy":0.09159, "omega":-1.17535, "ax":0.0, "ay":0.0, "alpha":0.55377, "fx":[-0.40144,2.2044,0.40144,-2.2044], "fy":[-2.2044,-0.40144,2.2044,0.40144]},
-    {"t":2.43859, "x":7.32144, "y":0.80194, "heading":2.126, "vx":1.49686, "vy":0.09159, "omega":-1.15086, "ax":0.0, "ay":0.0, "alpha":0.839, "fx":[-0.78,3.30394,0.78,-3.30394], "fy":[-3.30394,-0.78,3.30394,0.78]},
-    {"t":2.48281, "x":7.38763, "y":0.80599, "heading":2.07511, "vx":1.49686, "vy":0.09159, "omega":-1.11376, "ax":0.0, "ay":0.0, "alpha":1.28017, "fx":[-1.44303,4.97472,1.44304,-4.97472], "fy":[-4.97473,-1.44304,4.97472,1.44302]},
-    {"t":2.52703, "x":7.45382, "y":0.81004, "heading":2.02586, "vx":1.49686, "vy":0.09159, "omega":-1.05716, "ax":0.0, "ay":0.00002, "alpha":1.77447, "fx":[-2.33645,6.78902,2.33638,-6.78904], "fy":[-6.78874,-2.33607,6.78938,2.33679]},
-    {"t":2.57125, "x":7.52002, "y":0.81409, "heading":1.97911, "vx":1.49686, "vy":0.0916, "omega":-0.97869, "ax":-0.00029, "ay":0.00475, "alpha":2.72045, "fx":[-4.06342,10.2255,4.05565,-10.2357], "fy":[-10.15824,-3.98755,10.30598,4.13318]},
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-    {"t":2.65969, "x":7.65231, "y":0.8233, "heading":1.89788, "vx":1.49301, "vy":0.1411, "omega":-0.69048, "ax":-8.49815, "ay":19.41517, "alpha":0.22678, "fx":[-132.46195,-130.17136,-130.02329,-132.2978], "fy":[299.24759,300.24182,300.41274,299.42711]},
-    {"t":2.70391, "x":7.71002, "y":0.84852, "heading":1.86734, "vx":1.11722, "vy":0.99964, "omega":-0.68046, "ax":-17.68153, "ay":10.04883, "alpha":0.36708, "fx":[-274.40868,-272.83345,-271.70273,-273.29275], "fy":[152.79019,155.14726,157.57642,155.23068]},
-    {"t":2.75094, "x":7.74301, "y":0.90664, "heading":1.83534, "vx":0.28568, "vy":1.47222, "omega":-0.66319, "ax":-0.44635, "ay":0.08335, "alpha":3.001, "fx":[-12.94144,3.56506,-0.86214,-17.33354], "fy":[-9.3149,-4.77407,11.90848,7.3295]},
-    {"t":2.79797, "x":7.75595, "y":0.97597, "heading":1.80415, "vx":0.26469, "vy":1.47614, "omega":-0.52206, "ax":-0.00157, "ay":0.00028, "alpha":2.02196, "fx":[-4.31113,6.9444,4.26237,-6.99293], "fy":[-6.96343,-4.2823,6.97231,4.29087]},
-    {"t":2.845, "x":7.7684, "y":1.04539, "heading":1.7796, "vx":0.26462, "vy":1.47615, "omega":-0.42697, "ax":-0.00001, "ay":0.0, "alpha":1.37712, "fx":[-3.03444,4.67334,3.03425,-4.67353], "fy":[-4.67341,-3.03432,4.67344,3.03436]},
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-    {"t":3.22123, "x":7.86796, "y":1.60076, "heading":1.6663, "vx":0.26462, "vy":1.47615, "omega":-0.23513, "ax":0.0, "ay":0.0, "alpha":0.07726, "fx":[-0.1988,0.24125,0.1988,-0.24125], "fy":[-0.24125,-0.1988,0.24125,0.1988]},
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-    {"t":3.40934, "x":7.91773, "y":1.87845, "heading":1.62307, "vx":0.26462, "vy":1.47615, "omega":-0.22031, "ax":0.0, "ay":0.0, "alpha":0.11768, "fx":[-0.31854,0.35394,0.31854,-0.35394], "fy":[-0.35394,-0.31854,0.35394,0.31854]},
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-    {"t":3.5034, "x":7.94262, "y":2.01729, "heading":1.60261, "vx":0.26462, "vy":1.47615, "omega":-0.20692, "ax":0.0, "ay":0.0, "alpha":0.24126, "fx":[-0.66784,0.712,0.66784,-0.712], "fy":[-0.712,-0.66784,0.712,0.66784]},
-    {"t":3.55043, "x":7.95507, "y":2.08671, "heading":1.59288, "vx":0.26462, "vy":1.47615, "omega":-0.19557, "ax":0.0, "ay":0.0, "alpha":0.35492, "fx":[-0.99267,1.03775,0.99267,-1.03775], "fy":[-1.03775,-0.99267,1.03775,0.99267]},
-    {"t":3.59745, "x":7.96751, "y":2.15613, "heading":1.58368, "vx":0.26462, "vy":1.47615, "omega":-0.17888, "ax":-0.00119, "ay":-0.00665, "alpha":0.52523, "fx":[-1.50155,1.50365,1.46476,-1.54045], "fy":[-1.62468,-1.58579,1.41941,1.38053]},
-    {"t":3.64448, "x":7.97995, "y":2.22555, "heading":1.57527, "vx":0.26456, "vy":1.47584, "omega":-0.15418, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/PRTtoO.traj b/src/main/deploy/choreo/PRTtoO.traj
deleted file mode 100644
index 693773d1..00000000
--- a/src/main/deploy/choreo/PRTtoO.traj
+++ /dev/null
@@ -1,104 +0,0 @@
-{
- "name":"PRTtoO",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":3.5344297885894775, "y":0.7714175581932068, "heading":1.723445672867714, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7400096654891968, "y":0.7318795323371887, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":0.5321799635887146, "y":0.7198631167411804, "heading":1.5707963267948966, "intervals":96, "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":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"3.5344297885894775 m", "val":3.5344297885894775}, "y":{"exp":"0.7714175581932068 m", "val":0.7714175581932068}, "heading":{"exp":"1.723445672867714 rad", "val":1.723445672867714}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.7400096654891968 m", "val":1.7400096654891968}, "y":{"exp":"0.7318795323371887 m", "val":0.7318795323371887}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"O.x", "val":0.5321799635887146}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":96, "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":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.23508,2.04052],
-  "samples":[
-    {"t":0.0, "x":3.53443, "y":0.77142, "heading":1.72345, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-22.02008, "ay":-0.48796, "alpha":-0.00106, "fx":[-340.06058,-340.06056,-340.06029,-340.06031], "fy":[-7.52888,-7.53046,-7.54249,-7.54091]},
-    {"t":0.0494, "x":3.50756, "y":0.77082, "heading":1.72345, "vx":-1.08786, "vy":-0.02411, "omega":-0.00005, "ax":-8.3288, "ay":-0.18456, "alpha":-0.48331, "fx":[-127.64323,-129.98109,-129.60489,-127.26408], "fy":[-1.05029,-1.5227,-4.64121,-4.18688]},
-    {"t":0.09881, "x":3.44365, "y":0.76941, "heading":1.72344, "vx":-1.49933, "vy":-0.03322, "omega":-0.02393, "ax":-0.00001, "ay":0.0, "alpha":-0.42775, "fx":[1.02357,-1.39586,-1.02376,1.39567], "fy":[1.39554,1.02348,-1.39554,-1.02348]},
-    {"t":0.14821, "x":3.36958, "y":0.76776, "heading":1.72226, "vx":-1.49933, "vy":-0.03322, "omega":-0.04506, "ax":0.0, "ay":0.0, "alpha":-0.28257, "fx":[0.67726,-0.92115,-0.67726,0.92115], "fy":[0.92115,0.67726,-0.92115,-0.67726]},
-    {"t":0.19761, "x":3.29551, "y":0.76612, "heading":1.72003, "vx":-1.49933, "vy":-0.03322, "omega":-0.05902, "ax":0.0, "ay":0.0, "alpha":-0.18659, "fx":[0.44856,-0.60725,-0.44856,0.60725], "fy":[0.60725,0.44856,-0.60725,-0.44856]},
-    {"t":0.24702, "x":3.22144, "y":0.76448, "heading":1.71712, "vx":-1.49933, "vy":-0.03322, "omega":-0.06824, "ax":0.0, "ay":0.0, "alpha":-0.12314, "fx":[0.29719,-0.39989,-0.29719,0.39989], "fy":[0.39989,0.29719,-0.39989,-0.29719]},
-    {"t":0.29642, "x":3.14736, "y":0.76284, "heading":1.71375, "vx":-1.49933, "vy":-0.03322, "omega":-0.07432, "ax":0.0, "ay":0.0, "alpha":-0.08122, "fx":[0.1969,-0.26309,-0.1969,0.26309], "fy":[0.26309,0.1969,-0.26309,-0.1969]},
-    {"t":0.34582, "x":3.07329, "y":0.7612, "heading":1.71008, "vx":-1.49933, "vy":-0.03322, "omega":-0.07834, "ax":0.0, "ay":0.0, "alpha":-0.05354, "fx":[0.13043,-0.17295,-0.13043,0.17295], "fy":[0.17295,0.13043,-0.17295,-0.13043]},
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-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/PRtoDRO.traj b/src/main/deploy/choreo/PRtoDRO.traj
new file mode 100644
index 00000000..fc7b3fda
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoDRO.traj
@@ -0,0 +1,159 @@
+{
+ "name":"PRtoDRO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.7242095470428462, "y":0.7309682965278625, "heading":1.5707963452742666, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.997579574584961, "y":0.722095251083374, "heading":1.5707963452742666, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.710022926330566, "y":0.8485172390937805, "heading":1.867343098442764, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.979954719543457, "y":2.225545644760132, "heading":1.5752676626464273, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.997579574584961 m", "val":5.997579574584961}, "y":{"exp":"0.722095251083374 m", "val":0.722095251083374}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.710022926330566 m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"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":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "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":[0.0,1.61678,2.77235,3.71834],
+  "samples":[
+    {"t":0.0, "x":3.72421, "y":0.73097, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52593, "ay":-0.03138, "alpha":-0.00043, "fx":[124.42952,124.42951,124.42948,124.42949], "fy":[-0.5147,-0.51474,-0.52277,-0.52274]},
+    {"t":0.04619, "x":3.73224, "y":0.73093, "heading":1.5708, "vx":0.34765, "vy":-0.00145, "omega":-0.00002, "ax":7.52358, "ay":-0.03137, "alpha":-0.00052, "fx":[124.39065,124.39063,124.39059,124.39061], "fy":[-0.51369,-0.51373,-0.52346,-0.52342]},
+    {"t":0.09239, "x":3.75633, "y":0.73083, "heading":1.5708, "vx":0.69519, "vy":-0.0029, "omega":-0.00004, "ax":7.51888, "ay":-0.03135, "alpha":-0.0007, "fx":[124.31294,124.31291,124.31286,124.31288], "fy":[-0.51167,-0.51173,-0.52483,-0.52478]},
+    {"t":0.13858, "x":3.79646, "y":0.73067, "heading":1.57079, "vx":1.04251, "vy":-0.00435, "omega":-0.00008, "ax":7.5048, "ay":-0.03129, "alpha":-0.00123, "fx":[124.08024,124.08015,124.08005,124.08014], "fy":[-0.50563,-0.50573,-0.52893,-0.52883]},
+    {"t":0.18477, "x":3.85263, "y":0.73043, "heading":1.57079, "vx":1.38919, "vy":-0.00579, "omega":-0.00013, "ax":2.39149, "ay":-0.00997, "alpha":-0.23471, "fx":[40.53608,38.54482,38.54296,40.53419], "fy":[1.04804,1.05995,-1.39147,-1.37587]},
+    {"t":0.23097, "x":3.91935, "y":0.73015, "heading":1.57078, "vx":1.49966, "vy":-0.00625, "omega":-0.01097, "ax":0.00002, "ay":0.0, "alpha":-0.2487, "fx":[1.17359,-1.17294,-1.17297,1.17356], "fy":[1.17325,1.17328,-1.17325,-1.17328]},
+    {"t":0.27716, "x":3.98862, "y":0.72987, "heading":1.57028, "vx":1.49966, "vy":-0.00625, "omega":-0.02246, "ax":0.0, "ay":0.0, "alpha":-0.21352, "fx":[1.0078,-1.00675,-1.0078,1.00675], "fy":[1.00675,1.0078,-1.00675,-1.0078]},
+    {"t":0.32336, "x":4.0579, "y":0.72958, "heading":1.56924, "vx":1.49966, "vy":-0.00625, "omega":-0.03233, "ax":0.0, "ay":0.0, "alpha":-0.18127, "fx":[0.85646,-0.8538,-0.85646,0.8538], "fy":[0.8538,0.85646,-0.8538,-0.85646]},
+    {"t":0.36955, "x":4.12717, "y":0.72929, "heading":1.56775, "vx":1.49966, "vy":-0.00625, "omega":-0.0407, "ax":0.0, "ay":0.0, "alpha":-0.15151, "fx":[0.71692,-0.71256,-0.71692,0.71256], "fy":[0.71256,0.71692,-0.71256,-0.71692]},
+    {"t":0.41574, "x":4.19645, "y":0.729, "heading":1.56587, "vx":1.49966, "vy":-0.00625, "omega":-0.0477, "ax":0.0, "ay":0.0, "alpha":-0.12383, "fx":[0.58706,-0.5813,-0.58706,0.5813], "fy":[0.5813,0.58706,-0.5813,-0.58706]},
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PRtoFR.traj b/src/main/deploy/choreo/PRtoFR.traj
new file mode 100644
index 00000000..58ee73b3
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoFR.traj
@@ -0,0 +1,143 @@
+{
+ "name":"PRtoFR",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":4.386671543121338, "y":0.7306628823280334, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.7704949378967285, "y":0.7493634223937988, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.434823036193848, "y":0.842864990234375, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
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+  "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}],
+  "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":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":"2 m / s", "val":2.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "y":0.2761996
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+   "backLeft":{
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+    "y":0.2761996
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+   "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":[0.0,0.8259,1.67266,2.39906],
+  "samples":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/PRtoO.traj b/src/main/deploy/choreo/PRtoO.traj
new file mode 100644
index 00000000..a9058f31
--- /dev/null
+++ b/src/main/deploy/choreo/PRtoO.traj
@@ -0,0 +1,101 @@
+{
+ "name":"PRtoO",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/RLtoFL.traj b/src/main/deploy/choreo/RLtoFL.traj
index 17cb98ca..d139df85 100644
--- a/src/main/deploy/choreo/RLtoFL.traj
+++ b/src/main/deploy/choreo/RLtoFL.traj
@@ -3,28 +3,32 @@
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+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true},
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+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true},
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@@ -40,12 +44,12 @@
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     "y":0.2761996
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-   "inertia":6.32183239342448,
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+   "vmax":485.8996637552213,
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@@ -55,68 +59,118 @@
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+    {"t":3.60621, "x":7.82136, "y":4.64702, "heading":-1.59102, "vx":-0.01387, "vy":-1.99939, "omega":0.28136, "ax":0.0, "ay":0.0, "alpha":0.03082, "fx":[0.1483,-0.14242,-0.1483,0.14242], "fy":[0.14243,0.14831,-0.14241,-0.14829]},
+    {"t":3.64208, "x":7.82086, "y":4.57529, "heading":-1.58093, "vx":-0.01387, "vy":-1.99939, "omega":0.28246, "ax":0.00011, "ay":0.01558, "alpha":-0.09482, "fx":[-0.45003,0.44454,0.45359,-0.44095], "fy":[-0.18516,-0.19422,0.70033,0.70939]},
+    {"t":3.67796, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01386, "vy":-1.99884, "omega":0.27906, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/RRtoFR.traj b/src/main/deploy/choreo/RRtoFR.traj
index 6c0b7efc..4292f558 100644
--- a/src/main/deploy/choreo/RRtoFR.traj
+++ b/src/main/deploy/choreo/RRtoFR.traj
@@ -3,28 +3,30 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":4.659694671630859, "y":0.6415539979934692, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.933488368988037, "y":0.6496047973632812, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.5106818675994873, "y":0.6606601476669312, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.0405808793467952, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":7.82036542892456, "y":2.2169458866119385, "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":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
+    {"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":3.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}],
   "targetDt":0.05
  },
  "params":{
   "waypoints":[
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-    {"x":{"exp":"5.933488368988037 m", "val":5.933488368988037}, "y":{"exp":"0.6496047973632812 m", "val":0.6496047973632812}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"RR.x", "val":2.5106818675994873}, "y":{"exp":"RR.y", "val":0.6606601476669312}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":34, "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":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.0405808793467952 rad", "val":1.0405808793467952}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
+    {"from":"first", "to":"last", "data":{"type":"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":"3 m / s", "val":3.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}],
   "targetDt":{
    "exp":"0.05 s",
    "val":0.05
@@ -40,12 +42,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -55,68 +57,92 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.84967,1.97524,2.69876],
+  "waypoints":[0.0,1.28888,1.7385,2.11235],
   "samples":[
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diff --git a/src/main/deploy/choreo/RUNtoTEST.traj b/src/main/deploy/choreo/RUNtoTEST.traj
index 5d56cdf5..18e86ff3 100644
--- a/src/main/deploy/choreo/RUNtoTEST.traj
+++ b/src/main/deploy/choreo/RUNtoTEST.traj
@@ -3,10 +3,10 @@
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  "snapshot":{
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     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -20,10 +20,10 @@
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+   "vmax":485.8996637552213,
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+    {"t":4.26753, "x":1.96946, "y":2.1044, "heading":1.58328, "vx":1.02033, "vy":-3.35571, "omega":-0.00009, "ax":0.1029, "ay":0.03135, "alpha":0.0, "fx":[1.70133,1.70133,1.70133,1.70133], "fy":[0.51833,0.51833,0.51833,0.51833]},
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+    {"t":4.34071, "x":2.04435, "y":1.85889, "heading":1.58328, "vx":1.0249, "vy":-3.35432, "omega":-0.00009, "ax":0.00478, "ay":0.00146, "alpha":0.0, "fx":[0.07905,0.07905,0.07905,0.07905], "fy":[0.02415,0.02415,0.02415,0.02415]},
+    {"t":4.3773, "x":2.08186, "y":1.73615, "heading":1.58327, "vx":1.02508, "vy":-3.35426, "omega":-0.00009, "ax":0.00103, "ay":0.00031, "alpha":0.0, "fx":[0.01704,0.01704,0.01704,0.01704], "fy":[0.00521,0.00521,0.00521,0.00521]},
+    {"t":4.4139, "x":2.11937, "y":1.61341, "heading":1.58327, "vx":1.02512, "vy":-3.35425, "omega":-0.00009, "ax":0.00022, "ay":0.00007, "alpha":0.0, "fx":[0.00368,0.00366,0.00366,0.00368], "fy":[0.00117,0.00116,0.00115,0.00115]},
+    {"t":4.45049, "x":2.15688, "y":1.49067, "heading":1.58327, "vx":1.02512, "vy":-3.35425, "omega":-0.00009, "ax":-0.00158, "ay":0.00535, "alpha":-0.00177, "fx":[-0.0179,-0.03458,-0.03439,-0.01769], "fy":[0.09683,0.09661,0.07997,0.08018]},
+    {"t":4.48708, "x":2.19439, "y":1.36794, "heading":1.58326, "vx":1.02507, "vy":-3.35405, "omega":-0.00016, "ax":-1.68541, "ay":5.51475, "alpha":-0.43295, "fx":[-24.2559,-30.21603,-31.60106,-25.38935], "fy":[92.87345,91.56536,89.42504,90.84748]},
+    {"t":4.52367, "x":2.23077, "y":1.2489, "heading":1.58326, "vx":0.96339, "vy":-3.15226, "omega":-0.016, "ax":-2.1726, "ay":7.10883, "alpha":0.01736, "fx":[-36.11204,-35.81456,-35.72939,-36.02626], "fy":[117.4733,117.56307,117.5933,117.50395]},
+    {"t":4.56026, "x":2.26457, "y":1.13831, "heading":1.58267, "vx":0.88389, "vy":-2.89214, "omega":-0.01536, "ax":-2.18681, "ay":7.15533, "alpha":0.02997, "fx":[-36.48889,-35.97202,-35.8231,-36.33812], "fy":[118.19881,118.35601,118.405,118.24907]},
+    {"t":4.59685, "x":2.29545, "y":1.03727, "heading":1.58211, "vx":0.80388, "vy":-2.63031, "omega":-0.01427, "ax":-2.19171, "ay":7.17135, "alpha":0.03436, "fx":[-36.61979,-36.02608,-35.85442,-36.4457], "fy":[118.4487,118.62976,118.68471,118.50533]},
