diff --git a/src/main/deploy/pathplanner/BlueBump2.path b/src/main/deploy/pathplanner/BlueBump2.path
index 647d259..288edeb 100644
--- a/src/main/deploy/pathplanner/BlueBump2.path
+++ b/src/main/deploy/pathplanner/BlueBump2.path
@@ -10,7 +10,7 @@
         "x": 2.9248226748842034,
         "y": 0.707445764015732
       },
-      "holonomicAngle": 180.0,
+      "holonomicAngle": 0.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
@@ -19,13 +19,39 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
     },
+    {
+      "anchorPoint": {
+        "x": 4.553732702329884,
+        "y": 0.7547402256002796
+      },
+      "prevControl": {
+        "x": 4.00655431668968,
+        "y": 0.7547402256002796
+      },
+      "nextControl": {
+        "x": 5.698764143187168,
+        "y": 0.7547402256002796
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
     {
       "anchorPoint": {
         "x": 7.084232792072272,
@@ -45,7 +71,9 @@
       "isLocked": false,
       "isStopPoint": true,
       "stopEvent": {
-        "names": [],
+        "names": [
+          "intake"
+        ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
@@ -78,15 +106,15 @@
   ],
   "markers": [
     {
-      "position": 0.6482954545454549,
+      "position": 2.180397727272727,
       "names": [
-        "intakeCube"
+        "stow"
       ]
     },
     {
-      "position": 1.180397727272727,
+      "position": 1.461818181818112,
       "names": [
-        "stow"
+        "intakeCube"
       ]
     }
   ]
diff --git a/src/main/deploy/pathplanner/BlueBump3.path b/src/main/deploy/pathplanner/BlueBump3.path
index 3968a67..839e38c 100644
--- a/src/main/deploy/pathplanner/BlueBump3.path
+++ b/src/main/deploy/pathplanner/BlueBump3.path
@@ -7,10 +7,10 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.5561411144717194,
-        "y": 0.8222286896405007
+        "x": 2.5636022660440645,
+        "y": 0.9234490801784156
       },
-      "holonomicAngle": 180.0,
+      "holonomicAngle": 0.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
@@ -19,13 +19,39 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
     },
+    {
+      "anchorPoint": {
+        "x": 2.952768587420199,
+        "y": 0.9262720950548883
+      },
+      "prevControl": {
+        "x": 2.549424522428349,
+        "y": 0.9262720950548883
+      },
+      "nextControl": {
+        "x": 3.3561126524120537,
+        "y": 0.9262720950548883
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
     {
       "anchorPoint": {
         "x": 7.084232792072272,
@@ -45,7 +71,9 @@
       "isLocked": false,
       "isStopPoint": true,
       "stopEvent": {
-        "names": [],
+        "names": [
+          "intake"
+        ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
@@ -80,16 +108,16 @@
     },
     {
       "anchorPoint": {
-        "x": 5.137659971279337,
-        "y": 0.8471099580535155
+        "x": 5.171247432366477,
+        "y": 0.8805302632003253
       },
       "prevControl": {
-        "x": 2.9543595016493014,
-        "y": 0.8471099580535155
+        "x": 2.9880787766931345,
+        "y": 0.8565393988522682
       },
       "nextControl": {
-        "x": 6.317415584492585,
-        "y": 0.8471099580535155
+        "x": 6.211874107057772,
+        "y": 0.8919657211639652
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
@@ -107,49 +135,26 @@
     },
     {
       "anchorPoint": {
-        "x": 5.966520341679218,
-        "y": 2.2581620919611276
-      },
-      "prevControl": {
-        "x": 5.587750523954341,
-        "y": 2.2581620919611276
-      },
-      "nextControl": {
-        "x": 6.530263077308415,
-        "y": 2.2581620919611276
-      },
-      "holonomicAngle": 180.0,
-      "isReversal": false,
-      "velOverride": null,
-      "isLocked": false,
-      "isStopPoint": false,
-      "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
-        "waitBehavior": "none",
-        "waitTime": 0
-      }
-    },
-    {
-      "anchorPoint": {
-        "x": 7.0535176390814565,
