diff --git a/src/main/deploy/choreo/AlphaAutos.chor b/src/main/deploy/choreo/AlphaAutos.chor
new file mode 100644
index 00000000..2028a2e4
--- /dev/null
+++ b/src/main/deploy/choreo/AlphaAutos.chor
@@ -0,0 +1,84 @@
+{
+ "name":"AlphaAutos",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"52.16 kg",
+   "val":52.16
+  },
+  "inertia":{
+   "exp":"4.39 kg m ^ 2",
+   "val":4.39
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/src/main/deploy/choreo/ClimbToHub.traj b/src/main/deploy/choreo/ClimbToHub.traj
new file mode 100644
index 00000000..ccfafa6b
--- /dev/null
+++ b/src/main/deploy/choreo/ClimbToHub.traj
@@ -0,0 +1,68 @@
+{
+ "name":"ClimbToHub",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.6633899211883545, "y":3.7032699584960938, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.456470012664795, "y":3.995620012283325, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.6633899211883545 m", "val":1.6633899211883545}, "y":{"exp":"3.7032699584960938 m", "val":3.7032699584960938}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.456470012664795 m", "val":3.456470012664795}, "y":{"exp":"3.995620012283325 m", "val":3.995620012283325}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.37065],
+  "samples":[
+    {"t":0.0, "x":1.66339, "y":3.70327, "heading":0.0, "vx":4.82993, "vy":0.78749, "omega":0.0, "ax":0.3564, "ay":0.05811, "alpha":0.0, "fx":[4.6474,4.6474,4.6474,4.6474], "fy":[0.75773,0.75773,0.75773,0.75773]},
+    {"t":0.02317, "x":1.77537, "y":3.72153, "heading":0.0, "vx":4.83819, "vy":0.78884, "omega":0.0, "ax":0.00068, "ay":0.00011, "alpha":0.0, "fx":[0.00893,0.00893,0.00893,0.00893], "fy":[0.00146,0.00146,0.00146,0.00146]},
+    {"t":0.04633, "x":1.88745, "y":3.7398, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.0695, "x":1.99953, "y":3.75808, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.09266, "x":2.11161, "y":3.77635, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.11583, "x":2.22369, "y":3.79462, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.13899, "x":2.33577, "y":3.8129, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.16216, "x":2.44785, "y":3.83117, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.18532, "x":2.55993, "y":3.84944, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20849, "x":2.67201, "y":3.86772, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.23166, "x":2.78409, "y":3.88599, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.25482, "x":2.89617, "y":3.90427, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.27799, "x":3.00825, "y":3.92254, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.30115, "x":3.12033, "y":3.94081, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.32432, "x":3.23241, "y":3.95909, "heading":0.0, "vx":4.83821, "vy":0.78884, "omega":0.0, "ax":-0.00068, "ay":-0.00011, "alpha":0.0, "fx":[-0.00893,-0.00893,-0.00893,-0.00893], "fy":[-0.00146,-0.00146,-0.00146,-0.00146]},
+    {"t":0.34748, "x":3.34449, "y":3.97736, "heading":0.0, "vx":4.83819, "vy":0.78884, "omega":0.0, "ax":-0.3564, "ay":-0.05811, "alpha":0.0, "fx":[-4.6474,-4.6474,-4.6474,-4.6474], "fy":[-0.75773,-0.75773,-0.75773,-0.75773]},
+    {"t":0.37065, "x":3.45647, "y":3.99562, "heading":0.0, "vx":4.82993, "vy":0.78749, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/DepotIntake.traj b/src/main/deploy/choreo/DepotIntake.traj
new file mode 100644
index 00000000..95f6dae1
--- /dev/null
