diff --git a/src/main/deploy/pathplanner/autos/Left Shoot Outpost.auto b/src/main/deploy/pathplanner/autos/Left Shoot Outpost.auto
index c13bced..c7455ca 100644
--- a/src/main/deploy/pathplanner/autos/Left Shoot Outpost.auto	
+++ b/src/main/deploy/pathplanner/autos/Left Shoot Outpost.auto	
@@ -11,39 +11,41 @@
           }
         },
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "spinup"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Start to Outpost"
+                }
+              }
+            ]
           }
         },
         {
-          "type": "path",
+          "type": "wait",
           "data": {
-            "pathName": "start to score left"
+            "waitTime": 2.0
           }
         },
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "shoot close"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left to Outpost"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "stop spindexer"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "trough to shot"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "trough to shot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "spinup"
+                }
+              }
+            ]
           }
         },
         {
@@ -55,7 +57,13 @@
         {
           "type": "named",
           "data": {
-            "name": "shoot N jimmy"
+            "name": "aim"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "auto shoot"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/paths/Left to Outpost.path b/src/main/deploy/pathplanner/paths/Left to Outpost.path
index b4b3765..20f94b8 100644
--- a/src/main/deploy/pathplanner/paths/Left to Outpost.path	
+++ b/src/main/deploy/pathplanner/paths/Left to Outpost.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.2515736040609142,
-        "y": 4.914375634517767
+        "x": 1.925604060913706,
+        "y": 5.503695431472081
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.4338749089244973,
-        "y": 5.333984175443034
+        "x": 1.107905365777289,
+        "y": 5.923303972397348
       },
       "isLocked": false,
       "linkedName": "left close"
     },
     {
       "anchor": {
-        "x": 0.77458883248731,
-        "y": 5.927269035532995
+        "x": 0.32339086294416286,
+        "y": 5.9825177664974625
       },
       "prevControl": {
-        "x": 2.3777086426889733,
-        "y": 6.110175322602984
+        "x": 1.9265106731458264,
+        "y": 6.165424053567452
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Start to outpost.path b/src/main/deploy/pathplanner/paths/Start to outpost.path
index 8b242d5..d544e85 100644
--- a/src/main/deploy/pathplanner/paths/Start to outpost.path	
+++ b/src/main/deploy/pathplanner/paths/Start to outpost.path	
@@ -3,35 +3,35 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6619856887266913,
-        "y": 2.2583184257605784
+        "x": 3.5922741116751276,
+        "y": 6.3692588832487305
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.4937567084046877,
-        "y": 1.3172450805011864
+        "x": 2.956913705583757,
+        "y": 6.19430456852792
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "start left"
     },
     {
       "anchor": {
-        "x": 0.7089624329216013,
-        "y": 0.668228980317108
+        "x": 0.32339086294416286,
+        "y": 5.9825177664974625
       },
       "prevControl": {
-        "x": 1.6987119856944104,
-        "y": 1.0414132379199703
+        "x": 1.3270761421319812,
+        "y": 5.964101522842641
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "Outpost"
+      "linkedName": "trough"
     }
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.7234468937875753,
-      "rotationDegrees": 180.0
+      "waypointRelativePos": 0.6910862504511138,
+      "rotationDegrees": -179.02889973265033
     }
   ],
   "constraintZones": [],
@@ -39,14 +39,14 @@
   "eventMarkers": [
     {
       "name": "Intake Start",
-      "waypointRelativePos": 0.4500000000000002,
+      "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
       "command": null
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 0.75,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -54,13 +54,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 178.80651057601818
   },
   "reversed": false,
-  "folder": "Right Outpost",
+  "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": -90.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/left start to center diagonal.path b/src/main/deploy/pathplanner/paths/left start to center diagonal.path
new file mode 100644
index 0000000..86f8645
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/left start to center diagonal.path	
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5922741116751276,
+        "y": 6.3692588832487305
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.9329746192893413,
+        "y": 6.3692588832487305
+      },
+      "isLocked": false,
+      "linkedName": "start left"
+    },
+    {
+      "anchor": {
+        "x": 4.577543147208122,
+        "y": 5.715482233502538
+      },
+      "prevControl": {
+        "x": 4.264467005076142,
+        "y": 5.715482233502538
+      },
+      "nextControl": {
+        "x": 5.120900364352579,