-        "y": 2.279802313386474
+        "x": 7.252500781749067,
+        "y": 2.184172471055355
       },
       "prevControl": {
-        "x": 6.279370735426079,
-        "y": 2.279802313386474
+        "x": 6.646421509676115,
+        "y": 1.3493840397095893
       },
       "nextControl": {
-        "x": 6.279370735426079,
-        "y": 2.279802313386474
+        "x": 6.646421509676115,
+        "y": 1.3493840397095893
       },
-      "holonomicAngle": 180.0,
+      "holonomicAngle": -135.0,
       "isReversal": true,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": true,
       "stopEvent": {
-        "names": [],
+        "names": [
+          "intake"
+        ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
@@ -161,12 +166,12 @@
         "y": 0.9518705691471896
       },
       "prevControl": {
-        "x": 6.105536326319467,
-        "y": 0.7280388779527571
+        "x": 5.777326704432687,
+        "y": 1.0177557587707124
       },
       "nextControl": {
-        "x": 3.157000450684807,
-        "y": 1.5189547755161845
+        "x": 3.10056940291484,
+        "y": 0.6693828681452603
       },
       "holonomicAngle": -179.84827369590738,
       "isReversal": false,
@@ -207,25 +212,25 @@
   ],
   "markers": [
     {
-      "position": 0.6482954545454549,
+      "position": 2.180397727272727,
       "names": [
-        "intakeCube"
+        "stow"
       ]
     },
     {
-      "position": 1.180397727272727,
+      "position": 5.426491477272728,
       "names": [
         "stow"
       ]
     },
     {
-      "position": 5.426491477272728,
+      "position": 4.094637784090915,
       "names": [
-        "stow"
+        "intakeCube"
       ]
     },
     {
-      "position": 3.0946377840909154,
+      "position": 1.8036363636362602,
       "names": [
         "intakeCube"
       ]
diff --git a/src/main/deploy/pathplanner/BlueFlat2.path b/src/main/deploy/pathplanner/BlueFlat2.path
index 91b7da4..6f216ea 100644
--- a/src/main/deploy/pathplanner/BlueFlat2.path
+++ b/src/main/deploy/pathplanner/BlueFlat2.path
@@ -10,7 +10,7 @@
         "x": 2.33799056266904,
         "y": 4.53447404705319
       },
-      "holonomicAngle": 180.0,
+      "holonomicAngle": 0.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreMid"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -28,16 +29,41 @@
     },
     {
       "anchorPoint": {
-        "x": 6.844744350814339,
-        "y": 4.588474876093861
+        "x": 4.885360983275461,
+        "y": 4.53
       },
       "prevControl": {
-        "x": 6.377112164852355,
-        "y": 4.588474876093861
+        "x": 4.596970165887906,
+        "y": 4.53
       },
       "nextControl": {
-        "x": 6.377112164852355,
-        "y": 4.588474876093861
+        "x": 5.173751800663019,
+        "y": 4.53
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 6.93230795876713,
+        "y": 4.597054101383524
+      },
+      "prevControl": {
+        "x": 6.464675772805147,
+        "y": 4.597054101383524
+      },
+      "nextControl": {
+        "x": 6.464675772805147,
+        "y": 4.597054101383524
       },
       "holonomicAngle": 180.0,
       "isReversal": true,
@@ -69,8 +95,10 @@
       "isLocked": false,
       "isStopPoint": false,
       "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
+        "names": [
+          "scoreLow"
+        ],
+        "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
@@ -78,15 +106,15 @@
   ],
   "markers": [
     {
-      "position": 0.0,
+      "position": 2.439999999999932,
       "names": [
-        "event"
+        "stow"
       ]
     },
     {
-      "position": 0.0,
+      "position": 1.461818181818124,
       "names": [
-        "event"
+        "intakeCube"
       ]
     }
   ]
diff --git a/src/main/deploy/pathplanner/BlueFlat3.path b/src/main/deploy/pathplanner/BlueFlat3.path
index 9715174..312d1f6 100644
--- a/src/main/deploy/pathplanner/BlueFlat3.path
+++ b/src/main/deploy/pathplanner/BlueFlat3.path
