diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
index 268147b..b82dda5 100644
--- a/src/main/deploy/pathplanner/autos/New Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto	
@@ -9,6 +9,12 @@
           "data": {
             "pathName": "New Path"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot preload"
+          }
         }
       ]
     }
diff --git a/src/main/deploy/pathplanner/paths/Hub to Depot.path b/src/main/deploy/pathplanner/paths/Hub to Depot.path
index 39f3bc5..2c8714f 100644
--- a/src/main/deploy/pathplanner/paths/Hub to Depot.path	
+++ b/src/main/deploy/pathplanner/paths/Hub to Depot.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 13.0,
-        "y": 4.0
+        "x": 3.5383012048192777,
+        "y": 3.9038674698795175
       },
       "prevControl": null,
       "nextControl": {
-        "x": 14.0,
-        "y": 4.0
+        "x": 0.8527779926060135,
+        "y": 6.111286763858336
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 15.5,
-        "y": 2.0
+        "x": 1.0,
+        "y": 6.0
       },
       "prevControl": {
-        "x": 13.5,
-        "y": 2.0000000000000004
+        "x": 2.6290964074675798,
+        "y": 4.671725238604007
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -177.9047474356738
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 2.6905523852280466
+    "rotation": -179.99999999992184
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
index bfa742c..eac90bb 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -33,16 +33,16 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 100.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -179.02897806892076
   },
   "reversed": false,
   "folder": null,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 1.0511807495437313
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/ZoneCheck.java b/src/main/java/frc/robot/commands/ZoneCheck.java
index a98f6ac..8213473 100644
--- a/src/main/java/frc/robot/commands/ZoneCheck.java
+++ b/src/main/java/frc/robot/commands/ZoneCheck.java
@@ -41,10 +41,13 @@ public class ZoneCheck extends Command {
                 switch (zone) {
                     case Blue:
                         System.out.println("BLUE");
+                            break;
                     case Neutral:
                         System.out.println("NEUTRAL");
+                            break;
                     case Red:
                         System.out.println("RED");
+                            break;
                     default:
                         System.out.println("****");
                 }
@@ -52,10 +55,13 @@ public class ZoneCheck extends Command {
                 switch (zone) {
                     case Blue:
                         System.out.println("BLUE");
+                            break;
                     case Neutral:
                         System.out.println("NEUTRAL");
+                            break;
                     case Red:
                         System.out.println("RED");
+                            break;
                     default:
                         System.out.println("****");
                 }
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 65b39be..98d2ad7 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -165,8 +165,8 @@ public class DriveSubsystem extends TestableSubsystem {
                     driveSystem::getRobotRelativeSpeeds,
                     (speeds, feedforwards) -> driveSystem.setChassisSpeed(speeds, new Translation2d()),
                     new PPHolonomicDriveController(
-                            new PIDConstants(1.5, 0, 0),
-                            new PIDConstants(Math.PI / 2, 0, 0)),
+                            new PIDConstants(3, 0, 0),
+                            new PIDConstants(Math.PI, 0, 0)),
                     config,
                     () -> {
                         var alliance = DriverStation.getAlliance();