+++ b/src/main/deploy/choreo/DepotIntake.traj
@@ -0,0 +1,82 @@
+{
+ "name":"DepotIntake",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.174944281578064, "y":5.828909397125244, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.4241056740283966, "y":5.942218780517578, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.174944281578064, "y":5.828909397125244, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.174944281578064 m", "val":1.174944281578064}, "y":{"exp":"5.828909397125244 m", "val":5.828909397125244}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.4241056740283966 m", "val":0.4241056740283966}, "y":{"exp":"5.942218780517578 m", "val":5.942218780517578}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.174944281578064 m", "val":1.174944281578064}, "y":{"exp":"5.828909397125244 m", "val":5.828909397125244}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.5104,1.02081],
+  "samples":[
+    {"t":0.0, "x":1.17494, "y":5.82891, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-11.63203, "ay":1.75539, "alpha":0.0, "fx":[-151.68167,-151.68167,-151.68167,-151.68167], "fy":[22.89035,22.89035,22.89035,22.89035]},
+    {"t":0.0464, "x":1.16242, "y":5.8308, "heading":0.0, "vx":-0.53972, "vy":0.08145, "omega":0.0, "ax":-11.6293, "ay":1.75498, "alpha":0.0, "fx":[-151.64605,-151.64605,-151.64605,-151.64605], "fy":[22.88497,22.88497,22.88497,22.88497]},
+    {"t":0.0928, "x":1.12486, "y":5.83647, "heading":0.0, "vx":-1.07932, "vy":0.16288, "omega":0.0, "ax":-11.62475, "ay":1.7543, "alpha":0.0, "fx":[-151.58668,-151.58668,-151.58668,-151.58668], "fy":[22.87601,22.87601,22.87601,22.87601]},
+    {"t":0.1392, "x":1.06227, "y":5.84591, "heading":0.0, "vx":-1.61871, "vy":0.24428, "omega":0.0, "ax":-11.61564, "ay":1.75292, "alpha":0.0, "fx":[-151.46801,-151.46801,-151.46801,-151.46801], "fy":[22.8581,22.8581,22.8581,22.8581]},
+    {"t":0.1856, "x":0.97465, "y":5.85914, "heading":0.0, "vx":-2.15767, "vy":0.32562, "omega":0.0, "ax":-11.58839, "ay":1.74881, "alpha":0.0, "fx":[-151.11255,-151.11255,-151.11255,-151.11255], "fy":[22.80446,22.80446,22.80446,22.80446]},
+    {"t":0.232, "x":0.86206, "y":5.87613, "heading":0.0, "vx":-2.69537, "vy":0.40676, "omega":0.0, "ax":-0.0012, "ay":0.00018, "alpha":0.0, "fx":[-0.01565,-0.01565,-0.01565,-0.01565], "fy":[0.00236,0.00236,0.00236,0.00236]},
+    {"t":0.2784, "x":0.737, "y":5.895, "heading":0.0, "vx":-2.69543, "vy":0.40677, "omega":0.0, "ax":11.58839, "ay":-1.74881, "alpha":0.0, "fx":[151.11254,151.11254,151.11254,151.11254], "fy":[-22.80446,-22.80446,-22.80446,-22.80446]},
+    {"t":0.3248, "x":0.62441, "y":5.91199, "heading":0.0, "vx":-2.15773, "vy":0.32562, "omega":0.0, "ax":11.61564, "ay":-1.75292, "alpha":0.0, "fx":[151.46801,151.46801,151.46801,151.46801], "fy":[-22.8581,-22.8581,-22.8581,-22.8581]},
+    {"t":0.3712, "x":0.53679, "y":5.92521, "heading":0.0, "vx":-1.61876, "vy":0.24429, "omega":0.0, "ax":11.62475, "ay":-1.7543, "alpha":0.0, "fx":[151.58668,151.58668,151.58668,151.58668], "fy":[-22.87601,-22.87601,-22.87601,-22.87601]},
+    {"t":0.4176, "x":0.47419, "y":5.93466, "heading":0.0, "vx":-1.07938, "vy":0.16289, "omega":0.0, "ax":11.6293, "ay":-1.75498, "alpha":0.0, "fx":[151.64604,151.64604,151.64604,151.64604], "fy":[-22.88497,-22.88497,-22.88497,-22.88497]},
+    {"t":0.464, "x":0.43663, "y":5.94033, "heading":0.0, "vx":-0.53978, "vy":0.08146, "omega":0.0, "ax":11.63203, "ay":-1.75539, "alpha":0.0, "fx":[151.68167,151.68167,151.68167,151.68167], "fy":[-22.89035,-22.89035,-22.89035,-22.89035]},