+        "y": 5.715482233502538
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.041634517766498,
+        "y": 6.3692588832487305
+      },
+      "prevControl": {
+        "x": 5.931137055837564,
+        "y": 5.65102538071066
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "over bump"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.8,
+      "rotationDegrees": -135.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 2.0,
+    "rotation": -129.95754893082906
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/left start to center.path b/src/main/deploy/pathplanner/paths/left start to center.path
index 50f84f2..565957a 100644
--- a/src/main/deploy/pathplanner/paths/left start to center.path	
+++ b/src/main/deploy/pathplanner/paths/left start to center.path	
@@ -3,45 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.573857868020305,
+        "x": 3.5922741116751276,
         "y": 6.3692588832487305
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0213705583756347,
-        "y": 6.461340101522843
+        "x": 3.085827411167513,
+        "y": 6.277177664974619
       },
       "isLocked": false,
       "linkedName": "start left"
     },
-    {
-      "anchor": {
-        "x": 3.0766192893401025,
-        "y": 5.936477157360406
-      },
-      "prevControl": {
-        "x": 2.8556243654822344,
-        "y": 6.28638578680203
-      },
-      "nextControl": {
-        "x": 3.3374096167812595,
-        "y": 5.523559138911907
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
     {
       "anchor": {
         "x": 4.577543147208122,
         "y": 5.715482233502538
       },
       "prevControl": {
-        "x": 3.5645859798769006,
-        "y": 5.732650999050524
+        "x": 3.2884060913705584,
+        "y": 5.697065989847716
       },
       "nextControl": {
-        "x": 5.120822335025381,
-        "y": 5.706274111675127
+        "x": 5.120844928223563,
+        "y": 5.723243687517044
       },
       "isLocked": false,
       "linkedName": null
@@ -62,7 +46,7 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 1.62272727272727,
+      "waypointRelativePos": 0.8,
       "rotationDegrees": -135.0
     }
   ],
@@ -71,7 +55,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 2.5,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/start to score left.path b/src/main/deploy/pathplanner/paths/start to score left.path
index e908ceb..c4381e6 100644
--- a/src/main/deploy/pathplanner/paths/start to score left.path	
+++ b/src/main/deploy/pathplanner/paths/start to score left.path	
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.573857868020305,
+        "x": 3.5922741116751276,
         "y": 6.3692588832487305
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.7991959463121194,
+        "x": 2.817612189966942,
         "y": 6.260219737341258
       },
       "isLocked": false,
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.2515736040609142,
-        "y": 4.914375634517767
+        "x": 1.925604060913706,
+        "y": 5.503695431472081
       },
       "prevControl": {
-        "x": 3.44523908448796,
-        "y": 5.430816915656558
+        "x": 2.119269541340752,
+        "y": 6.020136712610872
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/trough to shot.path b/src/main/deploy/pathplanner/paths/trough to shot.path
index 7eab232..bd330e2 100644
--- a/src/main/deploy/pathplanner/paths/trough to shot.path	
+++ b/src/main/deploy/pathplanner/paths/trough to shot.path	
@@ -3,38 +3,43 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.77458883248731,
-        "y": 5.927269035532995
+        "x": 0.32339086294416286,
+        "y": 5.9825177664974625
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7745888324873098,
-        "y": 5.927269035532995
+        "x": 0.6364670050761427,
+        "y": 6.03776649746193
       },
       "isLocked": false,
       "linkedName": "trough"
     },
     {
       "anchor": {
-        "x": 3.2515736040609142,
-        "y": 4.914375634517767
+        "x": 1.925604060913706,
+        "y": 5.503695431472081
       },
       "prevControl": {
-        "x": 2.6254213197969554,
-        "y": 5.420822335025381
+        "x": 1.409949238578681,
+        "y": 5.844395939086294
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "left close"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7098520389751093,
+      "rotationDegrees": 176.84552599629856
+    }
+  ],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -50,5 +55,5 @@
     "velocity": 0,
     "rotation": 178.80651057601818
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/IntakeRoller.java b/src/main/java/frc/robot/subsystems/IntakeRoller.java
index e2a4d7d..b88d6d0 100644
--- a/src/main/java/frc/robot/subsystems/IntakeRoller.java
+++ b/src/main/java/frc/robot/subsystems/IntakeRoller.java
@@ -32,8 +32,8 @@ public class IntakeRoller extends SubsystemBase {
 
     public Command runIn() {
         return run(() -> {
-            leftMotor.set(IntakeRollerConstants.kSpeed*0.8);
-            rightMotor.set(IntakeRollerConstants.kSpeed*0.8);
+            leftMotor.set(IntakeRollerConstants.kSpeed*0.9);
+            rightMotor.set(IntakeRollerConstants.kSpeed*0.9);
         });
     }