+    {"t":4.63345, "x":2.32339, "y":0.94583, "heading":1.58159, "vx":0.72368, "vy":-2.3679, "omega":-0.01301, "ax":-2.19419, "ay":7.17946, "alpha":0.03658, "fx":[-36.68622,-36.05347,-35.87004,-36.50003], "fy":[118.57507,118.76829,118.82618,118.63487]},
+    {"t":4.67004, "x":2.34841, "y":0.86399, "heading":1.58111, "vx":0.64339, "vy":-2.10519, "omega":-0.01167, "ax":-2.19568, "ay":7.18434, "alpha":0.03792, "fx":[-36.72639,-36.07007,-35.87939,-36.53274], "fy":[118.65131,118.85189,118.91156,118.71304]},
+    {"t":4.70663, "x":2.37048, "y":0.79176, "heading":1.58068, "vx":0.56304, "vy":-1.8423, "omega":-0.01028, "ax":-2.19668, "ay":7.18762, "alpha":0.03882, "fx":[-36.7533,-36.08123,-35.88561,-36.55457], "fy":[118.7023,118.90781,118.96868,118.76533]},
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+    {"t":4.77981, "x":2.4058, "y":0.67619, "heading":1.57998, "vx":0.40226, "vy":-1.3162, "omega":-0.00742, "ax":-2.19793, "ay":7.19172, "alpha":0.03994, "fx":[-36.78707,-36.09532,-35.89336,-36.58183], "fy":[118.76622,118.97789,119.04027,118.83089]},
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+    {"t":4.88959, "x":2.43671, "y":0.57504, "heading":1.57933, "vx":0.16094, "vy":-0.52659, "omega":-0.003, "ax":-2.19896, "ay":7.19508, "alpha":0.04086, "fx":[-36.81478,-36.10694,-35.89973,-36.60412], "fy":[118.81865,119.03538,119.099,118.88468]},
+    {"t":4.92618, "x":2.44113, "y":0.56059, "heading":1.57922, "vx":0.08047, "vy":-0.26331, "omega":-0.0015, "ax":-2.19919, "ay":7.19583, "alpha":0.04106, "fx":[-36.82093,-36.10952,-35.90116,-36.60909], "fy":[118.83033,119.04817,119.11206,118.89665]},
+    {"t":4.96277, "x":2.4426, "y":0.55577, "heading":1.57916, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/SLBtoCL.traj b/src/main/deploy/choreo/SLBtoCL.traj
index 5cedec67..24783cb7 100644
--- a/src/main/deploy/choreo/SLBtoCL.traj
+++ b/src/main/deploy/choreo/SLBtoCL.traj
@@ -3,9 +3,9 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":2.784413576126098, "y":5.38032865524292, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.5953468084335327, "y":4.90645694732666, "heading":1.5890886008046656, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -15,9 +15,9 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"SLB.x", "val":2.784413576126098}, "y":{"exp":"SLB.y", "val":5.38032865524292}, "heading":{"exp":"SLB.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.5953468084335327 m", "val":1.5953468084335327}, "y":{"exp":"4.90645694732666 m", "val":4.90645694732666}, "heading":{"exp":"1.5890886008046656 rad", "val":1.5890886008046656}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -38,12 +38,12 @@
     "x":-0.2761996,
     "y":0.2761996
    },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
+   "mass":66.133767546,
+   "inertia":10.42384825260472,
    "gearing":7.03,
    "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
    "cof":2.25,
    "bumper":{
     "front":0.44196,
@@ -53,56 +53,62 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.28043,2.16693],
+  "waypoints":[0.0,1.33528,1.79414],
   "samples":[
-    {"t":0.0, "x":2.78441, "y":5.38033, "heading":3.14159, "vx":-0.92746, "vy":-0.3715, "omega":-1.27502, "ax":-0.01428, "ay":-0.00572, "alpha":0.0011, "fx":[-0.21738,-0.21744,-0.22366,-0.2236], "fy":[-0.09154,-0.08519,-0.08513,-0.09148]},
-    {"t":0.04415, "x":2.74345, "y":5.36392, "heading":3.0853, "vx":-0.92809, "vy":-0.37176, "omega":-1.27497, "ax":0.0, "ay":0.0, "alpha":0.00081, "fx":[0.00218,0.00244,-0.00218,-0.00244], "fy":[-0.00244,0.00218,0.00244,-0.00218]},
-    {"t":0.08831, "x":2.70247, "y":5.34751, "heading":3.029, "vx":-0.92809, "vy":-0.37176, "omega":-1.27494, "ax":0.0, "ay":0.0, "alpha":0.00077, "fx":[0.00193,0.00243,-0.00193,-0.00243], "fy":[-0.00243,0.00193,0.00243,-0.00193]},
-    {"t":0.13246, "x":2.66149, "y":5.33109, "heading":2.97271, "vx":-0.92809, "vy":-0.37176, "omega":-1.2749, "ax":0.0, "ay":0.0, "alpha":0.00087, "fx":[0.00203,0.00286,-0.00203,-0.00286], "fy":[-0.00286,0.00203,0.00286,-0.00203]},
-    {"t":0.17661, "x":2.62052, "y":5.31468, "heading":2.91642, "vx":-0.92809, "vy":-0.37176, "omega":-1.27487, "ax":0.0, "ay":0.0, "alpha":0.00113, "fx":[0.00243,0.00387,-0.00243,-0.00387], "fy":[-0.00387,0.00243,0.00387,-0.00243]},
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-    {"t":0.26492, "x":2.53856, "y":5.28185, "heading":2.80384, "vx":-0.92809, "vy":-0.37176, "omega":-1.27475, "ax":0.0, "ay":0.0, "alpha":0.00213, "fx":[0.00374,0.00778,-0.00374,-0.00778], "fy":[-0.00778,0.00374,0.00778,-0.00374]},
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-    {"t":0.35322, "x":2.45661, "y":5.24902, "heading":2.69128, "vx":-0.92809, "vy":-0.37176, "omega":-1.27452, "ax":0.0, "ay":0.0, "alpha":0.00427, "fx":[0.00569,0.01633,-0.00569,-0.01633], "fy":[-0.01633,0.00569,0.01633,-0.00569]},
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diff --git a/src/main/deploy/choreo/SLTtoEL.traj b/src/main/deploy/choreo/SLTtoEL.traj
deleted file mode 100644
index 6a59561a..00000000
--- a/src/main/deploy/choreo/SLTtoEL.traj
+++ /dev/null
@@ -1,74 +0,0 @@
-{
- "name":"SLTtoEL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.1214685440063477, "y":7.046450138092041, "heading":-1.573056098378181, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.4996],
-  "samples":[
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-    {"t":0.4996, "x":2.12147, "y":7.04645, "heading":-1.57306, "vx":-1.38711, "vy":-0.5687, "omega":2.46501, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/SLTtoFL.traj b/src/main/deploy/choreo/SLTtoFL.traj
deleted file mode 100644
index 910b16da..00000000
--- a/src/main/deploy/choreo/SLTtoFL.traj
+++ /dev/null
@@ -1,150 +0,0 @@
-{
- "name":"SLTtoFL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.304653644561768, "y":7.37657356262207, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.739718437194824, "y":6.998943328857422, "heading":-1.650627593283163, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
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-    {"x":{"exp":"5.304653644561768 m", "val":5.304653644561768}, "y":{"exp":"7.37657356262207 m", "val":7.37657356262207}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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-    {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
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-    "y":0.2761996
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-   "inertia":6.32183239342448,
-   "gearing":7.03,
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-   "bumper":{
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-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.66074,3.30916,4.07183],
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-    {"t":3.03442, "x":7.34331, "y":7.08116, "heading":-1.85192, "vx":1.48386, "vy":-0.21718, "omega":0.9083, "ax":0.0, "ay":0.0, "alpha":-0.80213, "fx":[-2.84157,1.56815,2.84157,-1.56815], "fy":[-1.56815,-2.84157,1.56815,2.84157]},
-    {"t":3.08021, "x":7.41126, "y":7.07122, "heading":-1.81033, "vx":1.48386, "vy":-0.21718, "omega":0.87157, "ax":0.0, "ay":0.0, "alpha":-1.18657, "fx":[-4.10337,2.49249,4.10337,-2.49249], "fy":[-2.49249,-4.10337,2.49249,4.10337]},
-    {"t":3.126, "x":7.47921, "y":7.06127, "heading":-1.77042, "vx":1.48386, "vy":-0.21718, "omega":0.81724, "ax":0.0, "ay":-0.00001, "alpha":-1.7549, "fx":[-5.9169,3.9255,5.91683,-3.92557], "fy":[-3.92576,-5.91709,3.92531,5.91664]},
-    {"t":3.17179, "x":7.54715, "y":7.05133, "heading":-1.733, "vx":1.48386, "vy":-0.21718, "omega":0.73689, "ax":-0.00056, "ay":-0.00379, "alpha":-2.59231, "fx":[-8.52573,6.11304,8.50869,-6.1303], "fy":[-6.18023,-8.57575,6.06311,8.45867]},
-    {"t":3.21758, "x":7.6151, "y":7.04138, "heading":-1.69926, "vx":1.48384, "vy":-0.21735, "omega":0.61819, "ax":-0.15978, "ay":-0.98527, "alpha":-3.80812, "fx":[-14.65506,6.93722,9.78315,-11.93509], "fy":[-24.60208,-27.3962,-5.83539,-3.02904]},
-    {"t":3.26337, "x":7.68287, "y":7.03039, "heading":-1.67095, "vx":1.47652, "vy":-0.26247, "omega":0.44381, "ax":-10.26722, "ay":-18.53425, "alpha":-0.22508, "fx":[-159.15607,-157.15019,-157.95748,-159.9713], "fy":[-285.97303,-287.03625,-286.48877,-285.41429]},
-    {"t":3.30916, "x":7.73972, "y":6.99894, "heading":-1.65063, "vx":1.00639, "vy":-1.11115, "omega":0.43351, "ax":-19.00294, "ay":-8.0803, "alpha":-0.28714, "fx":[-293.34042,-292.60868,-293.59957,-294.31597], "fy":[-125.43625,-126.68683,-124.12988,-122.89006]},
-    {"t":3.35683, "x":7.7661, "y":6.9368, "heading":-1.62996, "vx":0.10058, "vy":-1.49631, "omega":0.41982, "ax":-0.53402, "ay":-0.03138, "alpha":-2.92549, "fx":[-17.08974,-0.39231,0.5993,-16.10516], "fy":[-8.33927,-9.35057,7.3898,8.36175]},
-    {"t":3.4045, "x":7.77029, "y":6.86544, "heading":-1.60995, "vx":0.07512, "vy":-1.4978, "omega":0.28037, "ax":-0.00181, "ay":-0.00009, "alpha":-1.96129, "fx":[-5.85466,5.35953,5.79884,-5.41536], "fy":[-5.38883,-5.82816,5.38606,5.82534]},
-    {"t":3.45216, "x":7.77387, "y":6.79404, "heading":-1.59659, "vx":0.07504, "vy":-1.49781, "omega":0.18688, "ax":-0.00001, "ay":0.0, "alpha":-1.31287, "fx":[-3.85194,3.65804,3.85176,-3.65822], "fy":[-3.65813,-3.85185,3.65813,3.85185]},
-    {"t":3.49983, "x":7.77744, "y":6.72265, "heading":-1.58768, "vx":0.07504, "vy":-1.49781, "omega":0.1243, "ax":0.0, "ay":0.0, "alpha":-0.87876, "fx":[-2.55629,2.47141,2.55629,-2.47141], "fy":[-2.47141,-2.55629,2.47141,2.55629]},
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-    {"t":4.02417, "x":7.81679, "y":5.93729, "heading":-1.5708, "vx":0.07504, "vy":-1.49781, "omega":0.00012, "ax":-0.00033, "ay":0.00655, "alpha":-0.00035, "fx":[-0.00607,-0.00407,-0.00407,-0.00607], "fy":[0.10022,0.10022,0.10221,0.10221]},
-    {"t":4.07183, "x":7.82037, "y":5.8659, "heading":-1.5708, "vx":0.07502, "vy":-1.4975, "omega":0.0001, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/SLtoCL.traj b/src/main/deploy/choreo/SLtoCL.traj
deleted file mode 100644
index 87e65e28..00000000
--- a/src/main/deploy/choreo/SLtoCL.traj
+++ /dev/null
@@ -1,138 +0,0 @@
-{
- "name":"SLtoCL",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":2.439544916152954, "y":4.924097061157227, "heading":1.5728533535678788, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.2315946817398071, "y":4.864363193511963, "heading":1.5728533535678788, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":0.7251942157745361, "y":4.738563060760498, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true},
-    {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"2.439544916152954 m", "val":2.439544916152954}, "y":{"exp":"4.924097061157227 m", "val":4.924097061157227}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.2315946817398071 m", "val":1.2315946817398071}, "y":{"exp":"4.864363193511963 m", "val":4.864363193511963}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CL.x", "val":0.7251942157745361}, "y":{"exp":"CL.y", "val":4.738563060760498}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true},
-    {"from":1, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}],
-  "targetDt":{
-   "exp":"0.05 s",
-   "val":0.05
-  }
- },
- "trajectory":{
-  "config":{
-   "frontLeft":{
-    "x":0.2761996,
-    "y":0.2761996
-   },
-   "backLeft":{
-    "x":-0.2761996,
-    "y":0.2761996
-   },
-   "mass":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.63614,2.85019,3.39707],
-  "samples":[
-    {"t":0.0, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":-0.21815, "vy":-1.48273, "omega":-1.00531, "ax":-0.00315, "ay":-0.02144, "alpha":0.00129, "fx":[-0.04503,-0.04503,-0.05239,-0.05239], "fy":[-0.33473,-0.32737,-0.32737,-0.33473]},
-    {"t":0.04545, "x":2.80471, "y":7.26323, "heading":3.0959, "vx":-0.21829, "vy":-1.4837, "omega":-1.00525, "ax":0.0, "ay":0.0, "alpha":0.00074, "fx":[0.00202,0.00221,-0.00202,-0.00221], "fy":[-0.00221,0.00202,0.00221,-0.00202]},
-    {"t":0.0909, "x":2.79479, "y":7.1958, "heading":3.05022, "vx":-0.21829, "vy":-1.4837, "omega":-1.00521, "ax":0.0, "ay":0.0, "alpha":0.00046, "fx":[0.00118,0.00142,-0.00118,-0.00142], "fy":[-0.00142,0.00118,0.00142,-0.00118]},
-    {"t":0.13634, "x":2.78487, "y":7.12836, "heading":3.00453, "vx":-0.21829, "vy":-1.4837, "omega":-1.00519, "ax":0.0, "ay":0.0, "alpha":0.00032, "fx":[0.00078,0.00103,-0.00078,-0.00103], "fy":[-0.00103,0.00078,0.00103,-0.00078]},
-    {"t":0.18179, "x":2.77495, "y":7.06093, "heading":2.95885, "vx":-0.21829, "vy":-1.4837, "omega":-1.00518, "ax":0.0, "ay":0.0, "alpha":0.00027, "fx":[0.00062,0.0009,-0.00062,-0.0009], "fy":[-0.0009,0.00062,0.0009,-0.00062]},
-    {"t":0.22724, "x":2.76503, "y":6.9935, "heading":2.91316, "vx":-0.21829, "vy":-1.4837, "omega":-1.00517, "ax":0.0, "ay":0.0, "alpha":0.00027, "fx":[0.00058,0.00093,-0.00058,-0.00093], "fy":[-0.00093,0.00058,0.00093,-0.00058]},
-    {"t":0.27269, "x":2.7551, "y":6.92607, "heading":2.86748, "vx":-0.21829, "vy":-1.4837, "omega":-1.00515, "ax":0.0, "ay":0.0, "alpha":0.0003, "fx":[0.0006,0.00107,-0.0006,-0.00107], "fy":[-0.00107,0.0006,0.00107,-0.0006]},
-    {"t":0.31814, "x":2.74518, "y":6.85864, "heading":2.8218, "vx":-0.21829, "vy":-1.4837, "omega":-1.00514, "ax":0.0, "ay":0.0, "alpha":0.00035, "fx":[0.00064,0.00127,-0.00064,-0.00127], "fy":[-0.00127,0.00064,0.00127,-0.00064]},
-    {"t":0.36359, "x":2.73526, "y":6.79121, "heading":2.77612, "vx":-0.21829, "vy":-1.4837, "omega":-1.00512, "ax":0.0, "ay":0.0, "alpha":0.00044, "fx":[0.00072,0.00161,-0.00072,-0.00161], "fy":[-0.00161,0.00072,0.00161,-0.00072]},
-    {"t":0.40903, "x":2.72534, "y":6.72377, "heading":2.73043, "vx":-0.21829, "vy":-1.4837, "omega":-1.0051, "ax":0.0, "ay":0.0, "alpha":0.00053, "fx":[0.00078,0.00199,-0.00078,-0.00199], "fy":[-0.00199,0.00078,0.00199,-0.00078]},
-    {"t":0.45448, "x":2.71542, "y":6.65634, "heading":2.68475, "vx":-0.21829, "vy":-1.4837, "omega":-1.00508, "ax":0.0, "ay":0.0, "alpha":0.00067, "fx":[0.00088,0.00258,-0.00088,-0.00258], "fy":[-0.00258,0.00088,0.00258,-0.00088]},
-    {"t":0.49993, "x":2.7055, "y":6.58891, "heading":2.63907, "vx":-0.21829, "vy":-1.4837, "omega":-1.00505, "ax":0.0, "ay":0.0, "alpha":0.00083, "fx":[0.00094,0.00324,-0.00094,-0.00324], "fy":[-0.00324,0.00094,0.00324,-0.00094]},
-    {"t":0.54538, "x":2.69558, "y":6.52148, "heading":2.5934, "vx":-0.21829, "vy":-1.4837, "omega":-1.00501, "ax":0.0, "ay":0.0, "alpha":0.00107, "fx":[0.00102,0.0042,-0.00102,-0.0042], "fy":[-0.0042,0.00102,0.0042,-0.00102]},
-    {"t":0.59083, "x":2.68566, "y":6.45405, "heading":2.54772, "vx":-0.21829, "vy":-1.4837, "omega":-1.00496, "ax":0.0, "ay":0.0, "alpha":0.00138, "fx":[0.00106,0.00547,-0.00106,-0.00547], "fy":[-0.00547,0.00106,0.00547,-0.00106]},
-    {"t":0.63628, "x":2.67574, "y":6.38662, "heading":2.50205, "vx":-0.21829, "vy":-1.4837, "omega":-1.0049, "ax":0.0, "ay":0.0, "alpha":0.00189, "fx":[0.00111,0.00757,-0.00111,-0.00757], "fy":[-0.00757,0.00111,0.00757,-0.00111]},
-    {"t":0.68172, "x":2.66582, "y":6.31918, "heading":2.45638, "vx":-0.21829, "vy":-1.4837, "omega":-1.00481, "ax":0.0, "ay":0.0, "alpha":0.00259, "fx":[0.00105,0.01044,-0.00105,-0.01044], "fy":[-0.01044,0.00105,0.01044,-0.00105]},
-    {"t":0.72717, "x":2.65589, "y":6.25175, "heading":2.41071, "vx":-0.21829, "vy":-1.4837, "omega":-1.0047, "ax":0.0, "ay":0.0, "alpha":0.00369, "fx":[0.00082,0.01491,-0.00082,-0.01491], "fy":[-0.01491,0.00082,0.01491,-0.00082]},
-    {"t":0.77262, "x":2.64597, "y":6.18432, "heading":2.36505, "vx":-0.21829, "vy":-1.4837, "omega":-1.00453, "ax":0.0, "ay":0.0, "alpha":0.00527, "fx":[0.00019,0.0213,-0.00019,-0.0213], "fy":[-0.0213,0.00019,0.0213,-0.00019]},
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-    {"t":0.86352, "x":2.62613, "y":6.04946, "heading":2.27375, "vx":-0.21829, "vy":-1.4837, "omega":-1.00394, "ax":0.0, "ay":0.0, "alpha":0.01123, "fx":[-0.00373,0.04528,0.00373,-0.04528], "fy":[-0.04528,-0.00373,0.04528,0.00373]},
-    {"t":0.90897, "x":2.61621, "y":5.98203, "heading":2.22812, "vx":-0.21829, "vy":-1.4837, "omega":-1.00343, "ax":0.0, "ay":0.0, "alpha":0.01656, "fx":[-0.00854,0.06646,0.00854,-0.06646], "fy":[-0.06646,-0.00854,0.06646,0.00854]},
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-    {"t":1.45435, "x":2.49716, "y":5.17285, "heading":1.69591, "vx":-0.21829, "vy":-1.4837, "omega":-0.83718, "ax":-0.00004, "ay":0.00001, "alpha":1.7517, "fx":[-4.34611,5.59867,4.34499,-5.59981], "fy":[-5.59917,-4.34546,5.59931,4.34565]},
-    {"t":1.49979, "x":2.48724, "y":5.10542, "heading":1.65786, "vx":-0.21829, "vy":-1.4837, "omega":-0.75756, "ax":-0.00897, "ay":0.00132, "alpha":2.57873, "fx":[-6.84499,7.85504,6.56794,-8.13185], "fy":[-7.97254,-6.68615,8.01371,6.72655]},
-    {"t":1.54524, "x":2.47731, "y":5.03798, "heading":1.62343, "vx":-0.2187, "vy":-1.48364, "omega":-0.64037, "ax":-2.25955, "ay":0.41456, "alpha":3.69198, "fx":[-44.8336,-23.95649,-24.99458,-45.79412], "fy":[-4.81838,-3.7324,17.76588,16.39356]},
-    {"t":1.59069, "x":2.46503, "y":4.97098, "heading":1.59433, "vx":-0.32139, "vy":-1.4648, "omega":-0.47257, "ax":-10.53764, "ay":19.0608, "alpha":0.06903, "fx":[-163.19483,-162.58707,-162.27514,-162.88236], "fy":[294.10297,294.43431,294.61605,294.28583]},
-    {"t":1.63614, "x":2.43954, "y":4.9241, "heading":1.57285, "vx":-0.80031, "vy":-0.59852, "omega":-0.46943, "ax":-4.0938, "ay":11.56524, "alpha":2.23594, "fx":[-72.52098,-56.39506,-54.18404,-69.78517], "fy":[172.45128,175.03197,184.6991,182.23468]},
-    {"t":1.6847, "x":2.39585, "y":4.90867, "heading":1.55006, "vx":-0.99911, "vy":-0.03689, "omega":-0.36085, "ax":-0.00088, "ay":0.02423, "alpha":2.90142, "fx":[-8.48547,8.11486,8.4563,-8.14016], "fy":[-7.75354,-8.09721,8.50219,8.84561]},
-    {"t":1.73326, "x":2.34733, "y":4.90691, "heading":1.53253, "vx":-0.99916, "vy":-0.03571, "omega":-0.21995, "ax":0.0, "ay":0.00003, "alpha":2.00308, "fx":[-5.94599,5.50754,5.94598,-5.50761], "fy":[-5.50704,-5.94545,5.50811,5.94652]},
-    {"t":1.78183, "x":2.29881, "y":4.90517, "heading":1.52185, "vx":-0.99916, "vy":-0.03571, "omega":-0.12268, "ax":0.0, "ay":0.0, "alpha":1.35171, "fx":[-4.05216,3.67325,4.05216,-3.67326], "fy":[-3.67325,-4.05216,3.67326,4.05216]},
-    {"t":1.83039, "x":2.25029, "y":4.90344, "heading":1.51589, "vx":-0.99916, "vy":-0.03571, "omega":-0.05704, "ax":0.0, "ay":0.0, "alpha":0.92145, "fx":[-2.77737,2.48733,2.77737,-2.48733], "fy":[-2.48733,-2.77737,2.48733,2.77737]},
-    {"t":1.87895, "x":2.20177, "y":4.9017, "heading":1.51312, "vx":-0.99916, "vy":-0.03571, "omega":-0.01229, "ax":0.0, "ay":0.0, "alpha":0.64149, "fx":[-1.93849,1.72607,1.93849,-1.72607], "fy":[-1.72607,-1.93849,1.72607,1.93849]},