+    {"t":0.5104, "x":0.42411, "y":5.94222, "heading":0.0, "vx":-0.00006, "vy":0.00001, "omega":0.0, "ax":11.63203, "ay":-1.75539, "alpha":0.0, "fx":[151.68168,151.68168,151.68168,151.68168], "fy":[-22.89035,-22.89035,-22.89035,-22.89035]},
+    {"t":0.5568, "x":0.43663, "y":5.94033, "heading":0.0, "vx":0.53968, "vy":-0.08144, "omega":0.0, "ax":11.6293, "ay":-1.75498, "alpha":0.0, "fx":[151.64605,151.64605,151.64605,151.64605], "fy":[-22.88497,-22.88497,-22.88497,-22.88497]},
+    {"t":0.6032, "x":0.47419, "y":5.93466, "heading":0.0, "vx":1.07929, "vy":-0.16288, "omega":0.0, "ax":11.62475, "ay":-1.7543, "alpha":0.0, "fx":[151.58668,151.58668,151.58668,151.58668], "fy":[-22.87601,-22.87601,-22.87601,-22.87601]},
+    {"t":0.6496, "x":0.53678, "y":5.92522, "heading":0.0, "vx":1.61868, "vy":-0.24428, "omega":0.0, "ax":11.61565, "ay":-1.75292, "alpha":0.0, "fx":[151.46802,151.46802,151.46802,151.46802], "fy":[-22.8581,-22.8581,-22.8581,-22.8581]},
+    {"t":0.696, "x":0.62439, "y":5.91199, "heading":0.0, "vx":2.15766, "vy":-0.32561, "omega":0.0, "ax":11.58839, "ay":-1.74881, "alpha":0.0, "fx":[151.11256,151.11256,151.11256,151.11256], "fy":[-22.80446,-22.80446,-22.80446,-22.80446]},
+    {"t":0.7424, "x":0.73698, "y":5.895, "heading":0.0, "vx":2.69537, "vy":-0.40676, "omega":0.0, "ax":0.0012, "ay":-0.00018, "alpha":0.0, "fx":[0.01565,0.01565,0.01565,0.01565], "fy":[-0.00236,-0.00236,-0.00236,-0.00236]},
+    {"t":0.7888, "x":0.86205, "y":5.87613, "heading":0.0, "vx":2.69542, "vy":-0.40677, "omega":0.0, "ax":-11.58839, "ay":1.74881, "alpha":0.0, "fx":[-151.11256,-151.11256,-151.11256,-151.11256], "fy":[22.80446,22.80446,22.80446,22.80446]},
+    {"t":0.8352, "x":0.97465, "y":5.85914, "heading":0.0, "vx":2.15771, "vy":-0.32562, "omega":0.0, "ax":-11.61565, "ay":1.75292, "alpha":0.0, "fx":[-151.46802,-151.46802,-151.46802,-151.46802], "fy":[22.8581,22.8581,22.8581,22.8581]},
+    {"t":0.8816, "x":1.06226, "y":5.84591, "heading":0.0, "vx":1.61874, "vy":-0.24428, "omega":0.0, "ax":-11.62475, "ay":1.7543, "alpha":0.0, "fx":[-151.58668,-151.58668,-151.58668,-151.58668], "fy":[22.87601,22.87601,22.87601,22.87601]},
+    {"t":0.92801, "x":1.12486, "y":5.83647, "heading":0.0, "vx":1.07934, "vy":-0.16288, "omega":0.0, "ax":-11.6293, "ay":1.75498, "alpha":0.0, "fx":[-151.64605,-151.64605,-151.64605,-151.64605], "fy":[22.88497,22.88497,22.88497,22.88497]},
+    {"t":0.97441, "x":1.16242, "y":5.8308, "heading":0.0, "vx":0.53973, "vy":-0.08145, "omega":0.0, "ax":-11.63203, "ay":1.75539, "alpha":0.0, "fx":[-151.68168,-151.68168,-151.68168,-151.68168], "fy":[22.89035,22.89035,22.89035,22.89035]},
+    {"t":1.02081, "x":1.17494, "y":5.82891, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/DepotToHub.traj b/src/main/deploy/choreo/DepotToHub.traj
new file mode 100644
index 00000000..34f9102d
--- /dev/null
+++ b/src/main/deploy/choreo/DepotToHub.traj
@@ -0,0 +1,79 @@
+{
+ "name":"DepotToHub",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":1.174944281578064, "y":5.828909397125244, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.456470012664795, "y":3.995620012283325, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1.174944281578064 m", "val":1.174944281578064}, "y":{"exp":"5.828909397125244 m", "val":5.828909397125244}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.456470012664795 m", "val":3.456470012664795}, "y":{"exp":"3.995620012283325 m", "val":3.995620012283325}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.01517],
