diff --git a/src/main/deploy/pathplanner/autos/Center Subwoofer 1S.auto b/src/main/deploy/pathplanner/autos/Center Subwoofer 1S.auto
new file mode 100644
index 0000000..42fd024
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Center Subwoofer 1S.auto	
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.335622956146197,
+      "y": 5.5196408968316515
+    },
+    "rotation": 179.37978729180955
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Charge Shooter"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Subwoofer to Center"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Left Subwoofer Center 1S.auto b/src/main/deploy/pathplanner/autos/Left Subwoofer Center 1S.auto
new file mode 100644
index 0000000..07d4e33
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left Subwoofer Center 1S.auto	
@@ -0,0 +1,18 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 2
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": []
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto b/src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto
index 166a05f..b7048f2 100644
--- a/src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto	
+++ b/src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto	
@@ -17,6 +17,12 @@
             "name": "Charge Shooter"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path
new file mode 100644
index 0000000..93629d1
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path	
@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.335622956146197,
+        "y": 5.5196408968316515
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.3356229561461985,
+        "y": 5.5196408968316515
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.072055095677142,
+        "y": 5.028486410249174
+      },
+      "prevControl": {
+        "x": 3.364392809755599,
+        "y": 5.618204981850461
+      },
+      "nextControl": {
+        "x": 4.843869288878178,
+        "y": 4.385307915914977
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.299641721790566,
+        "y": 0.877061583182996
+      },
+      "prevControl": {
+        "x": 6.773404771880769,
+        "y": 4.046177437084219
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.9,
+      "rotationDegrees": 90.25335933192582,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 179.04515874612784,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 20a357a..7189454 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -189,7 +189,7 @@ public class RobotContainer {
         );
 
         // Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
-        driver.a().onTrue(
+        driver.leftBumper().onTrue(
             drivetrain.driveAprilTagLock(
                 driver::getLeftY, 
                 driver::getLeftX, 
@@ -260,6 +260,13 @@ public class RobotContainer {
         operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState()));
 
         driver.a().whileTrue(indexer.shootNote(() -> 1.0));
+
+        operator.back().toggleOnTrue(shooter.manualPivot(
+        () -> operator.getLeftY(),
+        () -> operator.getRightTriggerAxis()-operator.getLeftTriggerAxis()
+        ));
+
+        operator.start().onTrue(shooter.zeroEncoder());
         
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
index 4c577d0..5fe793b 100644
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -29,8 +29,10 @@ public class Climber extends SubsystemBase {
     public Command setSpeedWithSupplier(DoubleSupplier speed) {
         return run(() -> {
 
-            if(shooterAngle.getAsDouble() > Math.toRadians(-10.0)){
+            if(shooterAngle.getAsDouble() > Math.toRadians(-5.0)){
                 motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
+            }else{
+                motor1.set(VictorSPXControlMode.PercentOutput, 0);
             }
         });
     }
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 3e35e08..40f73d0 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -4,8 +4,6 @@ import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkPIDController;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
@@ -21,9 +19,6 @@ public class Shooter extends SubsystemBase{
     private CANSparkMax topShooter;
     private CANSparkMax bottomShooter;
 
-    private RelativeEncoder bottomEncoder;
-    private RelativeEncoder topEncoder;
-
     private CANSparkMax shooterPivot;
 
     private Encoder pivotEncoder;
@@ -42,9 +37,6 @@ public class Shooter extends SubsystemBase{
         shooterPivot = new CANSparkMax(ShooterConstants.kShooterPivotID, MotorType.kBrushless);
         shooterPivot.setInverted(true);
 
-        topEncoder = topShooter.getEncoder();
-        bottomEncoder = bottomShooter.getEncoder();
-
         /* 
         topPID = topShooter.getPIDController();
         topPID.setFeedbackDevice(topEncoder);
@@ -137,6 +129,12 @@ public class Shooter extends SubsystemBase{
         return pivotEncoder.getDistance() + ShooterConstants.kShooterLoadAngle;
     }
 
+    public Command zeroEncoder(){
+        return run(() -> {
+            pivotEncoder.reset();
+        });
+    }
+
     public Boolean getBeamBreak(){
         return shooterBeamBreak.get();
     }