diff --git a/src/main/deploy/pathplanner/autos/bottom to escape.auto b/src/main/deploy/pathplanner/autos/bottom to escape.auto
index d1994ec..17fedca 100644
--- a/src/main/deploy/pathplanner/autos/bottom to escape.auto	
+++ b/src/main/deploy/pathplanner/autos/bottom to escape.auto	
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 0.93,
+      "y": 4.29
+    },
+    "rotation": -60.0
+  },
   "command": {
     "type": "sequential",
     "data": {
@@ -58,12 +64,6 @@
           "type": "sequential",
           "data": {
             "commands": [
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 6.5
-                }
-              },
               {
                 "type": "path",
                 "data": {
@@ -77,12 +77,6 @@
           "type": "sequential",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "intakeStop"
-                }
-              },
               {
                 "type": "named",
                 "data": {
diff --git a/src/main/deploy/pathplanner/autos/middle to middle.auto b/src/main/deploy/pathplanner/autos/middle to middle.auto
index 0b54867..b71ad2f 100644
--- a/src/main/deploy/pathplanner/autos/middle to middle.auto	
+++ b/src/main/deploy/pathplanner/autos/middle to middle.auto	
@@ -42,6 +42,18 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "lowerIntake"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 7.0
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -63,13 +75,13 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterStart"
+            "name": "lowerIntakeStop"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "lowerIntakeStop"
+            "name": "shooterStart"
           }
         },
         {
@@ -105,6 +117,18 @@
                 "data": {
                   "name": "bumpStop"
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "shooterStop"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "zeroGyro"
+                }
               }
             ]
           }
diff --git a/src/main/deploy/pathplanner/paths/Side to Bottom.path b/src/main/deploy/pathplanner/paths/Side to Bottom.path
index 4269e83..c7be6b1 100644
--- a/src/main/deploy/pathplanner/paths/Side to Bottom.path	
+++ b/src/main/deploy/pathplanner/paths/Side to Bottom.path	
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 0.936445910102008,
-        "y": 4.3092801930168765
+        "x": 0.9364459101020081,
+        "y": 4.27422916773404
       },
       "isLocked": false,
       "linkedName": null
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0,
+    "rotation": 0.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": "Test Auto 1",
   "previewStartingState": {
-    "rotation": 35.0,
+    "rotation": -60.0,
     "velocity": 0
   },
   "useDefaultConstraints": false
diff --git a/src/main/deploy/pathplanner/paths/bottom to escape.path b/src/main/deploy/pathplanner/paths/bottom to escape.path
index 2c3bfd8..3c1f8fa 100644
--- a/src/main/deploy/pathplanner/paths/bottom to escape.path	
+++ b/src/main/deploy/pathplanner/paths/bottom to escape.path	
@@ -14,22 +14,6 @@
       "isLocked": false,
       "linkedName": null
     },
-    {
-      "anchor": {
-        "x": 2.820141697290522,
-        "y": 2.2521941480937606
-      },
-      "prevControl": {
-        "x": 2.8239422974843147,
-        "y": 2.253682741921189
-      },
-      "nextControl": {
-        "x": 2.8163410970967298,
-        "y": 2.2507055542663323
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
     {
       "anchor": {
         "x": 7.958264277573687,
@@ -55,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0,
+    "rotation": 0.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": "Test Auto 1",
   "previewStartingState": {
-    "rotation": 90.0,
+    "rotation": 0.0,
     "velocity": 0
   },
   "useDefaultConstraints": false
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 26235f4..b179eba 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -188,8 +188,8 @@ public static final class Vision {
     public static final class Flap{
         public static final int FLAP_PWM_CHANNEL =1;
         public static final double AMP_POSITION = 0.5;
-        public static final double SOURCE_POSITION = 0.75;
-         public static final double CLOSED_POSITION = 0.0;
+        public static final double SOURCE_POSITION = .5;
+         public static final double CLOSED_POSITION = 0.02;
     }
 }
   
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 18f81cf..35f1210 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -62,7 +62,7 @@ public RobotContainer() {
                 Swerve::getSpeeds,
                 Swerve::driveRobotRelative,
                 Constants.Auto.PATH_FOLLOWER_CONFIG,
-                () -> false,//Robot.alliance == DriverStation.Alliance.Red,
+                () -> Robot.alliance == DriverStation.Alliance.Red,
                 Swerve
         );