-    {"t":1.92751, "x":2.15325, "y":4.89997, "heading":1.51253, "vx":-0.99916, "vy":-0.03571, "omega":0.01886, "ax":0.0, "ay":0.0, "alpha":0.40177, "fx":[-1.2148,1.08025,1.2148,-1.08025], "fy":[-1.08025,-1.2148,1.08025,1.2148]},
-    {"t":1.97607, "x":2.10473, "y":4.89824, "heading":1.51344, "vx":-0.99916, "vy":-0.03571, "omega":0.03837, "ax":0.0, "ay":0.0, "alpha":0.31536, "fx":[-0.95283,0.84871,0.95283,-0.84871], "fy":[-0.84871,-0.95283,0.84871,0.95283]},
-    {"t":2.02464, "x":2.05621, "y":4.8965, "heading":1.51531, "vx":-0.99916, "vy":-0.03571, "omega":0.05369, "ax":0.0, "ay":0.0, "alpha":0.16249, "fx":[-0.49015,0.43819,0.49015,-0.43819], "fy":[-0.43819,-0.49015,0.43819,0.49015]},
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-    {"t":2.12176, "x":1.95916, "y":4.89303, "heading":1.5209, "vx":-0.99916, "vy":-0.03571, "omega":0.0692, "ax":0.0, "ay":0.0, "alpha":0.06453, "fx":[-0.19369,0.17508,0.19369,-0.17508], "fy":[-0.17508,-0.19369,0.17508,0.19369]},
-    {"t":2.17032, "x":1.91064, "y":4.8913, "heading":1.52426, "vx":-0.99916, "vy":-0.03571, "omega":0.07233, "ax":0.0, "ay":0.0, "alpha":0.0722, "fx":[-0.21604,0.19663,0.21604,-0.19663], "fy":[-0.19663,-0.21604,0.19663,0.21604]},
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-    {"t":2.26745, "x":1.8136, "y":4.88783, "heading":1.53146, "vx":-0.99916, "vy":-0.03571, "omega":0.07729, "ax":0.0, "ay":0.0, "alpha":0.0233, "fx":[-0.06924,0.06396,0.06924,-0.06396], "fy":[-0.06396,-0.06924,0.06396,0.06924]},
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-    {"t":2.41313, "x":1.66804, "y":4.88263, "heading":1.54287, "vx":-0.99916, "vy":-0.03571, "omega":0.07891, "ax":0.0, "ay":0.0, "alpha":-0.00108, "fx":[0.00319,-0.00301,-0.00319,0.00301], "fy":[0.00301,0.00319,-0.00301,-0.00319]},
-    {"t":2.46169, "x":1.61952, "y":4.8809, "heading":1.5467, "vx":-0.99916, "vy":-0.03571, "omega":0.07885, "ax":0.0, "ay":0.0, "alpha":-0.02609, "fx":[0.07646,-0.07279,-0.07646,0.07279], "fy":[0.0728,0.07646,-0.0728,-0.07646]},
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-    {"t":2.55882, "x":1.52247, "y":4.87743, "heading":1.55429, "vx":-0.99916, "vy":-0.03571, "omega":0.07621, "ax":0.0, "ay":0.0, "alpha":-0.05584, "fx":[0.16242,-0.15706,-0.16242,0.15706], "fy":[0.15706,0.16242,-0.15706,-0.16242]},
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-    {"t":2.94962, "x":1.13474, "y":4.84244, "heading":1.57474, "vx":-0.96912, "vy":-0.2458, "omega":0.00407, "ax":0.0, "ay":0.0, "alpha":-0.11334, "fx":[0.32298,-0.32553,-0.32296,0.32556], "fy":[0.3255,0.32292,-0.3256,-0.32302]},
-    {"t":2.99934, "x":1.08655, "y":4.83021, "heading":1.57494, "vx":-0.96912, "vy":-0.2458, "omega":-0.00156, "ax":0.0, "ay":0.0, "alpha":-0.07195, "fx":[0.20498,-0.2067,-0.20498,0.2067], "fy":[0.2067,0.20498,-0.2067,-0.20498]},
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-    {"t":3.09877, "x":0.99019, "y":4.80577, "heading":1.57461, "vx":-0.96912, "vy":-0.2458, "omega":-0.00722, "ax":0.0, "ay":0.0, "alpha":-0.01837, "fx":[0.05236,-0.05276,-0.05236,0.05276], "fy":[0.05276,0.05236,-0.05276,-0.05236]},
-    {"t":3.14849, "x":0.94201, "y":4.79355, "heading":1.57425, "vx":-0.96912, "vy":-0.2458, "omega":-0.00813, "ax":0.0, "ay":0.0, "alpha":0.00225, "fx":[-0.00641,0.00645,0.00641,-0.00645], "fy":[-0.00645,-0.00641,0.00645,0.00641]},
-    {"t":3.1982, "x":0.89383, "y":4.78133, "heading":1.57384, "vx":-0.96912, "vy":-0.2458, "omega":-0.00802, "ax":0.0, "ay":0.0, "alpha":0.02314, "fx":[-0.066,0.0664,0.066,-0.0664], "fy":[-0.0664,-0.066,0.0664,0.066]},
-    {"t":3.24792, "x":0.84565, "y":4.76911, "heading":1.57345, "vx":-0.96912, "vy":-0.2458, "omega":-0.00687, "ax":0.0, "ay":0.0, "alpha":0.04768, "fx":[-0.13605,0.13678,0.13605,-0.13678], "fy":[-0.13678,-0.13605,0.13678,0.13605]},
-    {"t":3.29764, "x":0.79747, "y":4.75689, "heading":1.5731, "vx":-0.96912, "vy":-0.2458, "omega":-0.0045, "ax":0.00003, "ay":0.00001, "alpha":0.0797, "fx":[-0.22705,0.22899,0.22794,-0.22811], "fy":[-0.22844,-0.22738,0.22866,0.22761]},
-    {"t":3.34735, "x":0.74928, "y":4.74467, "heading":1.57288, "vx":-0.96912, "vy":-0.2458, "omega":-0.00054, "ax":19.49297, "ay":4.94401, "alpha":0.01084, "fx":[301.03781,301.05443,301.02982,301.01318], "fy":[76.30978,76.28544,76.39284,76.41721]},
-    {"t":3.39707, "x":0.72519, "y":4.73856, "heading":1.57285, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/SLtoCM.traj b/src/main/deploy/choreo/SLtoCM.traj
deleted file mode 100644
index da05f889..00000000
--- a/src/main/deploy/choreo/SLtoCM.traj
+++ /dev/null
@@ -1,110 +0,0 @@
-{
- "name":"SLtoCM",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"SLT.x", "val":2.814626932144165}, "y":{"exp":"SLT.y", "val":7.330637454986572}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,2.51981],
-  "samples":[
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-    {"t":0.75594, "x":2.49033, "y":6.24434, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.80634, "x":2.46871, "y":6.17192, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.85674, "x":2.44709, "y":6.0995, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.90713, "x":2.42547, "y":6.02708, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.95753, "x":2.40385, "y":5.95466, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":1.10872, "x":2.33899, "y":5.73739, "heading":-3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":2.41902, "x":1.77687, "y":3.85445, "heading":3.14159, "vx":-0.429, "vy":-1.43703, "omega":0.0, "ax":2.21174, "ay":7.40871, "alpha":0.0, "fx":[34.1564,34.1564,34.1564,34.1564], "fy":[114.41412,114.41412,114.41412,114.41412]},
-    {"t":2.46942, "x":1.75806, "y":3.79143, "heading":3.14159, "vx":-0.31754, "vy":-1.06366, "omega":0.0, "ax":6.30083, "ay":21.10597, "alpha":0.0, "fx":[97.30494,97.30494,97.30494,97.30494], "fy":[325.94364,325.94364,325.94364,325.94364]},
-    {"t":2.51981, "x":1.75006, "y":3.76463, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/SRBtoCR.traj b/src/main/deploy/choreo/SRBtoCR.traj
deleted file mode 100644
index c057bfe2..00000000
--- a/src/main/deploy/choreo/SRBtoCR.traj
+++ /dev/null
@@ -1,75 +0,0 @@
-{
- "name":"SRBtoCR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.784413576126098, "y":2.601309061050415, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.9429377317428589, "y":2.7734005451202393, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"SRB.x", "val":2.784413576126098}, "y":{"exp":"SRB.y", "val":2.601309061050415}, "heading":{"exp":"SRB.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,0.60946],
-  "samples":[
-    {"t":0.0, "x":2.78441, "y":2.60131, "heading":-3.14159, "vx":-1.46816, "vy":0.30026, "omega":3.41965, "ax":-0.02617, "ay":0.00536, "alpha":0.06231, "fx":[-0.22591,-0.22594,-0.58252,-0.5825], "fy":[-0.09543,0.26106,0.26107,-0.09538]},
-    {"t":0.04063, "x":2.72474, "y":2.61351, "heading":-3.00265, "vx":-1.46923, "vy":0.30047, "omega":3.42218, "ax":0.0, "ay":0.0, "alpha":-0.58759, "fx":[-1.92821,-1.39179,1.92822,1.39179], "fy":[1.39181,-1.92819,-1.39176,1.92824]},
-    {"t":0.08126, "x":2.66504, "y":2.62572, "heading":-2.8636, "vx":-1.46923, "vy":0.30047, "omega":3.39831, "ax":0.0, "ay":0.00001, "alpha":0.89994, "fx":[3.23136,1.68158,-3.23132,-1.68154], "fy":[-1.68146,3.23144,1.68165,-3.23125]},
-    {"t":0.12189, "x":2.60535, "y":2.63793, "heading":-2.72553, "vx":-1.46923, "vy":0.30047, "omega":3.43487, "ax":0.0, "ay":0.00001, "alpha":-2.19175, "fx":[-8.29318,-3.14194,8.29325,3.14202], "fy":[3.14217,-8.29303,-3.1418,8.29339]},
-    {"t":0.16252, "x":2.54565, "y":2.65014, "heading":-2.58597, "vx":-1.46923, "vy":0.30047, "omega":3.34582, "ax":0.0, "ay":0.00001, "alpha":-0.12033, "fx":[-0.43881,-0.26146,0.43891,0.2615], "fy":[0.26164,-0.43867,-0.26133,0.43901]},
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-    {"t":0.56883, "x":1.96074, "y":2.76976, "heading":-1.57397, "vx":-0.87633, "vy":0.17922, "omega":0.00428, "ax":21.56807, "ay":-4.41101, "alpha":-0.10546, "fx":[332.93675,332.987,333.22256,333.1738], "fy":[-68.81585,-68.58171,-67.42601,-67.65684]},
-    {"t":0.60946, "x":1.94294, "y":2.7734, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/SRTtoCR.traj b/src/main/deploy/choreo/SRTtoCR.traj
deleted file mode 100644
index aebdbf48..00000000
--- a/src/main/deploy/choreo/SRTtoCR.traj
+++ /dev/null
@@ -1,102 +0,0 @@
-{
- "name":"SRTtoCR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":1.7531986236572266, "y":3.3997113704681396, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"1.7531986236572266 m", "val":1.7531986236572266}, "y":{"exp":"3.3997113704681396 m", "val":3.3997113704681396}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}],
-  "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.94848],
-  "samples":[
-    {"t":0.0, "x":2.76859, "y":0.72057, "heading":-3.14159, "vx":-0.53114, "vy":1.40144, "omega":0.92149, "ax":-0.00739, "ay":0.01949, "alpha":0.04271, "fx":[0.00815,0.00815,-0.23627,-0.23627], "fy":[0.17875,0.42317,0.42316,0.17875]},
-    {"t":0.04639, "x":2.74394, "y":0.78561, "heading":-3.09884, "vx":-0.53148, "vy":1.40234, "omega":0.92347, "ax":0.0, "ay":0.0, "alpha":0.06843, "fx":[0.18902,0.20355,-0.18902,-0.20356], "fy":[-0.20354,0.18902,0.20354,-0.18902]},
-    {"t":0.09278, "x":2.71928, "y":0.85066, "heading":-3.056, "vx":-0.53148, "vy":1.40234, "omega":0.92665, "ax":0.0, "ay":0.0, "alpha":0.09875, "fx":[0.29078,0.27498,-0.29078,-0.27498], "fy":[-0.27497,0.29078,0.27497,-0.29078]},
-    {"t":0.13918, "x":2.69463, "y":0.91572, "heading":-3.01301, "vx":-0.53148, "vy":1.40234, "omega":0.93123, "ax":0.0, "ay":0.0, "alpha":0.00152, "fx":[-0.00873,0.02142,0.00873,-0.02142], "fy":[-0.02141,-0.00873,0.02141,0.00873]},
-    {"t":0.18557, "x":2.66997, "y":0.98078, "heading":-2.96981, "vx":-0.53148, "vy":1.40234, "omega":0.9313, "ax":0.0, "ay":0.0, "alpha":0.13976, "fx":[0.46677,0.31933,-0.46677,-0.31933], "fy":[-0.31933,0.46677,0.31933,-0.46677]},
-    {"t":0.23196, "x":2.64531, "y":1.04584, "heading":-2.9266, "vx":-0.53148, "vy":1.40234, "omega":0.93778, "ax":0.0, "ay":0.0, "alpha":-0.06671, "fx":[-0.23606,-0.13194,0.23606,0.13194], "fy":[0.13194,-0.23606,-0.13194,0.23606]},
-    {"t":0.27835, "x":2.62066, "y":1.11089, "heading":-2.8831, "vx":-0.53148, "vy":1.40234, "omega":0.93469, "ax":0.0, "ay":0.0, "alpha":0.19998, "fx":[0.72059,0.37046,-0.72059,-0.37046], "fy":[-0.37046,0.72059,0.37046,-0.72059]},
-    {"t":0.32475, "x":2.596, "y":1.17595, "heading":-2.83974, "vx":-0.53148, "vy":1.40234, "omega":0.94397, "ax":0.0, "ay":0.0, "alpha":-0.12145, "fx":[-0.44262,-0.21413,0.44262,0.21413], "fy":[0.21413,-0.44262,-0.21413,0.44262]},
-    {"t":0.37114, "x":2.57134, "y":1.24101, "heading":-2.79594, "vx":-0.53148, "vy":1.40234, "omega":0.93833, "ax":0.0, "ay":0.0, "alpha":0.25385, "fx":[0.96265,0.36659,-0.96265,-0.36659], "fy":[-0.36659,0.96265,0.36659,-0.96265]},
-    {"t":0.41753, "x":2.54668, "y":1.30607, "heading":-2.75241, "vx":-0.53148, "vy":1.40234, "omega":0.95011, "ax":0.0, "ay":0.0, "alpha":-0.146, "fx":[-0.55022,-0.21541,0.55022,0.21541], "fy":[0.21541,-0.55022,-0.21541,0.55022]},
-    {"t":0.46392, "x":2.52203, "y":1.37113, "heading":-2.70833, "vx":-0.53148, "vy":1.40234, "omega":0.94333, "ax":0.0, "ay":0.0, "alpha":0.27795, "fx":[1.09321,0.28558,-1.09321,-0.28558], "fy":[-0.28558,1.09321,0.28558,-1.09321]},
-    {"t":0.51032, "x":2.49737, "y":1.43618, "heading":-2.66457, "vx":-0.53148, "vy":1.40234, "omega":0.95623, "ax":0.0, "ay":0.0, "alpha":-0.13087, "fx":[-0.50481,-0.15995,0.50481,0.15995], "fy":[0.15995,-0.50481,-0.15995,0.50481]},
-    {"t":0.55671, "x":2.47271, "y":1.50124, "heading":-2.62021, "vx":-0.53148, "vy":1.40234, "omega":0.95016, "ax":0.0, "ay":0.0, "alpha":0.25518, "fx":[1.02974,0.14725,-1.02974,-0.14725], "fy":[-0.14725,1.02974,0.14725,-1.02974]},
-    {"t":0.6031, "x":2.44806, "y":1.5663, "heading":-2.57613, "vx":-0.53148, "vy":1.40234, "omega":0.962, "ax":0.0, "ay":0.0, "alpha":-0.08004, "fx":[-0.31043,-0.09588,0.31043,0.09588], "fy":[0.09588,-0.31043,-0.09588,0.31043]},
-    {"t":0.64949, "x":2.4234, "y":1.63136, "heading":-2.5315, "vx":-0.53148, "vy":1.40234, "omega":0.95828, "ax":0.0, "ay":0.0, "alpha":0.17951, "fx":[0.737,0.00355,-0.737,-0.00355], "fy":[-0.00355,0.737,0.00355,-0.737]},
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diff --git a/src/main/deploy/choreo/SRTtoER.traj b/src/main/deploy/choreo/SRTtoER.traj
deleted file mode 100644
index 4656a775..00000000
--- a/src/main/deploy/choreo/SRTtoER.traj
+++ /dev/null
@@ -1,72 +0,0 @@
-{
- "name":"SRTtoER",
- "version":3,
- "snapshot":{
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-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
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-    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}],
-  "targetDt":0.05
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diff --git a/src/main/deploy/choreo/SRtoCM.traj b/src/main/deploy/choreo/SRtoCM.traj
deleted file mode 100644
index d4d5354d..00000000
--- a/src/main/deploy/choreo/SRtoCM.traj
+++ /dev/null
@@ -1,103 +0,0 @@
-{
- "name":"SRtoCM",
- "version":3,
- "snapshot":{
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-    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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-    {"t":1.16535, "x":2.21405, "y":2.37791, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.21602, "x":2.18994, "y":2.44997, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.26668, "x":2.16583, "y":2.52203, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.31735, "x":2.14172, "y":2.59409, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.36802, "x":2.1176, "y":2.66615, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.41868, "x":2.09349, "y":2.73821, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.46935, "x":2.06938, "y":2.81027, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.52002, "x":2.04527, "y":2.88232, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.57069, "x":2.02116, "y":2.95438, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.62135, "x":1.99705, "y":3.02644, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.67202, "x":1.97294, "y":3.0985, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.72269, "x":1.94883, "y":3.17056, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":1.77336, "x":1.92472, "y":3.24262, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":1.87469, "x":1.8765, "y":3.38674, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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-    {"t":2.07736, "x":1.78005, "y":3.67498, "heading":3.14159, "vx":-0.47586, "vy":1.4222, "omega":0.0, "ax":2.40276, "ay":-7.18108, "alpha":0.0, "fx":[37.10635,37.10635,37.10635,37.10635], "fy":[-110.89888,-110.89888,-110.89888,-110.89888]},
-    {"t":2.12803, "x":1.75903, "y":3.73782, "heading":3.14159, "vx":-0.35412, "vy":1.05836, "omega":0.0, "ax":6.98918, "ay":-20.88838, "alpha":0.0, "fx":[107.93523,107.93523,107.93523,107.93523], "fy":[-322.58348,-322.58348,-322.58348,-322.58348]},
-    {"t":2.17869, "x":1.75006, "y":3.76463, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/SRtoFR.traj b/src/main/deploy/choreo/SRtoFR.traj
deleted file mode 100644
index 453954a7..00000000
--- a/src/main/deploy/choreo/SRtoFR.traj
+++ /dev/null
@@ -1,163 +0,0 @@
-{
- "name":"SRtoFR",
- "version":3,
- "snapshot":{
-  "waypoints":[
-    {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":5.382783889770508, "y":0.7094446420669556, "heading":-3.126526630663652, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.713675022125244, "y":0.7875750660896301, "heading":2.261243128434208, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":0.11784505844116212, "w":16.541, "h":8.0692}}, "enabled":true},
-    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.35}}, "enabled":true}],
-  "targetDt":0.05
- },
- "params":{
-  "waypoints":[
-    {"x":{"exp":"SRT.x", "val":2.768587827682495}, "y":{"exp":"SRT.y", "val":0.7205682992935181}, "heading":{"exp":"SRT.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"5.382783889770508 m", "val":5.382783889770508}, "y":{"exp":"0.7094446420669556 m", "val":0.7094446420669556}, "heading":{"exp":"-3.126526630663652 rad", "val":-3.126526630663652}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"7.713675022125244 m", "val":7.713675022125244}, "y":{"exp":"0.7875750660896301 m", "val":0.7875750660896301}, "heading":{"exp":"2.261243128434208 rad", "val":2.261243128434208}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
-  "constraints":[
-    {"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":"0.11784505844116211 m", "val":0.11784505844116212}, "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":"1.35 m / s", "val":1.35}}}, "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":61.77279533029374,
-   "inertia":6.32183239342448,
-   "gearing":7.03,
-   "radius":0.0508,
-   "vmax":607.3745796940267,
-   "tmax":54.79744136460554,
-   "cof":2.25,
-   "bumper":{
-    "front":0.44196,
-    "side":0.44196,
-    "back":0.44196
-   },
-   "differentialTrackWidth":0.5427218
-  },
-  "sampleType":"Swerve",
-  "waypoints":[0.0,1.94012,3.71138,4.88536],
-  "samples":[
-    {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":1.34167, "vy":0.12069, "omega":-0.00546, "ax":0.05371, "ay":0.00585, "alpha":0.00299, "fx":[0.83799,0.83799,0.82089,0.82089], "fy":[0.08184,0.09893,0.09893,0.08184]},
-    {"t":0.04975, "x":2.8354, "y":0.72658, "heading":3.14132, "vx":1.34434, "vy":0.12098, "omega":-0.00531, "ax":0.00347, "ay":-0.04071, "alpha":0.00537, "fx":[0.06881,0.06911,0.03838,0.03808], "fy":[-0.64426,-0.61353,-0.61323,-0.64396]},
-    {"t":0.09949, "x":2.90228, "y":0.73255, "heading":3.14106, "vx":1.34452, "vy":0.11895, "omega":-0.00505, "ax":0.00523, "ay":-0.07011, "alpha":0.0066, "fx":[0.0992,0.10009,0.06234,0.06144], "fy":[-1.10206,-1.0643,-1.0634,-1.10116]},
-    {"t":0.14924, "x":2.96917, "y":0.73838, "heading":3.14081, "vx":1.34478, "vy":0.11547, "omega":-0.00472, "ax":0.00814, "ay":-0.09301, "alpha":0.00787, "fx":[0.14727,0.14906,0.10405,0.10226], "fy":[-1.45975,-1.41473,-1.41294,-1.45796]},
-    {"t":0.19899, "x":3.03608, "y":0.74401, "heading":3.14057, "vx":1.34518, "vy":0.11084, "omega":-0.00433, "ax":0.00902, "ay":-0.11686, "alpha":0.00888, "fx":[0.16311,0.16612,0.11533,0.11232], "fy":[-1.83157,-1.78078,-1.77777,-1.82856]},
