diff --git a/src/main/cpp/AutoAimer.cpp b/src/main/cpp/AutoAimer.cpp
index 9351469..1bdd917 100644
--- a/src/main/cpp/AutoAimer.cpp
+++ b/src/main/cpp/AutoAimer.cpp
@@ -3,10 +3,11 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 
 AutoAimer::AutoAimer()
+
 {
     m_lookup.emplace_back(VisionSetPoint{59.34, 50.0, 75.0, -51.9});
     m_lookup.emplace_back(VisionSetPoint{107.4769, 30, 130.0, -89.5});
-    m_lookup.emplace_back(VisionSetPoint{155.16, 22.3, 175.0, -104.5});
+    m_lookup.emplace_back(VisionSetPoint{155.16, 21.3, 130.0, -89.5});
     m_lookup.emplace_back(VisionSetPoint{172.71, 20.25, 130.3, -89.5}); 
     m_lookup.emplace_back(VisionSetPoint{200.58, 20.5, 250, -106.5});
 
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
index 18c84a0..6955d62 100644
--- a/src/main/cpp/Robot.cpp
+++ b/src/main/cpp/Robot.cpp
@@ -58,8 +58,8 @@ void Robot::RobotInit() {
   
   frc::CameraServer::StartAutomaticCapture();
 
-  m_cvSink = frc::CameraServer::GetVideo();
-  m_cvSource = frc::CameraServer::PutVideo("Camera", 640, 480);
+  // m_cvSink = frc::CameraServer::GetVideo();
+  // m_cvSource = frc::CameraServer::PutVideo("Camera", 640, 480);
 }
 
 /**
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
index 6cc6be5..f61e3ee 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntakeCommand",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
index 87aedc7..7ed1b3e 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.45,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
index be06b8b..5c3f32d 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
@@ -48,8 +48,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.35,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
@@ -57,7 +57,7 @@
             {
               "type": "named",
               "data": {
-                "name": "VisionShoot"
+                "name": "SmartIntakeCommand"
               }
             }
           ]
diff --git a/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path b/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
index 1b79ac3..7712452 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "Intake",
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path1.path b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
index 4bf9d18..74af509 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path1.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
@@ -49,7 +49,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntake",
-      "waypointRelativePos": 0.35,
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "sequential",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path2.path b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
index a555610..e03cebe 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path2.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.25,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
index 483b8c7..5bb53a1 100644
--- a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
+++ b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntakeCommand",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
@@ -58,7 +58,7 @@
   "goalEndState": {
     "velocity": 0,
     "rotation": 25.0,
-    "rotateFast": false
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "REDPATH",
diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
index 6285db4..e4ac6e7 100644
--- a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
+++ b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntake",
-      "waypointRelativePos": 0.25,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
index c55ca53..b8d5a5f 100644
--- a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
+++ b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
@@ -49,7 +49,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntake",
-      "waypointRelativePos": 0.2,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path b/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
index e45d60b..b5f38dd 100644
--- a/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
+++ b/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "Intake",
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/RED_Path1.path b/src/main/deploy/pathplanner/paths/RED_Path1.path
index 659ee51..6c4ff7f 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path1.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path1.path
@@ -49,7 +49,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntake",
-      "waypointRelativePos": 0.35,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/RED_Path2.path b/src/main/deploy/pathplanner/paths/RED_Path2.path
index cbf6cac..7811a2b 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path2.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntake",
-      "waypointRelativePos": 0.25,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/include/SwerveConfig.h b/src/main/include/SwerveConfig.h
index 5b54596..ca23701 100644
--- a/src/main/include/SwerveConfig.h
+++ b/src/main/include/SwerveConfig.h
@@ -39,7 +39,7 @@ rev::SparkPIDController fl_drive_pid = fl_drive_mtr.GetPIDController();
 // --------------------Absolute Encoder-----------------------
 const int FR_ABS_ENC_PORT = 12;
 const bool FR_ABS_ENC_INVERTED = false;
-const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{77.9f}};
+const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{92.94f}};
 
 ctre::phoenix6::hardware::CANcoder fr_abs_enc{FR_ABS_ENC_PORT};