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -73,7 +74,8 @@
       "isStopPoint": true,
       "stopEvent": {
         "names": [
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -176,7 +178,8 @@
       "isStopPoint": false,
       "stopEvent": {
         "names": [
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -186,15 +189,27 @@
   ],
   "markers": [
     {
-      "position": 0.0,
+      "position": 0.6981818181817786,
       "names": [
-        "event"
+        "intakeCube"
       ]
     },
     {
-      "position": 0.0,
+      "position": 1.352727272727201,
       "names": [
-        "event"
+        "stow"
+      ]
+    },
+    {
+      "position": 2.967272727272592,
+      "names": [
+        "intakeCube"
+      ]
+    },
+    {
+      "position": 4.887272727272499,
+      "names": [
+        "stow"
       ]
     }
   ]
diff --git a/src/main/deploy/pathplanner/BlueMid1.path b/src/main/deploy/pathplanner/BlueMid1.path
index 13efc02..560d2dd 100644
--- a/src/main/deploy/pathplanner/BlueMid1.path
+++ b/src/main/deploy/pathplanner/BlueMid1.path
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
diff --git a/src/main/deploy/pathplanner/BlueMid1Balance.path b/src/main/deploy/pathplanner/BlueMid1Balance.path
index 2f27882..9e46c79 100644
--- a/src/main/deploy/pathplanner/BlueMid1Balance.path
+++ b/src/main/deploy/pathplanner/BlueMid1Balance.path
@@ -10,7 +10,7 @@
         "x": 2.6029238915962654,
         "y": 2.8643188824349104
       },
-      "holonomicAngle": 180.0,
+      "holonomicAngle": 0.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -39,7 +40,7 @@
         "x": 6.598881907977464,
         "y": 2.86
       },
-      "holonomicAngle": 180.0,
+      "holonomicAngle": 0.0,
       "isReversal": true,
       "velOverride": null,
       "isLocked": false,
@@ -63,7 +64,7 @@
         "y": 2.86
       },
       "nextControl": null,
-      "holonomicAngle": 180.0,
+      "holonomicAngle": 0.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/RedBump2.path b/src/main/deploy/pathplanner/RedBump2.path
index 0f7d204..9107e9c 100644
--- a/src/main/deploy/pathplanner/RedBump2.path
+++ b/src/main/deploy/pathplanner/RedBump2.path
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -70,7 +71,8 @@
       "isStopPoint": false,
       "stopEvent": {
         "names": [
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -78,5 +80,18 @@
       }
     }
   ],
-  "markers": []
+  "markers": [
+    {
+      "position": 0.6690909090908629,
+      "names": [
+        "intakeCube"
+      ]
+    },
+    {
+      "position": 1.3963636363635585,
+      "names": [
+        "stow"
+      ]
+    }
+  ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/RedBump3.path b/src/main/deploy/pathplanner/RedBump3.path
index 68b81aa..326523f 100644
--- a/src/main/deploy/pathplanner/RedBump3.path
+++ b/src/main/deploy/pathplanner/RedBump3.path
@@ -2,13 +2,13 @@
   "waypoints": [
     {
       "anchorPoint": {
-        "x": 14.705770806221206,
-        "y": 0.9476744751204378
+        "x": 14.666722554699088,
+        "y": 0.9234490801784156
       },
       "prevControl": null,
       "nextControl": {
-        "x": 13.7702550587964,
-        "y": 0.9604392140257116
+        "x": 13.976397733955935,
+        "y": 0.9234490801784156
       },
       "holonomicAngle": 180,
       "isReversal": false,
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreMid"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -28,18 +29,43 @@
     },
     {
       "anchorPoint": {
-        "x": 9.922477974151807,
-        "y": 0.9139752505221581
+        "x": 13.5872314125798,
+        "y": 0.9262720950548883
       },
       "prevControl": {
-        "x": 10.994965353501566,
-        "y": 0.7418507243463536
+        "x": 13.99057547757165,
+        "y": 0.9262720950548883
       },
       "nextControl": {
-        "x": 10.994965353501566,
-        "y": 0.7418507243463536
+        "x": 13.183887347587945,
+        "y": 0.9262720950548883
       },