-    {"t":0.24873, "x":3.10301, "y":0.74938, "heading":3.14036, "vx":1.34563, "vy":0.10503, "omega":-0.00388, "ax":0.01085, "ay":-0.13922, "alpha":0.01081, "fx":[0.1962,0.20068,0.13882,0.13434], "fy":[-2.18322,-2.12136,-2.11688,-2.17874]},
-    {"t":0.29848, "x":3.16996, "y":0.75443, "heading":3.14016, "vx":1.34617, "vy":0.0981, "omega":-0.00335, "ax":0.01106, "ay":-0.16113, "alpha":0.01218, "fx":[0.2025,0.20882,0.13914,0.13282], "fy":[-2.52642,-2.45674,-2.45043,-2.52011]},
-    {"t":0.34823, "x":3.23694, "y":0.75911, "heading":3.14, "vx":1.34672, "vy":0.09008, "omega":-0.00274, "ax":0.01145, "ay":-0.179, "alpha":0.01479, "fx":[0.21503,0.22335,0.13875,0.13044], "fy":[-2.81077,-2.72617,-2.71786,-2.80246]},
-    {"t":0.39797, "x":3.30395, "y":0.76337, "heading":3.13986, "vx":1.34729, "vy":0.08118, "omega":-0.00201, "ax":0.01077, "ay":-0.19189, "alpha":0.01595, "fx":[0.20655,0.21731,0.12608,0.11532], "fy":[-3.01439,-2.92315,-2.9124,-3.00364]},
-    {"t":0.44772, "x":3.37099, "y":0.76717, "heading":3.13976, "vx":1.34782, "vy":0.07163, "omega":-0.00121, "ax":0.0099, "ay":-0.19845, "alpha":0.01846, "fx":[0.19911,0.21235,0.10673,0.09349], "fy":[-3.12412,-3.01848,-3.00525,-3.11089]},
-    {"t":0.49747, "x":3.43805, "y":0.77049, "heading":3.1397, "vx":1.34832, "vy":0.06176, "omega":-0.00029, "ax":0.00831, "ay":-0.19906, "alpha":0.01873, "fx":[0.17385,0.19013,0.08297,0.06668], "fy":[-3.13587,-3.02869,-3.01242,-3.1196]},
-    {"t":0.54721, "x":3.50513, "y":0.77331, "heading":3.13969, "vx":1.34873, "vy":0.05186, "omega":0.00064, "ax":0.00675, "ay":-0.19404, "alpha":0.02065, "fx":[0.15361,0.17284,0.05471,0.03549], "fy":[-3.06528,-2.94714,-2.92793,-3.04607]},
-    {"t":0.59696, "x":3.57224, "y":0.77565, "heading":3.13972, "vx":1.34907, "vy":0.04221, "omega":0.00167, "ax":0.00515, "ay":-0.18481, "alpha":0.01999, "fx":[0.12526,0.14809,0.03373,0.0109], "fy":[-2.92261,-2.80824,-2.78542,-2.89979]},
-    {"t":0.64671, "x":3.63936, "y":0.77753, "heading":3.1398, "vx":1.34932, "vy":0.03301, "omega":0.00266, "ax":0.00366, "ay":-0.17315, "alpha":0.02145, "fx":[0.10479,0.13097,0.00826,-0.01792], "fy":[-2.74837,-2.62565,-2.59949,-2.72221]},
-    {"t":0.69645, "x":3.70648, "y":0.77895, "heading":3.13993, "vx":1.3495, "vy":0.0244, "omega":0.00373, "ax":0.00242, "ay":-0.16092, "alpha":0.0205, "fx":[0.08081,0.11104,-0.00622,-0.03644], "fy":[-2.55884,-2.44157,-2.41136,-2.52864]},
-    {"t":0.7462, "x":3.77362, "y":0.77997, "heading":3.14012, "vx":1.34962, "vy":0.01639, "omega":0.00475, "ax":0.0014, "ay":-0.14994, "alpha":0.02205, "fx":[0.0677,0.10158,-0.02455,-0.05844], "fy":[-2.3955,-2.26936,-2.23549,-2.36164]},
-    {"t":0.79595, "x":3.84076, "y":0.7806, "heading":3.14035, "vx":1.34969, "vy":0.00894, "omega":0.00584, "ax":0.00056, "ay":-0.14173, "alpha":0.02165, "fx":[0.05152,0.08971,-0.03414,-0.07233], "fy":[-2.26976,-2.1459,-2.10773,-2.2316]},
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-    {"t":0.94519, "x":4.04219, "y":0.78038, "heading":3.14139, "vx":1.34967, "vy":-0.01179, "omega":0.00931, "ax":-0.0016, "ay":-0.14205, "alpha":0.02666, "fx":[0.02636,0.07662,-0.0759,-0.12615], "fy":[-2.29504,-2.1425,-2.09227,-2.2448]},
-    {"t":0.99493, "x":4.10933, "y":0.77961, "heading":-3.14133, "vx":1.34959, "vy":-0.01886, "omega":0.01064, "ax":-0.00251, "ay":-0.15045, "alpha":0.02784, "fx":[0.01373,0.06815,-0.09118,-0.1456], "fy":[-2.43027,-2.27093,-2.21653,-2.37587]},
-    {"t":1.04468, "x":4.17647, "y":0.77849, "heading":-3.1408, "vx":1.34947, "vy":-0.02634, "omega":0.01202, "ax":-0.00362, "ay":-0.16159, "alpha":0.02922, "fx":[-0.00149,0.05686,-0.1104,-0.16875], "fy":[-2.60824,-2.44096,-2.38263,-2.5499]},
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-    {"t":4.17077, "x":7.93527, "y":1.26331, "heading":1.91763, "vx":0.10982, "vy":1.33576, "omega":-0.61531, "ax":-1.1849, "ay":0.25458, "alpha":0.5101, "fx":[-19.04959,-16.37111,-17.54761,-20.22608], "fy":[2.00407,3.18055,5.85894,4.68247]},
-    {"t":4.22181, "x":7.93933, "y":1.33182, "heading":1.88622, "vx":0.04934, "vy":1.34875, "omega":-0.58927, "ax":-1.06617, "ay":0.01669, "alpha":0.49623, "fx":[-17.25348,-14.61348,-15.67666,-18.31665], "fy":[-1.59381,-0.53067,2.10925,1.04612]},
-    {"t":4.27285, "x":7.94046, "y":1.40068, "heading":1.85614, "vx":-0.00508, "vy":1.34961, "omega":-0.56394, "ax":-0.95031, "ay":-0.0195, "alpha":0.46407, "fx":[-15.4671,-12.96841,-13.88451,-16.38319], "fy":[-2.00852,-1.09246,1.40615,0.4901]},
-    {"t":4.3239, "x":7.93896, "y":1.46955, "heading":1.82736, "vx":-0.05359, "vy":1.34861, "omega":-0.54025, "ax":-0.84267, "ay":-0.04864, "alpha":0.44319, "fx":[-13.81823,-11.40676,-12.20872,-14.62018], "fy":[-2.35789,-1.55596,0.85543,0.05352]},
-    {"t":4.37494, "x":7.93513, "y":1.53832, "heading":1.79978, "vx":-0.0966, "vy":1.34613, "omega":-0.51763, "ax":-0.74271, "ay":-0.06365, "alpha":0.403, "fx":[-12.24554,-10.032,-10.69411,-12.90765], "fy":[-2.42082,-1.75874,0.45475,-0.20733]},
-    {"t":4.42598, "x":7.92923, "y":1.60695, "heading":1.77336, "vx":-0.13451, "vy":1.34288, "omega":-0.49706, "ax":-0.6498, "ay":-0.07207, "alpha":0.37462, "fx":[-10.79539,-8.72069,-9.27445,-11.34916], "fy":[-2.42714,-1.8734,0.20125,-0.35249]},
-    {"t":4.47702, "x":7.92152, "y":1.6754, "heading":1.74799, "vx":-0.16768, "vy":1.3392, "omega":-0.47794, "ax":-0.56221, "ay":-0.07658, "alpha":0.32982, "fx":[-9.38546,-7.54573,-7.97904,-9.81877], "fy":[-2.31918,-1.88589,-0.0462,-0.47949]},
-    {"t":4.52807, "x":7.91223, "y":1.74365, "heading":1.72359, "vx":-0.19638, "vy":1.33529, "omega":-0.46111, "ax":-0.47957, "ay":-0.07381, "alpha":0.2942, "fx":[-8.0626,-6.41134,-6.74949,-8.40076], "fy":[-2.13452,-1.79638,-0.14515,-0.48329]},
-    {"t":4.57911, "x":7.90158, "y":1.81171, "heading":1.70006, "vx":-0.22085, "vy":1.33152, "omega":-0.44609, "ax":-0.40154, "ay":-0.06973, "alpha":0.24724, "fx":[-6.77669,-5.38171,-5.62557,-7.02056], "fy":[-1.89625,-1.6524,-0.25743,-0.50129]},
-    {"t":4.63015, "x":7.88978, "y":1.87959, "heading":1.67729, "vx":-0.24135, "vy":1.32796, "omega":-0.43347, "ax":-0.32676, "ay":-0.06088, "alpha":0.20562, "fx":[-5.54421,-4.379,-4.54809,-5.71329], "fy":[-1.60738,-1.4383,-0.2731,-0.44218]},
-    {"t":4.68119, "x":7.87704, "y":1.94729, "heading":1.65516, "vx":-0.25803, "vy":1.32486, "omega":-0.42297, "ax":-0.25405, "ay":-0.0514, "alpha":0.15814, "fx":[-4.32095,-3.42162,-3.52585,-4.42517], "fy":[-1.29557,-1.19134,-0.29203,-0.39625]},
-    {"t":4.73224, "x":7.86354, "y":2.01485, "heading":1.63357, "vx":-0.271, "vy":1.32223, "omega":-0.4149, "ax":-0.1825, "ay":-0.03689, "alpha":0.11266, "fx":[-3.11174,-2.4693,-2.52501,-3.16745], "fy":[-0.91883,-0.86311,-0.22067,-0.27639]},
-    {"t":4.78328, "x":7.84947, "y":2.08229, "heading":1.61239, "vx":-0.28031, "vy":1.32035, "omega":-0.40915, "ax":-0.11242, "ay":-0.02329, "alpha":0.06565, "fx":[-1.91288,-1.53781,-1.55944,-1.93451], "fy":[-0.55803,-0.5364,-0.16133,-0.18296]},
-    {"t":4.83432, "x":7.83501, "y":2.14965, "heading":1.59151, "vx":-0.28605, "vy":1.31916, "omega":-0.4058, "ax":-0.03704, "ay":-0.03111, "alpha":0.01907, "fx":[-0.62495,-0.5159,-0.51899,-0.62805], "fy":[-0.53658,-0.53348,-0.42443,-0.42752]},
-    {"t":4.88536, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":-0.28794, "vy":1.31757, "omega":-0.40483, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
-  "splits":[0]
- },
- "events":[]
-}
diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor
index 89e642d4..b060eae2 100644
--- a/src/main/deploy/choreo/rebuiltChoreo.chor
+++ b/src/main/deploy/choreo/rebuiltChoreo.chor
@@ -7,8 +7,8 @@
    "slow":{
     "dimension":"LinVel",
     "var":{
-     "exp":"1.15 m / s",
-     "val":1.15
+     "exp":"2 m / s",
+     "val":2.0
     }
    },
    "slowaccel":{
@@ -17,17 +17,45 @@
      "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":{
+   "CC":{
+    "x":{
+     "exp":"2.4044814109802246 m",
+     "val":2.4044814109802246
+    },
+    "y":{
+     "exp":"2 m",
+     "val":2.0
+    },
+    "heading":{
+     "exp":"-3.120762420732352 rad",
+     "val":-3.120762420732352
+    }
+   },
    "CL":{
     "x":{
-     "exp":"0.7251942157745361 m",
-     "val":0.7251942157745361
+     "exp":"1.998773455619812 m",
+     "val":1.998773455619812
     },
     "y":{
-     "exp":"4.738563060760498 m",
-     "val":4.738563060760498
+     "exp":"4.835856914520264 m",
+     "val":4.835856914520264
     },
     "heading":{
      "exp":"1.5728533535678788 rad",
@@ -50,12 +78,12 @@
    },
    "CR":{
     "x":{
-     "exp":"1.9429377317428589 m",
-     "val":1.9429377317428589
+     "exp":"1.8024730682373047 m",
+     "val":1.802473068237305
     },
     "y":{
-     "exp":"2.7734005451202393 m",
-     "val":2.7734005451202393
+     "exp":"2.449967384338379 m",
+     "val":2.449967384338379
     },
     "heading":{
      "exp":"-1.5737992594811685 rad",
@@ -64,12 +92,12 @@
    },
    "D":{
     "x":{
-     "exp":"0.8098713755607605 m",
-     "val":0.8098713755607605
+     "exp":"0.703999767303467 m",
+     "val":0.703999767303467
     },
     "y":{
-     "exp":"6.312607765197754 m",
-     "val":6.312607765197754
+     "exp":"5.975247383117676 m",
+     "val":5.975247383117676
     },
     "heading":{
      "exp":"3.141592653589793 rad",
@@ -218,22 +246,22 @@
    },
    "MLL":{
     "x":{
-     "exp":"4.544271945953369 m",
-     "val":4.544271945953369
+     "exp":"3.2225897312164307 m",
+     "val":3.2225897312164307
     },
     "y":{
-     "exp":"7.44913311004639 m",
-     "val":7.44913311004639
+     "exp":"7.436997413635254 m",
+     "val":7.436997413635254
     },
     "heading":{
-     "exp":"-3.1415920392274765 rad",
-     "val":-3.1415920392274765
+     "exp":"0 rad",
+     "val":0.0
     }
    },
    "MR":{
     "x":{
-     "exp":"4.557889461517334 m",
-     "val":4.557889461517334
+     "exp":"3.32966947555542 m",
+     "val":3.32966947555542
     },
     "y":{
      "exp":"0.688210129737854 m",
@@ -246,8 +274,8 @@
    },
    "O":{
     "x":{
-     "exp":"0.5321799635887146 m",
-     "val":0.5321799635887146
+     "exp":"0.7321799635887146 m",
+     "val":0.7321799635887146
     },
     "y":{
      "exp":"0.7198631167411804 m",
@@ -310,32 +338,32 @@
      "val":0.7309682965278625
     },
     "heading":{
-     "exp":"3.141592690548533 rad",
-     "val":3.141592690548533
+     "exp":"3.141592690548533 / 2 rad",
+     "val":1.5707963452742666
     }
    },
    "RLL":{
     "x":{
-     "exp":"4.560821533203125 m",
-     "val":4.560821533203125
+     "exp":"2.9497299194335938 m",
+     "val":2.9497299194335938
     },
     "y":{
-     "exp":"7.364652156829834 m",
-     "val":7.364652156829834
+     "exp":"7.378527641296387 m",
+     "val":7.378527641296387
     },
     "heading":{
-     "exp":"-6.559104275229499 mrad",
-     "val":-0.006559104275229499
+     "exp":"0 deg",
+     "val":0.0
     }
    },
    "RR":{
     "x":{
-     "exp":"4.659694671630859 m",
-     "val":4.659694671630859
+     "exp":"2.5106818675994873 m",
+     "val":2.5106818675994873
     },
     "y":{
-     "exp":"0.6415539979934692 m",
-     "val":0.6415539979934692
+     "exp":"0.6606601476669312 m",
+     "val":0.6606601476669312
     },
     "heading":{
      "exp":"0 deg",
@@ -422,12 +450,12 @@
    }
   },
   "mass":{
-   "exp":"136.185702 lb",
-   "val":61.77279533029374
+   "exp":"145.8 lb",
+   "val":66.133767546
   },
   "inertia":{
-   "exp":"21602.788 in ^ 2 lb",
-   "val":6.32183239342448
+   "exp":"35620.08132 in ^ 2 * lb",
+   "val":10.42384825260472
   },
   "gearing":{
    "exp":"7.03",
@@ -438,12 +466,12 @@
    "val":0.0508
   },
   "vmax":{
-   "exp":"5800 RPM",
-   "val":607.3745796940267
+   "exp":"4640 RPM",
+   "val":485.8996637552213
   },
   "tmax":{
-   "exp":"257 / 4.69 N * m",
-   "val":54.79744136460554
+   "exp":"0.9 N * m",
+   "val":0.9
   },
   "cof":{
    "exp":"2.25",
diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj
index 89a47d32..f2df0f1b 100644
--- a/src/main/deploy/choreo/testposes.traj
+++ b/src/main/deploy/choreo/testposes.traj
@@ -2,17 +2,25 @@
  "name":"testposes",
  "version":3,
  "snapshot":{
-  "waypoints":[],
-  "constraints":[],
+  "waypoints":[
+    {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.4044814109802246, "y":4.043840408325195, "heading":-3.120762420732352, "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":"CR.x", "val":1.9429377317428589}, "y":{"exp":"CR.y", "val":2.7734005451202393}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.705504417419434 m", "val":4.705504417419434}, "y":{"exp":"7.340907096862793 m", "val":7.340907096862793}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.255559921264648 m", "val":4.255559921264648}, "y":{"exp":"0.9663175344467163 m", "val":0.9663175344467164}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"4.704 m", "val":4.704}, "y":{"exp":"0.741 m", "val":0.741}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2.4044814109802246 m", "val":2.4044814109802246}, "y":{"exp":"4.043840408325195 m", "val":4.043840408325195}, "heading":{"exp":"-3.120762420732352 rad", "val":-3.120762420732352}, "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},
@@ -23,11 +31,224 @@
   }
  },
  "trajectory":{
-  "config":null,
-  "sampleType":null,
-  "waypoints":[],
-  "samples":[],
-  "splits":[]
+  "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":[0.0,1.24356,3.09831,5.26016,7.01613],
+  "samples":[
+    {"t":0.0, "x":1.80247, "y":2.44997, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.04418, "ay":5.45978, "alpha":-9.10499, "fx":[-121.67024,52.29683,9.55577,-75.37153], "fy":[25.80596,112.20382,124.04672,99.0191]},
+    {"t":0.03109, "x":1.80149, "y":2.45261, "heading":-1.5738, "vx":-0.06355, "vy":0.16974, "omega":-0.28307, "ax":-2.01564, "ay":5.43374, "alpha":-9.20578, "fx":[-121.78198,54.20174,9.76162,-75.48344], "fy":[25.20171,111.21029,124.01912,98.92237]},
+    {"t":0.06218, "x":1.79854, "y":2.46051, "heading":-1.5826, "vx":-0.12622, "vy":0.33867, "omega":-0.56926, "ax":-2.00007, "ay":5.4324, "alpha":-9.20147, "fx":[-121.77377,54.32861,10.36221,-75.18907], "fy":[25.16054,111.01601,123.95584,99.1326]},
+    {"t":0.09327, "x":1.79364, "y":2.47366, "heading":-1.6003, "vx":-0.1884, "vy":0.50756, "omega":-0.85533, "ax":-2.00468, "ay":5.45924, "alpha":-9.07272, "fx":[-121.63977,52.19982,11.34555,-74.48248], "fy":[25.70944,111.83155,123.85118,99.64793]},
+    {"t":0.12436, "x":1.78682, "y":2.49208, "heading":-1.62689, "vx":-0.25072, "vy":0.67728, "omega":-1.13739, "ax":-2.04888, "ay":5.51922, "alpha":-8.77925, "fx":[-121.36687,46.55182,12.6784,-73.36356], "fy":[26.86477,113.99022,123.69776,100.45387]},
+    {"t":0.15544, "x":1.77803, "y":2.5158, "heading":-1.66225, "vx":-0.31442, "vy":0.84887, "omega":-1.41033, "ax":-2.17627, "ay":5.61497, "alpha":-8.25285, "fx":[-120.93537,34.55243,14.3006,-71.84243], "fy":[28.62482,117.70471,123.48856,101.52092]},
+    {"t":0.18653, "x":1.76721, "y":2.54491, "heading":-1.70609, "vx":-0.38207, "vy":1.02343, "omega":-1.6669, "ax":-2.47526, "ay":5.72274, "alpha":-7.42859, "fx":[-120.32333,10.45243,16.11992,-69.94759], "fy":[30.95371,121.49192,123.21984,102.8008]},
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+    {"t":6.65777, "x":2.51402, "y":3.71242, "heading":-2.37244, "vx":-0.72383, "vy":1.82678, "omega":-3.73492, "ax":3.10937, "ay":-4.9947, "alpha":9.02383, "fx":[100.08886,118.69486,-44.47792,31.32823], "fy":[-72.29903,-24.01351,-114.44857,-119.55729]},
+    {"t":6.6936, "x":2.49008, "y":3.77467, "heading":-2.50629, "vx":-0.6124, "vy":1.64778, "omega":-3.41155, "ax":2.72966, "ay":-4.90875, "alpha":10.09522, "fx":[95.9696,122.09092,-58.26759,20.7297], "fy":[-78.54639,-14.80974,-108.96574,-122.31253]},
+    {"t":6.72944, "x":2.46989, "y":3.83057, "heading":-2.62854, "vx":-0.51458, "vy":1.47187, "omega":-3.04977, "ax":2.43872, "ay":-4.94712, "alpha":10.50116, "fx":[91.47521,122.78276,-65.58389,12.60794], "fy":[-84.01169,-14.57156,-105.01729,-123.57112]},
+    {"t":6.76528, "x":2.45301, "y":3.88014, "heading":-2.73784, "vx":-0.42719, "vy":1.29459, "omega":-2.67345, "ax":2.1921, "ay":-5.01443, "alpha":10.66311, "fx":[87.10425,122.78249,-70.61007,5.69522], "fy":[-88.66438,-16.95418,-101.84465,-124.16008]},
+    {"t":6.80111, "x":2.43911, "y":3.92331, "heading":-2.83364, "vx":-0.34863, "vy":1.11489, "omega":-2.29133, "ax":1.98091, "ay":-5.08344, "alpha":10.70532, "fx":[83.05167,122.48563,-74.2756,-0.25654], "fy":[-92.54436,-20.02632,-99.27906,-124.33724]},
+    {"t":6.83695, "x":2.42789, "y":3.96, "heading":-2.91575, "vx":-0.27764, "vy":0.93272, "omega":-1.90769, "ax":1.80153, "ay":-5.14435, "alpha":10.68702, "fx":[79.43571,122.05748,-77.01153,-5.33958], "fy":[-95.71248,-23.03119,-97.21702,-124.2543]},
+    {"t":6.87279, "x":2.4191, "y":3.99013, "heading":-2.98412, "vx":-0.21308, "vy":0.74837, "omega":-1.52471, "ax":1.65114, "ay":-5.19249, "alpha":10.64672, "fx":[76.33697,121.60592,-79.13904,-9.60757], "fy":[-98.2335,-25.62332,-95.52214,-124.02021]},
+    {"t":6.90862, "x":2.41252, "y":4.01361, "heading":-3.03876, "vx":-0.15391, "vy":0.56229, "omega":-1.14317, "ax":1.52668, "ay":-5.22457, "alpha":10.61458, "fx":[73.81233,121.2117,-80.95964,-13.09902], "fy":[-100.16745,-27.62884,-94.00653,-123.71783]},
+    {"t":6.94446, "x":2.40798, "y":4.03041, "heading":-3.07972, "vx":-0.0992, "vy":0.37506, "omega":-0.76279, "ax":1.42493, "ay":-5.2375, "alpha":10.61576, "fx":[71.90275,120.93521,-82.76078,-15.84103], "fy":[-101.56441,-28.95239,-92.44771,-123.41096]},
+    {"t":6.98029, "x":2.40534, "y":4.04048, "heading":-3.10706, "vx":-0.04814, "vy":0.18737, "omega":-0.38236, "ax":1.34331, "ay":-5.22852, "alpha":10.66974, "fx":[70.63876,120.81847,-84.77133,-17.84804], "fy":[-102.46132,-29.53496,-90.63663,-123.14867]},
+    {"t":7.01613, "x":2.40448, "y":4.04384, "heading":-3.12076, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index 015cb960..433e649c 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -13,6 +13,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.subsystems.climber.ClimberSubsystem;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
 import frc.robot.utils.FieldUtils.ClimbTargets;
 import frc.robot.utils.FieldUtils.TrenchPoses;
@@ -22,6 +23,7 @@
 /** Add your docs here. */
 public class Autos {
   private final SwerveSubsystem swerve;
+  private final ClimberSubsystem climber;
   private final AutoFactory factory;
   private static boolean autoFeed;
   private static boolean autoIntake;
@@ -94,51 +96,44 @@ public enum Obstacle {
   (each routine has a varition) (only for crossing paths ig)
 
