diff --git a/src/main/deploy/pathplanner/paths/HP to K.path b/src/main/deploy/pathplanner/paths/HP to K.path
index 42eb7a6..addc2ff 100644
--- a/src/main/deploy/pathplanner/paths/HP to K.path	
+++ b/src/main/deploy/pathplanner/paths/HP to K.path	
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7741803278688524,
-        "y": 6.530430327868851
+        "x": 2.058518835616438,
+        "y": 6.624443493150685
       },
       "isLocked": false,
       "linkedName": "HP Left Position"
@@ -20,8 +20,8 @@
         "y": 5.211782786885246
       },
       "prevControl": {
-        "x": 3.2246926229508195,
-        "y": 6.230737704918033
+        "x": 2.975085616438356,
+        "y": 6.023416095890411
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
new file mode 100644
index 0000000..4b70c88
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.756421232876712,
+        "y": 5.227054794520548
+      },
+      "prevControl": {
+        "x": 2.756421232876712,
+        "y": 5.227054794520548
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -59.18537788806707
+  },
+  "reversed": false,
+  "folder": "Left Paths",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
index faf3b7c..b3db789 100644
--- a/src/main/java/frc/robot/constants/VisionConstants.java
+++ b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -85,6 +85,6 @@ public class VisionConstants {
         {5.322, 2.511}//22
     };
 
-    public static final double latencyFudge = 0.03;
+    public static final double latencyFudge = 0.0;
 
 }
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index c1d36a8..7ebe7b4 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -204,6 +204,7 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("orange dist", vision.getOrangeDist());
         Logger.recordOutput("orange detected", vision.getOrangeTagDetected());
         Logger.recordOutput("orange tag", vision.getOrangeTagDetected());
+        Logger.recordOutput("orange FPS", vision.getOrangeFPS());
 
 
         if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
@@ -230,6 +231,7 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("black dist", vision.getBlackDist());
         Logger.recordOutput("black detected", vision.getBlackTagDetected());
         Logger.recordOutput("black tag", vision.getBlackTagDetected());
+        Logger.recordOutput("black FPS", vision.getBlackFPS());
 
         Logger.recordOutput("drive velocity", getVelocity());
         Logger.recordOutput("closest tag", getClosestTag());