-      "holonomicAngle": 180,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 9.455767207927728,
+        "y": 0.7442939751524409
+      },
+      "prevControl": {
+        "x": 13.129299764180232,
+        "y": 0.7442939751524409
+      },
+      "nextControl": {
+        "x": 13.129299764180232,
+        "y": 0.7442939751524409
+      },
+      "holonomicAngle": 0,
       "isReversal": true,
       "velOverride": null,
       "isLocked": false,
@@ -55,19 +81,19 @@
     },
     {
       "anchorPoint": {
-        "x": 14.705870530743905,
-        "y": 0.9414716098086577
+        "x": 14.255309036310747,
+        "y": 1.9355532610348662
       },
       "prevControl": {
-        "x": 15.298223013277966,
-        "y": 0.9290171734939764
+        "x": 14.318883419530373,
+        "y": 0.5129330824943502
       },
       "nextControl": {
-        "x": 10.584156283135474,
-        "y": 1.0281322200327447
+        "x": 14.318883419530373,
+        "y": 0.5129330824943502
       },
-      "holonomicAngle": 180,
-      "isReversal": false,
+      "holonomicAngle": 0,
+      "isReversal": true,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": true,
@@ -82,18 +108,45 @@
     },
     {
       "anchorPoint": {
-        "x": 9.939281556226328,
-        "y": 2.1799780661663237
+        "x": 11.368752567633521,
+        "y": 0.8805302632003253
       },
       "prevControl": {
-        "x": 11.084966735236017,
-        "y": 0.29353913255995345
+        "x": 13.551921223306865,
+        "y": 0.8565393988522682
       },
       "nextControl": {
-        "x": 11.084966735236017,
-        "y": 0.29353913255995345
+        "x": 10.328125892942227,
+        "y": 0.8919657211639652
       },
-      "holonomicAngle": 180.38919096971816,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "intakeCube"
+        ],
+        "executionBehavior": "sequential",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 9.287499218250932,
+        "y": 2.184172471055355
+      },
+      "prevControl": {
+        "x": 9.893578490323884,
+        "y": 1.3493840397095893
+      },
+      "nextControl": {
+        "x": 9.893578490323884,
+        "y": 1.3493840397095893
+      },
+      "holonomicAngle": 315,
       "isReversal": true,
       "velOverride": null,
       "isLocked": false,
@@ -109,18 +162,18 @@
     },
     {
       "anchorPoint": {
-        "x": 11.965284959347784,
-        "y": 0.841276073475714
+        "x": 11.26890861735147,
+        "y": 0.9518705691471896
       },
       "prevControl": {
-        "x": 11.036136181050997,
-        "y": 0.866273801480432
+        "x": 10.762673295567312,
+        "y": 1.0177557587707124
       },
       "nextControl": {
-        "x": 13.125480056409952,
-        "y": 0.8100622978714117
+        "x": 13.43943059708516,
+        "y": 0.6693828681452603
       },
-      "holonomicAngle": 178.90205154311627,
+      "holonomicAngle": 359.8482736959074,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
@@ -134,22 +187,22 @@
     },
     {
       "anchorPoint": {
-        "x": 14.695698629428765,
-        "y": 1.883529285922417
+        "x": 14.381759731091117,
+        "y": 1.3286298158981675
       },
       "prevControl": {
-        "x": 14.889513239291265,
-        "y": 0.6492887307573895
+        "x": 14.230826665988522,
+        "y": 1.1695193399343808
       },
       "nextControl": null,
-      "holonomicAngle": 180,
+      "holonomicAngle": 339.40381737320433,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": false,
       "stopEvent": {
         "names": [
-          "scoreMid"
+          "scoreLow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -157,5 +210,30 @@
       }
     }
   ],
-  "markers": []
+  "markers": [
+    {
+      "position": 2.180397727272727,
+      "names": [
+        "stow"
+      ]
+    },
+    {
+      "position": 5.426491477272728,
+      "names": [
+        "stow"
+      ]
+    },
+    {
+      "position": 4.094637784090915,
+      "names": [
+        "intakeCube"
+      ]
+    },
+    {
+      "position": 1.8036363636362602,