   climb no climb variations
+
+  R is a middle point facing towards the neutral zone
+  M is middle poitns facing our alliance
     */
 
   public enum Path {
-    DtoFL("DT", "FL", Action.FEED), //
-    FLMtoCL("FLM", "CL", Action.CLIMB), //
-    FLMtoSL("FLM", "SLT", Action.SCORE), //
-    FLtoFLM("FL", "FLM", Action.FEED), //
-    // FLtoSL("FL", "SL", Action.SCORE), //not even used
-    FRMtoCR("FRM", "CR", Action.CLIMB), // todo make the bumper vs trench
-    FRMtoSR("FRM", "SR", Action.SCORE), // todo make the bumper vs trench
-    FRtoFRM("FR", "FRM", Action.FEED), //
-    // FRtoSR("FR", "SR", Action.SCORE), //not used so whatever
-    OtoFR("OT", "FR", Action.FEED), //
-    SLtoCL("SL", "CL", Action.CLIMB), //
-    SLtoCM("SL", "CM", Action.CLIMB), //
-    SLtoFL("SLT", "FL", Action.FEED), // todo make the bumper vs trench
-    SRtoCM("SR", "CM", Action.CLIMB), //
-    SRtoCR("SRT", "CR", Action.CLIMB), // this name is incorrect
-    SRtoFR("SR", "FR", Action.FEED), // wait why is this needed
-    PRtoO("PRT", "O", Action.OUTPOST), //
-    PLtoD("PLT", "D", Action.FLOW), // here make intake and SCORE
-    DtoIL("DT", "FL", Action.FLOW), //
-    ILMtoSL("FLM", "SLT", Action.SCORE),
+    // OUTPOST
+    PRtoO("PR", "O", Action.OUTPOST),
+    MRtoO("MR", "O", Action.OUTPOST),
+    CtoO("C", "O", Action.OUTPOST),
+    // DEPOT
+    PLtoD("PL", "D", Action.INTAKE),
+    // FEED
+    FLtoFLM("FL", "FLM", Action.FEED),
+    FRtoFRM("FR", "FRM", Action.FEED),
+    FLMtoML("FLM", "ML", Action.FEED),
+    FRMtoMR("FRM", "MR", Action.FEED),
+    // INTAKE
     ILtoILM("FL", "FLM", Action.INTAKE),
-    // ILtoSL("FL", "SL", Action.SCORE), //not even used
-    IRMtoSR("FRM", "SR", Action.SCORE), // todo make the bumper vs trench
-    IRtoIRM("FR", "FRM", Action.INTAKE), // todo make the bumper vs trench
-    // IRtoSR("FR", "SR", Action.SCORE), //not even used
-    OtoIR("OT", "FR", Action.FLOW),
-    // SLtoIL("SL", "FL", Action.INTAKE), //not even used
-    //  SRtoIR("SR", "FR", Action.INTAKE); //not even used
-    // better naming for DLt etc
+    IRtoIRM("FR", "FRM", Action.INTAKE),
     ILMtoML("FLM", "ML", Action.INTAKE),
-    MLtoSL("ML", "SL", Action.SCORE),
     IRMtoMR("FRM", "MR", Action.INTAKE),
-    MRtoSR("MR", "SR", Action.SCORE),
-    // feeding ones
-    FLMtoML("FLM", "ML", Action.FEED),
-    FRMtoMR("FRM", "MR", Action.FEED),
+    RLtoIL("RL", "FL", Action.INTAKE),
+    RRtoIR("RR", "FR", Action.INTAKE),
+    PRtoIR("PR", "FR", Action.INTAKE),
+    PLtoIL("PL", "FL", Action.INTAKE),
+    // SCORE
+    DtoRL("D", "RL", Action.SCORE),
+    OtoRR("O", "RR", Action.SCORE),
+    DtoC("D", "C", Action.SCORE),
+    // FLOW
+    MLtoD("ML", "D", Action.FLOW),
+    // CLIMB
     MLtoCL("ML", "CL", Action.CLIMB),
     MRtoCR("MR", "CR", Action.CLIMB),
-    DtoRL("DT", "RL", Action.SCORE),
-    RLtoFL("RL", "FL", Action.FEED),
-    OtoRR("OT", "RR", Action.SCORE),
-    RRtoFR("RR", "FR", Action.FEED),
+    OtoCR("O", "CR", Action.CLIMB),
+    DtoCL("D", "CL", Action.CLIMB),
+
     RUNtoTEST("RUN", "TEST", Action.NOTHING);
 
