diff --git a/.OutlineViewer/outlineviewer.json b/.OutlineViewer/outlineviewer.json
index 95beffa..76b27b5 100644
--- a/.OutlineViewer/outlineviewer.json
+++ b/.OutlineViewer/outlineviewer.json
@@ -8,6 +8,12 @@
   "NetworkTables Settings": {
     "mode": "Client (NT4)"
   },
+  "client@1": {
+    "Publishers": {
+      "open": true
+    },
+    "open": true
+  },
   "client@2": {
     "open": true
   },
diff --git a/src/main/deploy/pathplanner/autos/fein.auto b/src/main/deploy/pathplanner/autos/fein.auto
index dbd2a5c..0e47294 100644
--- a/src/main/deploy/pathplanner/autos/fein.auto
+++ b/src/main/deploy/pathplanner/autos/fein.auto
@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "fein"
+            "pathName": "New New Path"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/New New Path.path
index 15c46cb..ea34786 100644
--- a/src/main/deploy/pathplanner/paths/New New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New New Path.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
-        "y": 7.0
+        "x": 2.5773565573770494,
+        "y": 6.506454918032786
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0,
-        "y": 7.0
+        "x": 3.5773565573770494,
+        "y": 6.506454918032786
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.891,
-        "y": 5.284
+        "x": 4.735143442622951,
+        "y": 6.506454918032786
       },
       "prevControl": {
-        "x": 3.891,
-        "y": 5.284
+        "x": 3.7351434426229506,
+        "y": 6.506454918032786
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -119.99999999999999
+    "rotation": 90.0
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -90.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index a3dcaef..a58b6f7 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -179,7 +179,7 @@ public class Drivetrain extends SubsystemBase {
 
         if(vision.getOrangeTagDetected()){
             if(vision.getOrangeDist() < 60){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -197,7 +197,7 @@ public class Drivetrain extends SubsystemBase {
 
         if(vision.getBlackTagDetected()){
             if(vision.getBlackDist() < 60){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.4, 0.4, Units.degreesToRadians(360)));
+                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){
@@ -208,8 +208,9 @@ public class Drivetrain extends SubsystemBase {
                 blackPose2d = vision.getBlackGlobalPose(gyroBuffer);
                 m_estimator.addVisionMeasurement(blackPose2d, vision.getBlackTimeStamp());
             }
-            Logger.recordOutput("black pose", new Pose3d(blackPose2d));
         }
+        Logger.recordOutput("black pose", new Pose3d(blackPose2d));
+
         
         
         Logger.recordOutput("robot pose", new Pose3d(m_estimator.getEstimatedPosition()));
@@ -256,7 +257,13 @@ public class Drivetrain extends SubsystemBase {
      * @param pose The pose to which to set the odometry.
      */
     public void resetOdometry(Pose2d pose) {
-        m_estimator.resetPose(
+        m_estimator.resetPosition(
+            Rotation2d.fromDegrees(getGyroValue()),
+        new SwerveModulePosition[] {
+            m_frontLeft.getPosition(),
+            m_frontRight.getPosition(),
+            m_rearLeft.getPosition(),
+            m_rearRight.getPosition()},
             pose
         );
     }
@@ -299,7 +306,7 @@ public class Drivetrain extends SubsystemBase {
         var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
             fieldRelative
                 ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered,
-                        Rotation2d.fromDegrees(getGyroValue()))
+                        new Rotation2d(m_estimator.getEstimatedPosition().getRotation().getRadians()))
                 : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
         SwerveDriveKinematics.desaturateWheelSpeeds(
             swerveModuleStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
index f715b1a..1f3ae87 100644
--- a/src/main/java/frc/robot/subsystems/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision.java
@@ -106,7 +106,7 @@ public class Vision{
     }
 
     public Pose2d getBlackGlobalPose(TimeInterpolatableBuffer<Double> gyroBuffer){
-        return cameraToGlobalPose2d(getBlackClosestTag(), orange_dist.get(),
+        return cameraToGlobalPose2d(getBlackClosestTag(), black_dist.get(),
             getBlackTX(), getBlackTY(), getBlackTimeStamp(), gyroBuffer, blackCamPose);
     }