+      "names": [
+        "intakeCube"
+      ]
+    }
+  ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/RedFlat2.path b/src/main/deploy/pathplanner/RedFlat2.path
index 6a54739..c664b56 100644
--- a/src/main/deploy/pathplanner/RedFlat2.path
+++ b/src/main/deploy/pathplanner/RedFlat2.path
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -28,16 +29,16 @@
     },
     {
       "anchorPoint": {
-        "x": 9.754506474080623,
-        "y": 4.550679281991526
+        "x": 9.608205122259033,
+        "y": 4.562747727492601
       },
       "prevControl": {
-        "x": 10.22337445770565,
-        "y": 4.550679281991526
+        "x": 10.07707310588406,
+        "y": 4.562747727492601
       },
       "nextControl": {
-        "x": 10.22337445770565,
-        "y": 4.550679281991526
+        "x": 10.07707310588406,
+        "y": 4.562747727492601
       },
       "holonomicAngle": 0.0,
       "isReversal": true,
@@ -70,7 +71,8 @@
       "isStopPoint": false,
       "stopEvent": {
         "names": [
-          "score"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -78,5 +80,18 @@
       }
     }
   ],
-  "markers": []
+  "markers": [
+    {
+      "position": 0.5963636363636233,
+      "names": [
+        "intakeCube"
+      ]
+    },
+    {
+      "position": 1.381818181818111,
+      "names": [
+        "stow"
+      ]
+    }
+  ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/RedMid1.path b/src/main/deploy/pathplanner/RedMid1.path
index bdb290b..17b33d6 100644
--- a/src/main/deploy/pathplanner/RedMid1.path
+++ b/src/main/deploy/pathplanner/RedMid1.path
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreLow"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
diff --git a/src/main/deploy/pathplanner/RedMid1Balance.path b/src/main/deploy/pathplanner/RedMid1Balance.path
index 5fc069c..559f1dd 100644
--- a/src/main/deploy/pathplanner/RedMid1Balance.path
+++ b/src/main/deploy/pathplanner/RedMid1Balance.path
@@ -19,7 +19,8 @@
         "names": [
           "home",
           "preload",
-          "scoreMid"
+          "scoreHigh",
+          "stow"
         ],
         "executionBehavior": "sequential",
         "waitBehavior": "none",
@@ -28,37 +29,39 @@
     },
     {
       "anchorPoint": {
-        "x": 11.072540122053926,
-        "y": 2.79
+        "x": 9.608205122259033,
+        "y": 2.86
       },
       "prevControl": {
-        "x": 11.564360689269272,
-        "y": 2.79
+        "x": 10.100025689474379,
+        "y": 2.86
       },
       "nextControl": {
-        "x": 11.564360689269272,
-        "y": 2.79
+        "x": 10.100025689474379,
+        "y": 2.86
       },
       "holonomicAngle": 0.0,
       "isReversal": true,
       "velOverride": null,
       "isLocked": false,
-      "isStopPoint": false,
+      "isStopPoint": true,
       "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
+        "names": [
+          "stop"
+        ],
+        "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
     },
     {
       "anchorPoint": {
-        "x": 12.571293134512105,
-        "y": 2.79
+        "x": 12.169747706114528,
+        "y": 2.86
       },
       "prevControl": {
-        "x": 11.795264326526624,
-        "y": 2.79
+        "x": 11.393718898129046,
+        "y": 2.86
       },
       "nextControl": null,
       "holonomicAngle": 0,
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 790cf04..60dde89 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -11,8 +11,8 @@
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -131,7 +131,6 @@ public Robot() {
     // This must be run before any commands are scheduled
     LifecycleSubsystemManager.getInstance().ready();
 
-
     configureButtonBindings();
 
     enableLiveWindowInTest(false);
@@ -155,16 +154,15 @@ private void configureButtonBindings() {
         .onTrue(
             intake
                 .setStateCommand(IntakeState.INTAKING)
-                .alongWith(wrist.goToAngle(Positions.INTAKING)