     private final String start;
@@ -158,8 +153,9 @@ public AutoTrajectory getTrajectory(AutoRoutine routine) {
     }
   }
 
-  public Autos(SwerveSubsystem swerve) {
+  public Autos(SwerveSubsystem swerve, ClimberSubsystem climber) {
     this.swerve = swerve;
+    this.climber = climber;
     factory =
         new AutoFactory(
             swerve::getPose,
@@ -174,6 +170,7 @@ public Autos(SwerveSubsystem swerve) {
                           && DriverStation.getAlliance().get().equals(Alliance.Blue)
                       ? traj.getPoses()
                       : traj.flipped().getPoses());
+              Logger.recordOutput("Choreo/Active Traj Name", traj.name());
             });
   }
 
@@ -218,21 +215,27 @@ public Command runPath(Path path, AutoRoutine routine) {
 
   public Command climbPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
-        setAutoScoreReqTrue(),
+        setAutoScoreReqFalse(),
         setAutoIntakeReqFalse(),
+        setAutoPreClimbReqTrue(),
+        // Commands.parallel(
         path.getTrajectory(routine)
             .cmd()
             .until(
-                routine.observe(
-                    path.getTrajectory(routine)
-                        .atTime(
-                            path.getTrajectory(routine).getRawTrajectory().getTotalTime()
-                                - (0.3)))),
-        setAutoPreClimbReqTrue(),
-        swerve
-            .alignToClimb(() -> getClimbAutoTarget())
-            .until(() -> swerve.isInTolerance(getClimbAutoTarget().getPose(), 0.05, 0.05)),
-        setAutoClimbReqTrue());
+                // routine.observe(
+                //     path.getTrajectory(routine)
+                //         .atTime(
+                //             path.getTrajectory(routine).getRawTrajectory().getTotalTime()
+                //                 - (0.3)))),
+                path.getTrajectory(routine).done()),
+        Commands.parallel(swerve.stop(), setAutoScoreReqTrue()).repeatedly().withTimeout(4),
+        Commands.parallel(
+            swerve.alignToClimb(() -> getClimbAutoTarget()),
+            Commands.waitUntil(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose()))
+                .andThen(
+                    Commands.print("hooray!")
+                    // setAutoClimbReqTrue()
+                    )));
   }
 
   public Command feedPath(Path path, AutoRoutine routine) {
@@ -247,9 +250,13 @@ public Command feedPath(Path path, AutoRoutine routine) {
   public Command scorePath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoIntakeReqFalse(),
-        setAutoScoreReqTrue(),
+        // setAutoScoreReqTrue(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
-        setAutoScoreReqFalse());
+        // setAutoScoreReqTrue()
+        // ,
+        // setAutoScoreReqFalse()
+        setAutoScoreReqTrue(),
+        swerve.stop().repeatedly().withTimeout(3));
   }
 
   public Command emptyPath(Path path, AutoRoutine routine) {
@@ -260,6 +267,7 @@ public Command emptyPath(Path path, AutoRoutine routine) {
   public Command intakePath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqFalse(),
+        setAutoFlowReqFalse(),
         setAutoIntakeReqTrue(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
         setAutoIntakeReqFalse());
@@ -269,7 +277,7 @@ public Command flowPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
         setAutoScoreReqTrue(),
         setAutoFlowReqTrue(),
-        setAutoIntakeReqTrue(),
+        // setAutoIntakeReqTrue(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()));
   }
 