-                .alongWith(Commands.print("hghgh")))
+                .alongWith(wrist.goToAngle(Positions.INTAKING).alongWith(Commands.print("hghgh")))
                 .until(() -> intake.hasCube())
                 .andThen(wrist.goToAngle(Positions.STOWED).withName("TeleopIntakeCommand")))
-                //.alongWith(intake.setStateCommand(IntakeState.STOPPED))))
+        // .alongWith(intake.setStateCommand(IntakeState.STOPPED))))
         .onFalse(
             wrist
                 .goToAngle(Positions.STOWED)
                 .alongWith(intake.setStateCommand(IntakeState.STOPPED)));
-                //.alongWith(Commands.runOnce(() -> intake.setHasCube(true))));
+    // .alongWith(Commands.runOnce(() -> intake.setHasCube(true))));
     // outtake
     driveController
         .rightTrigger(0.5)
@@ -223,6 +221,34 @@ private void configureButtonBindings() {
             wrist
                 .goToAngle(Positions.STOWED)
                 .alongWith(intake.setStateCommand(IntakeState.STOPPED)));
+
+    operatorController
+        .povUp()
+        .onTrue(
+            wrist
+                .goToAngle(Positions.SHOOT_ON_HIGH_FOLLOW_THRU)
+                .alongWith(
+                    Commands.waitUntil(() -> wrist.pastAngle(Positions.SHOOT_ON_HIGH))
+                        .andThen(intake.setStateCommand(IntakeState.SHOOTING))))
+          .onFalse(
+            wrist
+                .goToAngle(Positions.STOWED)
+                .alongWith(intake.setStateCommand(IntakeState.STOPPED)));
+
+    operatorController
+                .povDown()
+                .onTrue(
+                    wrist
+                        .goToAngle(Positions.SHOOT_ON_MID_FOLLOW_THRU)
+                        .alongWith(
+                            Commands.waitUntil(() -> wrist.pastAngle(Positions.SHOOT_ON_MID))
+                                .andThen(intake.setStateCommand(IntakeState.SHOOTING))))
+                  .onFalse(
+                    wrist
+                        .goToAngle(Positions.STOWED)
+                        .alongWith(intake.setStateCommand(IntakeState.STOPPED)));
+
+
   }
 
   @Override
@@ -231,7 +257,8 @@ public void robotPeriodic() {
 
     LifecycleSubsystemManager.getInstance().log();
 
-    Logger.getInstance().recordOutput("Intake/requestingIntake", driveController.leftTrigger(0.5).getAsBoolean());
+    Logger.getInstance()
+        .recordOutput("Intake/requestingIntake", driveController.leftTrigger(0.5).getAsBoolean());
   }
 
   @Override
diff --git a/src/main/java/frc/robot/autos/Autos.java b/src/main/java/frc/robot/autos/Autos.java
index e24c97a..a4c9b1d 100644
--- a/src/main/java/frc/robot/autos/Autos.java
+++ b/src/main/java/frc/robot/autos/Autos.java
@@ -93,12 +93,20 @@ public Autos(
             Map.entry(
                 "scoreMid",
                 wrist
-                    .goToAngle(Positions.OUTTAKING_MID)
-                    .andThen(
-                        intake
-                            .setStateCommand(IntakeState.OUTTAKING)
-                            .withTimeout(3)
-                            .andThen(Commands.runOnce(() -> intake.setHasCube(false))))),
+                .goToAngle(Positions.SHOOT_ON_MID_FOLLOW_THRU)
+                .alongWith(
+                    Commands.waitUntil(() -> wrist.pastAngle(Positions.SHOOT_ON_MID))
+                        .andThen(intake.setStateCommand(IntakeState.SHOOTING)))
+                .andThen(Commands.runOnce(() -> intake.setHasCube(false)))),
+            Map.entry(
+              "scoreHigh",
+             wrist
+             .goToAngle(Positions.SHOOT_ON_HIGH_FOLLOW_THRU)
+             .alongWith(
+                 Commands.waitUntil(() -> wrist.pastAngle(Positions.SHOOT_ON_HIGH))
+                     .andThen(intake.setStateCommand(IntakeState.SHOOTING)))
+              .andThen(Commands.runOnce(() -> intake.setHasCube(false)))),
+
             Map.entry("home", wrist.getHomeCommand().withTimeout(3)),
             Map.entry(
                 "intakeCube",