@@ -286,11 +294,13 @@ public ClimbTargets getClimbAutoTarget() {
 
   public Command outpostPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
-        setAutoScoreReqTrue(),
-        setAutoFlowReqTrue(),
-        setAutoIntakeReqTrue(),
+        setAutoScoreReqFalse(),
+        setAutoFlowReqFalse(),
+        setAutoIntakeReqFalse(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
-        Commands.waitSeconds(1.5));
+        swerve.stop().repeatedly().withTimeout(2)
+        // Commands.waitSeconds(1)
+        );
   }
 
   public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) {
@@ -364,15 +374,34 @@ public Command setAllReqsFalse() {
         setAutoClimbReqFalse());
   }
 
+  public void setAllReqsFalsenotcmd() {
+    autoIntake = false;
+    autoScore = false;
+    autoFeed = false;
+    autoPreClimb = false;
+    autoFlow = false;
+    autoClimb = false;
+  }
+
   public Command setleftClimbAutoTrue() {
     return Commands.runOnce(() -> leftClimbAuto = true);
   }
 
+  public Command setleftClimbAutoFalse() {
+    return Commands.runOnce(() -> leftClimbAuto = false);
+  }
+
   public Command getDepotScoreClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto");
     lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
     Path[] paths = {
-      Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoML, Path.MLtoCL
+      Path.PLtoD,
+      Path.DtoRL,
+      Path.RLtoIL,
+      // Path.ILtoILM,
+      Path.ILMtoML,
+      Path.MLtoCL
+      // Path.DtoIL,
     }; // , Path.SLtoCL};
     Command autoCommand =
         paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue());
@@ -388,8 +417,13 @@ public Command getDepotScoreClimbAuto() {
 
   public Command getOutpostScoreClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto");
-    Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoSR, Path.SRtoCR};
-    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry();
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {
+      Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoCR // , Path.SRtoCR
+    };
+    // Path.OtoIR,
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
 
     for (Path p : paths) {
       autoCommand = autoCommand.andThen(runPath(p, routine));
@@ -402,7 +436,8 @@ public Command getOutpostScoreClimbAuto() {
 
   public Command getDepotFeedClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto");
-    Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoFL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL};
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL};
     Command autoCommand =
         paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue());
 
@@ -417,8 +452,75 @@ public Command getDepotFeedClimbAuto() {
 
   public Command getOutpostFeedClimbAuto() {
     final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto");
-    Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoFR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR};
-    Command autoCommand = paths[0].getTrajectory(routine).resetOdometry();
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
+  // awful names.. mb
+  public Command getFillDepotScoreClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Fill Depot Score Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue());
+    // TODO set left climb true
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
+  public Command getFillOutpostScoreClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Fill Outpost Score Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
+  public Command getDepotClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Depot Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PLtoD, Path.DtoCL};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
+
+    for (Path p : paths) {
+      autoCommand = autoCommand.andThen(runPath(p, routine));
+    }
+    routine.active().whileTrue(autoCommand);
+
+    return routine.cmd();
+  }
+
+  public Command getDepotOutpostClimbAuto() {
+    final AutoRoutine routine = factory.newRoutine("Depot Outpost Climb Auto");
+    lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1);
+    Path[] paths = {Path.PLtoD, Path.DtoC, Path.CtoO, Path.OtoCR};
+    Command autoCommand =
+        paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse());
 
     for (Path p : paths) {
       autoCommand = autoCommand.andThen(runPath(p, routine));
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ada31fa8..0bd25b81 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -498,11 +498,13 @@ public Robot() {
     Logger.recordOutput("Robot Edition", ROBOT_EDITION);
 
     shooter.turretInit();
+    intake.slapdownInit();
 
     PhoenixOdometryThread.getInstance().start();
 
     SmartDashboard.putData("[BE ENABLED] Current zero climber", climber.runCurrentZeroing());
-    SmartDashboard.putData("Zero Intake", intake.zeroRackOffCancoder().ignoringDisable(true));
+    SmartDashboard.putData(
+        "Zero Intake Off Cancoder", intake.zeroPivotOffCancoder().ignoringDisable(true));
     SmartDashboard.putData("Zero Hood", shooter.zeroHood().ignoringDisable(true));
     SmartDashboard.putData(
         "Test shot",
@@ -554,7 +556,7 @@ public Robot() {
     addControllerBindings(indexer, shooter, intake);
 
     // Auto things
-    autos = new Autos(swerve);
+    autos = new Autos(swerve, climber);
     autoChooser.addDefaultOption("None", Commands.none());
 
     // Run auto when auto starts. Matches Choreolib's defer impl
@@ -726,7 +728,8 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
             shooter
                 .resetTurretToPosition(shooter.getCalculatedTurretRotations())
                 .andThen(
-                    Commands.parallel(shooter.runCurrentZeroing(), intake.runCurrentZeroing())));
+                    Commands.parallel(
+                        shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing())));
 
     new Trigger(() -> AutoAim.targetInTurretDeadzone())
         .onTrue(driver.rumbleCmd(1, 1).withTimeout(0.25));
@@ -735,7 +738,10 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
         .leftBumper()
         .or(Autos.autoLeftClimbReq)
         .onTrue(Commands.runOnce(() -> leftClimbTarget = true));
-    operator.rightBumper().onTrue(Commands.runOnce(() -> leftClimbTarget = false));
+    operator
+        .rightBumper()
+        .or(Autos.autoLeftClimbReq.negate())
+        .onTrue(Commands.runOnce(() -> leftClimbTarget = false));
 
     // TODO: ACTUAL BINDING LOL
     // test shot
@@ -802,6 +808,10 @@ private void addAutos() {
     autoChooser.addOption("Depot Score Climb", autos.getDepotScoreClimbAuto());
     autoChooser.addOption("Outpost Feed Climb", autos.getOutpostFeedClimbAuto());
     autoChooser.addOption("Outpost Score Climb", autos.getOutpostScoreClimbAuto());
+    autoChooser.addOption("Fill Depot Score Climb", autos.getFillDepotScoreClimbAuto());
+    autoChooser.addOption("Fill Outpost Score Climb", autos.getFillOutpostScoreClimbAuto());
+    autoChooser.addOption("Depot Climb", autos.getDepotClimbAuto());
+    autoChooser.addOption("Depot Outpost Climb", autos.getDepotOutpostClimbAuto());
     autoChooser.addOption("Test Auto", autos.getTestAuto());
 
     haveAutosGenerated = true;
@@ -814,7 +824,7 @@ private void addCompSysids(
     autoChooser.addOption("Climber Sysid", climber.runClimberSysid());
     autoChooser.addOption("Indexer Roller Sysid", indexer.runRollerSysId());
     autoChooser.addOption("Intake Roller Sysid", intake.runRollerSysid());
-    autoChooser.addOption("Intake Extension Sysid", intake.runPivotSysid());
+    autoChooser.addOption("Intake Pivot Sysid", intake.runPivotSysid());
     autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid());
 
     autoChooser.addOption("Hood Sysid", shooter.runHoodSysid());
@@ -908,6 +918,8 @@ public void robotPeriodic() {
     Logger.recordOutput(
         "trench poses",
         Arrays.stream(TrenchPoses.values()).map(target -> target.getPose()).toArray(Pose2d[]::new));
+
+    Logger.recordOutput("Turret/out of range", AutoAim.targetInTurretDeadzone());
   }
 
   public void updateAlerts() {
@@ -988,6 +1000,7 @@ public void simulationPeriodic() {
   @Override
   public void disabledInit() {
     addAutos();
+    System.out.println("--------------Robot Disabled-----------");
   }
 
   @Override
@@ -997,16 +1010,22 @@ public void disabledPeriodic() {}
   public void disabledExit() {}
 
   @Override
-  public void autonomousInit() {}
+  public void autonomousInit() {
+    intake.slapdownInit();
+  }
 
   @Override
   public void autonomousPeriodic() {}
 
   @Override
-  public void autonomousExit() {}
+  public void autonomousExit() {
+    autos.setAllReqsFalsenotcmd();
+  }
 
   @Override
-  public void teleopInit() {}
+  public void teleopInit() {
+    intake.slapdownInit();
+  }
 
   @Override
   public void teleopPeriodic() {}
diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java
index 206aadac..093c0d5d 100644
--- a/src/main/java/frc/robot/Superstructure.java
+++ b/src/main/java/frc/robot/Superstructure.java
@@ -44,7 +44,9 @@ public enum SuperState {
     SPIT,
     PRE_CLIMB,
     CLIMB,
-    POST_CLIMB;
+    POST_CLIMB,
+    SPIN_UP_SCORE_PRE_CLIMB,
+    SCORE_PRE_CLIMB;
     public final Trigger trigger;
 
     private SuperState() {
@@ -174,12 +176,12 @@ private void addTriggers() {
     operator
         .a()
         .and(DriverStation::isTeleop)
-        .or(new Trigger(Autos.autoFlowReq))
+        .or(Autos.autoFlowReq)
         .onTrue(Commands.runOnce(() -> flowState = true));
     operator
         .b()
         .and(DriverStation::isTeleop)
-        .or(new Trigger(Autos.autoFlowReq).negate())
+        .or(Autos.autoFlowReq.negate().and(DriverStation::isAutonomous))
         .onTrue(Commands.runOnce(() -> flowState = false));
 
     operator.leftBumper().onTrue(Commands.runOnce(() -> feedTarget = FeedTarget.LEFT));
@@ -205,8 +207,9 @@ private void addTriggers() {
 
     readyTrigger =
         new Trigger(shooter::atFlywheelVelocitySetpoint)
-            .debounce(0.05)
+            // .debounce(0.05)
             .and(new Trigger(shooter::atHoodSetpoint).debounce(0.05))
+            .and(new Trigger(shooter::atTurretSetpoint).debounce(0.05))
     // .and(
     //     new Trigger(
     //             () -> {
@@ -234,7 +237,7 @@ private void addTransitions() {
 
     bindTransition(SuperState.SPIN_UP_SCORE, SuperState.SCORE, readyTrigger);
 
-    // bindTransition(SuperState.SCORE, SuperState.SPIN_UP_SCORE, readyTrigger.negate());
+    bindTransition(SuperState.SCORE, SuperState.SPIN_UP_SCORE, readyTrigger.negate());
 
     bindTransition(SuperState.SPIN_UP_SCORE, SuperState.IDLE, shootReq.negate());
 
@@ -305,11 +308,38 @@ private void addTransitions() {
 
     bindTransition(SuperState.SPIT, SuperState.IDLE, antiJamReq.negate());
 
-    (preClimbReq.and(climbReq.negate())).onTrue(changeStateTo(SuperState.PRE_CLIMB));
+    (preClimbReq.and(climbReq.negate()).and(() -> DriverStation.isTeleop()))
+        .onTrue(changeStateTo(SuperState.PRE_CLIMB));
 
     bindTransition(SuperState.PRE_CLIMB, SuperState.CLIMB, climbReq);
     bindTransition(
         SuperState.PRE_CLIMB, SuperState.IDLE, preClimbReq.negate().and(climbReq.negate()));
+
+    bindTransition(
+        SuperState.SPIN_UP_SCORE_FLOW,
+        SuperState.SPIN_UP_SCORE_PRE_CLIMB,
+        new Trigger(() -> DriverStation.isAutonomous()).and(preClimbReq).and(scoreReq));
+
+    bindTransition(
+        SuperState.SPIN_UP_SCORE_PRE_CLIMB,
+        SuperState.SCORE_PRE_CLIMB,
+        new Trigger(() -> DriverStation.isAutonomous())
+            .and(preClimbReq)
+            .and(scoreReq)
+            .and(readyTrigger));
+
+    bindTransition(
+        SuperState.SCORE_FLOW,
+        SuperState.SCORE_PRE_CLIMB,
+        new Trigger(() -> DriverStation.isAutonomous())
+            .and(preClimbReq)
+            .and(scoreReq)
+            .and(readyTrigger));
+
+    bindTransition(
+        SuperState.SCORE_PRE_CLIMB,
+        SuperState.CLIMB,
+        new Trigger(() -> DriverStation.isAutonomous()).and(climbReq));
   }
 
   private void addCommands() {
@@ -498,7 +528,7 @@ private void addCommands() {
         climber.retract());
 
     bindCommands(
-        SuperState.SPIT, intake.agitate(), indexer.spit(), shooter.spit(), climber.retract());
+        SuperState.SPIT, intake.outtake(), indexer.spit(), shooter.spit(), climber.retract());
     bindCommands(
         SuperState.PRE_CLIMB,
         intake.restRetracted(),
@@ -517,6 +547,49 @@ private void addCommands() {
         indexer.rest(),
         shooter.rest(swerve::getPose, swerve::getVelocityFieldRelative),
         climber.extend());
+
+    bindCommands(
+        SuperState.SPIN_UP_SCORE_PRE_CLIMB,
+        intake.restRetracted(),
+        indexer.rest(),
+        shooter.score(
+            swerve::getPose,
+            () ->
+                AutoAim.getCompensatedSOTMShotData(
+                    shooter.getTurretPose(swerve.getPose()),
+                    FieldUtils.getCurrentHubTranslation(),
+                    swerve.getVelocityFieldRelative(),
+                    Robot.ROBOT_EDITION == RobotEdition.ALPHA
+                        ? AutoAim.ALPHA_HUB_SHOT_TREE
+                        : AutoAim.COMP_HUB_SHOT_TREE),
+            swerve::getVelocityFieldRelative),
+        climber.extend());
+
+    bindCommands(
+        SuperState.SCORE_PRE_CLIMB,
+        intake.restRetracted(),
+        indexer.kick(
+            () ->
+                AutoAim.getCompensatedSOTMShotData(
+                        shooter.getTurretPose(swerve.getPose()),
+                        FieldUtils.getCurrentHubTranslation(),
+                        swerve.getVelocityFieldRelative(),
+                        Robot.ROBOT_EDITION == RobotEdition.ALPHA
+                            ? AutoAim.ALPHA_HUB_SHOT_TREE
+                            : AutoAim.COMP_HUB_SHOT_TREE)
+                    .flywheelVelocityRotPerSec()),
+        shooter.score(
+            swerve::getPose,
+            () ->
+                AutoAim.getCompensatedSOTMShotData(
+                    shooter.getTurretPose(swerve.getPose()),
+                    FieldUtils.getCurrentHubTranslation(),
+                    swerve.getVelocityFieldRelative(),
+                    Robot.ROBOT_EDITION == RobotEdition.ALPHA
+                        ? AutoAim.ALPHA_HUB_SHOT_TREE
+                        : AutoAim.COMP_HUB_SHOT_TREE),
+            swerve::getVelocityFieldRelative),
+        climber.extend());
   }
 
   public void periodic() {
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
index 295af21d..940ab039 100644
--- a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
@@ -2,6 +2,7 @@
 
 import static edu.wpi.first.units.Units.Volts;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Alert;
@@ -62,6 +63,7 @@ public void periodic() {
 
   public ClimberSubsystem(ClimberIO climberIO) {
     this.io = climberIO;
+    io.resetEncoder(Units.inchesToMeters(1));
   }
 
   public Command extend() {
@@ -115,4 +117,9 @@ public double getClimberExtensionMeters() {
   public double getClimberSetpointMeters() {
     return io.getClimberSetpointMeters();
   }
+
+  public boolean atFullExtension() {
+    return MathUtil.isNear(
+        getClimberExtensionMeters(), MAX_EXTENSION_METERS, Units.inchesToMeters(1));
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java
index ca627db4..2998a390 100644
--- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java
@@ -99,10 +99,10 @@ public Command kick(DoubleSupplier flywheelSpeedSupplier) {
               double spinnerSpeed = surfaceSpeedInPerSec / (Math.PI * SPINNER_DIAMETER_INCHES);
               Logger.recordOutput("Indexer/Spinner/Adjusted speed", spinnerSpeed);
               Logger.recordOutput("Indexer/Kicker/Adjusted speed", kickerSpeed);
-              spinnerIO.setRollerVelocity(spinnerSpeed);
-              kickerIO.setRollerVelocity(kickerSpeed);
+              spinnerIO.setRollerVelocity(spinnerSpeed - 1);
+              // kickerIO.setRollerVelocity(kickerSpeed - 5);
               // spinnerIO.setRollerVelocity(20);
-              // kickerIO.setRollerVelocity(15);
+              kickerIO.setRollerVelocity(15);
             })
         //     .withTimeout(3),
         // this.run(
diff --git a/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java
index 8cc77389..b669241c 100644
--- a/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/intake/FintakeSubsystem.java
@@ -58,6 +58,11 @@ public Command intake() {
     return this.run(() -> io.setRollerVoltage(10));
   }
 
+  @Override
+  public Command outtake() {
+    return this.run(() -> io.setRollerVoltage(-10));
+  }
+
   @Override
   public Command agitate() {
     return this.run(() -> io.setRollerVoltage(-5));
@@ -111,7 +116,7 @@ public Rotation2d getPositionSetpoint() {
   }
 
   @Override
-  public Command zeroRackOffCancoder() {
+  public Command zeroPivotOffCancoder() {
     return this.idle();
   }
 
diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 14620daf..622a9247 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -14,6 +14,8 @@ public interface Intake extends Subsystem {
   /** Run balls towards the shooter */
   public Command intake();
 
+  public Command outtake();
+
   /** Run balls away from the shooter. This is for antijamming the robot */
   public Command agitate();
 
@@ -33,7 +35,7 @@ public default Command runPivotSysid() {
     return Commands.none();
   }
 
-  public Command zeroRackOffCancoder();
+  public Command zeroPivotOffCancoder();
 
   public Command runCurrentZeroing();
 
@@ -44,4 +46,6 @@ public default Command climb() {
   public default Command restRetracted() {
     return Commands.none();
   }
+
+  public default void slapdownInit() {}
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
index 6dba33dc..0174bac5 100644
--- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
@@ -4,6 +4,7 @@
 
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.GravityTypeValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
@@ -30,13 +31,13 @@
 import org.littletonrobotics.junction.Logger;
 
 public class SlapdownSubsystem extends SubsystemBase implements Intake {
-  public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromDegrees(5.425);
+  public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.051025);
   public static final Rotation2d PIVOT_MAX_POSITION =
-      Rotation2d.fromDegrees(145.425); // Not so sure abt this one...
-  public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION; // TODO
-  public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION; // TODO
+      Rotation2d.fromDegrees(122); // Not so sure abt this one...
+  public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION;
+  public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION;
   public static final double CURRENT_ZEROING_THRESHOLD = 30.0; // TODO: TUNE
-  public static final double ROLLER_GEAR_RATIO = 2.0;
+  public static final double ROLLER_GEAR_RATIO = 60.0 / 29.0;
   public static final double PIVOT_GEAR_RATIO = 39.375;
 
   private final PivotIO pivotIO;
@@ -83,6 +84,11 @@ public SlapdownSubsystem(PivotIO pivotIO, CANcoderIO cancoderIO, RollerIO roller
             new Mechanism((volts) -> pivotIO.setMotorVoltage(volts.in(Volt)), null, this));
   }
 
+  @Override
+  public void slapdownInit() {
+    pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations);
+  }
+
   @Override
   public void periodic() {
     pivotIO.updateInputs(pivotIOInputs);
@@ -122,7 +128,7 @@ public Command agitate() {
             this.run(
                     () -> {
                       pivotIO.setMotorPositionSetpoint(
-                          PIVOT_EXTENDED_POSITION.minus(Rotation2d.fromDegrees(30))); // TODO: TUNE
+                          PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40)));
                       rollerIO.setRollerVelocity(10.0);
                     })
                 .until(atExtensionTrigger))
@@ -133,16 +139,35 @@ public Command agitate() {
   public Command intake() {
     return this.run(
         () -> {
-          // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
+          pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
           rollerIO.setRollerVelocity(80);
         });
   }
 
+  @Override
+  public Command outtake() {
+    return this.run(
+        () -> {
+          pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
+          rollerIO.setRollerVelocity(-80);
+        });
+  }
+
   @Override
   public Command restExtended() {
+    return this.run(
+            () -> {
+              pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
+              rollerIO.setRollerVoltage(0.0);
+            })
+        .unless(atExtensionTrigger);
+  }
+
+  @Override
+  public Command restRetracted() {
     return this.run(
         () -> {
-          // pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
+          pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION);
           rollerIO.setRollerVoltage(0.0);
         });
   }
@@ -152,7 +177,7 @@ public Command runCurrentZeroing() {
     return Commands.sequence(
         this.run(() -> pivotIO.setMotorVoltage(-2)), // TODO: TUNE VOLTAGE
         Commands.waitUntil(() -> currentFilterValue > CURRENT_ZEROING_THRESHOLD),
-        this.runOnce(() -> pivotIO.resetEncoder(Rotation2d.kZero)),
+        this.runOnce(() -> pivotIO.resetEncoder(PIVOT_MIN_POSITION)),
         Commands.print("Intake pivot zeroed"));
   }
 
@@ -190,7 +215,7 @@ public Command runPivotSysid() {
   }
 
   @Override
-  public Command zeroRackOffCancoder() {
+  public Command zeroPivotOffCancoder() {
     return this.runOnce(() -> pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations));
   }
 
@@ -211,8 +236,7 @@ public Rotation2d getPositionSetpoint() {
   }
 
   public boolean atExtension() {
-    return MathUtil.isNear(
-        getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 2); // TODO: TUNE TOLERANCE
+    return MathUtil.isNear(getPositionSetpoint().getDegrees(), getPosition().getDegrees(), 5);
   }
 
   public static TalonFXConfiguration getPivotConfig() {
@@ -220,26 +244,29 @@ public static TalonFXConfiguration getPivotConfig() {
 
     config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
     config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
+    config.Feedback.FeedbackRemoteSensorID = 6;
+    config.Feedback.RotorToSensorRatio = PIVOT_GEAR_RATIO;
 
-    config.Feedback.SensorToMechanismRatio = PIVOT_GEAR_RATIO;
+    config.Feedback.SensorToMechanismRatio = 1;
 
-    config.Slot0.kS = 0.0;
-    config.Slot0.kV = 0.0;
+    config.Slot0.kS = 0.05;
+    config.Slot0.kV = 8.0; // Might suck
     config.Slot0.kA = 0.0;
+    config.Slot0.kG = 0.55;
     config.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
     config.Slot0.GravityArmPositionOffset = 0.0; // Maybe need this??
-    config.Slot0.kP = 0.0;
-    config.Slot0.kD = 0.0;
+    config.Slot0.kP = 8.0;
+    config.Slot0.kD = 0.3;
 
-    // TODO: TUNE
-    config.CurrentLimits.StatorCurrentLimit = 80.0; // glup
-    config.CurrentLimits.StatorCurrentLimitEnable = false;
+    config.CurrentLimits.StatorCurrentLimit = 45.0; // glup
+    config.CurrentLimits.StatorCurrentLimitEnable = true;
     config.CurrentLimits.SupplyCurrentLimit = 40.0;
     config.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     // TODO: TUNE
-    config.MotionMagic.MotionMagicCruiseVelocity = 5;
-    config.MotionMagic.MotionMagicAcceleration = 10;
+    config.MotionMagic.MotionMagicCruiseVelocity = 1;
+    config.MotionMagic.MotionMagicAcceleration = 1;
 
     return config;
   }
@@ -270,9 +297,8 @@ public static TalonFXConfiguration getRollerConfig() {
   public static CANcoderConfiguration getCancoderConfig() {
     CANcoderConfiguration config = new CANcoderConfiguration();
 
-    // TODO: TUNE
     config.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
-    config.MagnetSensor.MagnetOffset = 0.0;
+    config.MagnetSensor.MagnetOffset = 0.262;
     config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
 
     return config;
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index a5344d3f..ae05b484 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -64,7 +64,7 @@ public default Command torqueCurrentTest(
    * Runs the hood backwards until it hits its hard stop and the current spikes, then resets encoder
    * position.
    */
-  public Command runCurrentZeroing();
+  public Command runHoodCurrentZeroing();
 
   public Rotation2d getHoodSetpoint();
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
index bd7c8829..f403d053 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -178,7 +178,7 @@ public Command zeroHood() {
   }
 
   @Override
-  public Command runCurrentZeroing() {
+  public Command runHoodCurrentZeroing() {
     return this.run(() -> hoodIO.setHoodVoltage(-3.0))
         .until(
             new Trigger(() -> Math.abs(currentFilterValue) > CURRENT_ZERO_THRESHOLD).debounce(0.25))
diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
index ceb8dffd..079da6b6 100644
--- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
@@ -60,7 +60,7 @@ public class TurretSubsystem extends SubsystemBase implements Shooter {
       // Changed to avoid cooking cable chain/wires
       // Plus 0 because then the rotation2d automatically wraps the value between -0.5 and 0.5
       // (worked in sim)
-      Rotation2d.fromDegrees(-260).plus(Rotation2d.kZero); // 0.25 // -0.75 // -0.719536);
+      Rotation2d.fromDegrees(-259.013672).plus(Rotation2d.kZero); // 0.25 // -0.75 // -0.719536);
 
   @AutoLogOutput(key = "Shooter/Turret/Forward Hardstop")
   public static Rotation2d TURRET_FORWARD_HARDSTOP_ANGLE =
@@ -208,7 +208,7 @@ public static CANcoderConfiguration getCancoder24tConfigs() {
     config.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
     // this is to offset the position where both cancoders are equal to be inside the deadzone
     // Offset measured at rear hardstop (approx -259 degrees)
-    config.MagnetSensor.MagnetOffset = -0.7768 - TurretIO.CANCODER_24T_TO_TURRET_GEAR_RATIO / 0.1;
+    config.MagnetSensor.MagnetOffset = -0.765137 - TurretIO.CANCODER_24T_TO_TURRET_GEAR_RATIO / 0.1;
     config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 1.0;
 
     return config;
@@ -220,7 +220,7 @@ public static CANcoderConfiguration getCancoder26tConfigs() {
     config.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
     // this is to offset the position where both cancoders are equal to be inside the deadzone
     // Offset measured at rear hardstop (approx -259 degrees)
-    config.MagnetSensor.MagnetOffset = -0.4995 - TurretIO.CANCODER_26T_TO_TURRET_GEAR_RATIO / 0.1;
+    config.MagnetSensor.MagnetOffset = -0.4897 - TurretIO.CANCODER_26T_TO_TURRET_GEAR_RATIO / 0.1;
     config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 1.0;
 
     return config;
@@ -395,7 +395,7 @@ public Command zeroHood() {
     return this.runOnce(() -> hoodIO.resetEncoder(HOOD_MIN_ANGLE));
   }
 
-  public Command runCurrentZeroing() {
+  public Command runHoodCurrentZeroing() {
     return this.run(() -> hoodIO.setHoodVoltage(-3.0))
         .until(
             new Trigger(() -> Math.abs(currentFilterValue) > HOOD_CURRENT_ZERO_THRESHOLD)
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
index 8412632f..04be3342 100644
--- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -1,5 +1,7 @@
 package frc.robot.subsystems.swerve;
 
+import static edu.wpi.first.units.Units.Inch;
+import static edu.wpi.first.units.Units.KilogramSquareMeters;
 import static edu.wpi.first.units.Units.Meter;
 import static edu.wpi.first.units.Units.Volts;
 
@@ -74,7 +76,9 @@
 import org.ironmaple.simulation.SimulatedArena;
 import org.ironmaple.simulation.drivesims.COTS;
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
+import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
 import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
+import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
@@ -128,18 +132,33 @@ public class SwerveSubsystem extends SubsystemBase {
 
   private final SysIdRoutine turnSysid;
 
+  private final SwerveModuleSimulationConfig mk5nModuleConfig =
+      new SwerveModuleSimulationConfig(
+          DCMotor.getKrakenX60Foc(1),
+          DCMotor.getKrakenX44Foc(1),
+          SwerveSubsystem.SWERVE_CONSTANTS.getDriveGearRatio(),
+          SwerveSubsystem.SWERVE_CONSTANTS.getTurnGearRatio(),
+          Volts.of(0.1),
+          Volts.of(0.2),
+          Inch.of(2),
+          KilogramSquareMeters.of(0.03),
+          2.25);
+  // ripped the drive friction voltage, steer friction voltage, and steer rotational inertia from
+  // the mk4n- no clue if that's right lmao
   // Maple Sim Stuff
+  // TODO: UPDATE DRIVETRAIN SIM!!!
   private final DriveTrainSimulationConfig driveTrainSimConfig =
       DriveTrainSimulationConfig.Default()
           .withGyro(COTS.ofPigeon2())
           .withSwerveModule(
-              COTS.ofMark4n(
-                  DCMotor.getKrakenX60Foc(1),
-                  DCMotor.getKrakenX60Foc(1),
-                  // Still not sure where the 1.5 came from
-                  1.5,
-                  // Running l2+ swerve modules
-                  2))
+              // COTS.ofMark4n(
+              //     DCMotor.getKrakenX60Foc(1),
+              //     DCMotor.getKrakenX60Foc(1),
+              //     // Still not sure where the 1.5 came from
+              //     1.5,
+              //     // Running l2+ swerve modules
+              //     2))
+              () -> new SwerveModuleSimulation(mk5nModuleConfig))
           .withTrackLengthTrackWidth(
               Meter.of(SwerveSubsystem.SWERVE_CONSTANTS.getTrackWidthX()),
               Meter.of(SwerveSubsystem.SWERVE_CONSTANTS.getTrackWidthY()))
@@ -785,6 +804,7 @@ public Command trenchAlign(DoubleSupplier xVel, DoubleSupplier yVel) {
         .withName("trench align");
   }
 
+  @AutoLogOutput(key = "Swerve/Near Trench")
   public boolean isNearTrench() {
     double x = getPose().getX();
     double y = getPose().getY();
@@ -913,8 +933,8 @@ private SwerveModuleState[] getModuleStates() {
   @SuppressWarnings("resource")
   public Consumer<SwerveSample> choreoDriveController() {
     // TODO: TUNE
-    final PIDController xController = new PIDController(5.0, 0.0, 0.0);
-    final PIDController yController = new PIDController(5.0, 0.0, 0.0);
+    final PIDController xController = new PIDController(10.0, 0.0, 0.0);
+    final PIDController yController = new PIDController(10.0, 0.0, 0.0);
     final PIDController headingController = new PIDController(6.0, 0.0, 0.0);
     headingController.enableContinuousInput(-Math.PI, Math.PI);
     return (sample) -> {
diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
index 5c711edb..53b5e440 100644
--- a/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
+++ b/src/main/java/frc/robot/subsystems/swerve/constants/comp/R1WispSwerveConstants.java
@@ -147,7 +147,7 @@ public double getMaxLinearSpeed() {
   public double getMaxLinearAcceleration() {
     // Calculated in Choreo for R1 ratio
     // return 9.056;
-    return 22.073;
+    return 13.392; // 22.073;
   }
 
   @Override
@@ -166,7 +166,7 @@ public double getTurnGearRatio() {
   @Override
   public Mass getMass() {
     // From CAD (retrieved 1/29/26), with bumpers and battery
-    return Pound.of(136.185702);
+    return Pound.of(145.8); // 136.185702);
   }
 
   // TODO: CANCODER OFFSETS
diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
index e911a3f9..8ec53e41 100644
--- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java
+++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
@@ -17,6 +17,7 @@
 public class AutoAim {
 
   private static boolean outOfRange = false; // TODO not sure if this should be true by default
+
   public static double LATENCY_COMPENSATION_SECS =
       new LoggedTunableNumber("Latency time", 0.3).getAsDouble(); // 0.6; // TODO tune latency comp
   //   public static double SPIN_UP_SECS = 0.0; // TODO tune spinup time
diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java
index eb1e3c90..c555b24a 100644
--- a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java
+++ b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java
@@ -31,7 +31,7 @@ public class AutoAlign {
   static final ProfiledPIDController VY_CONTROLLER =
       new ProfiledPIDController(10.0, 0.01, 0.02, DEFAULT_TRANSLATIONAL_CONSTRAINTS);
   static final ProfiledPIDController HEADING_CONTROLLER =
-      new ProfiledPIDController(5.0, 0.0, 0.28, DEFAULT_ANGULAR_CONSTRAINTS);
+      new ProfiledPIDController(5.0, 0.0, 0.08, DEFAULT_ANGULAR_CONSTRAINTS);
 
   static {
     HEADING_CONTROLLER.enableContinuousInput(-Math.PI, Math.PI);