+  "samples":[
+    {"t":0.0, "x":1.17494, "y":5.82891, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.17065, "ay":-7.36895, "alpha":0.0, "fx":[119.5853,119.5853,119.5853,119.5853], "fy":[-96.09116,-96.09116,-96.09116,-96.09116]},
+    {"t":0.04834, "x":1.18566, "y":5.8203, "heading":0.0, "vx":0.44332, "vy":-0.35622, "omega":0.0, "ax":9.1695, "ay":-7.36803, "alpha":0.0, "fx":[119.57028,119.57028,119.57028,119.57028], "fy":[-96.0791,-96.0791,-96.0791,-96.0791]},
+    {"t":0.09668, "x":1.2178, "y":5.79447, "heading":0.0, "vx":0.88659, "vy":-0.7124, "omega":0.0, "ax":9.16797, "ay":-7.3668, "alpha":0.0, "fx":[119.55027,119.55027,119.55027,119.55027], "fy":[-96.06301,-96.06301,-96.06301,-96.06301]},
+    {"t":0.14502, "x":1.27137, "y":5.75142, "heading":0.0, "vx":1.32978, "vy":-1.06852, "omega":0.0, "ax":9.16582, "ay":-7.36507, "alpha":0.0, "fx":[119.52225,119.52225,119.52225,119.52225], "fy":[-96.0405,-96.0405,-96.0405,-96.0405]},
+    {"t":0.19336, "x":1.34637, "y":5.69116, "heading":0.0, "vx":1.77286, "vy":-1.42456, "omega":0.0, "ax":9.1626, "ay":-7.36248, "alpha":0.0, "fx":[119.48026,119.48026,119.48026,119.48026], "fy":[-96.00676,-96.00676,-96.00676,-96.00676]},
+    {"t":0.24171, "x":1.44278, "y":5.6137, "heading":0.0, "vx":2.21579, "vy":-1.78047, "omega":0.0, "ax":9.15724, "ay":-7.35817, "alpha":0.0, "fx":[119.41036,119.41036,119.41036,119.41036], "fy":[-95.95059,-95.95059,-95.95059,-95.95059]},
+    {"t":0.29005, "x":1.56059, "y":5.51903, "heading":0.0, "vx":2.65846, "vy":-2.13617, "omega":0.0, "ax":9.14655, "ay":-7.34958, "alpha":0.0, "fx":[119.27095,119.27095,119.27095,119.27095], "fy":[-95.83857,-95.83857,-95.83857,-95.83857]},
+    {"t":0.33839, "x":1.69979, "y":5.40718, "heading":0.0, "vx":3.10062, "vy":-2.49146, "omega":0.0, "ax":9.11476, "ay":-7.32405, "alpha":0.0, "fx":[118.85651,118.85651,118.85651,118.85651], "fy":[-95.50555,-95.50555,-95.50555,-95.50555]},
+    {"t":0.38673, "x":1.86033, "y":5.27818, "heading":0.0, "vx":3.54124, "vy":-2.84551, "omega":0.0, "ax":5.86418, "ay":-4.71208, "alpha":0.0, "fx":[76.46886,76.46886,76.46886,76.46886], "fy":[-61.44552,-61.44552,-61.44552,-61.44552]},
+    {"t":0.43507, "x":2.03837, "y":5.13512, "heading":0.0, "vx":3.82472, "vy":-3.0733, "omega":0.0, "ax":0.00099, "ay":-0.0008, "alpha":0.0, "fx":[0.01294,0.01294,0.01294,0.01294], "fy":[-0.01039,-0.01039,-0.01039,-0.01039]},
+    {"t":0.48341, "x":2.22326, "y":4.98655, "heading":0.0, "vx":3.82477, "vy":-3.07334, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.53175, "x":2.40815, "y":4.83798, "heading":0.0, "vx":3.82477, "vy":-3.07334, "omega":0.0, "ax":-0.00099, "ay":0.0008, "alpha":0.0, "fx":[-0.01294,-0.01294,-0.01294,-0.01294], "fy":[0.01039,0.01039,0.01039,0.01039]},
+    {"t":0.58009, "x":2.59305, "y":4.68941, "heading":0.0, "vx":3.82472, "vy":-3.0733, "omega":0.0, "ax":-5.86418, "ay":4.71208, "alpha":0.0, "fx":[-76.46886,-76.46886,-76.46886,-76.46886], "fy":[61.44552,61.44552,61.44552,61.44552]},
+    {"t":0.62844, "x":2.77109, "y":4.54635, "heading":0.0, "vx":3.54124, "vy":-2.84551, "omega":0.0, "ax":-9.11476, "ay":7.32405, "alpha":0.0, "fx":[-118.85651,-118.85651,-118.85651,-118.85651], "fy":[95.50555,95.50555,95.50555,95.50555]},
+    {"t":0.67678, "x":2.93162, "y":4.41735, "heading":0.0, "vx":3.10062, "vy":-2.49146, "omega":0.0, "ax":-9.14655, "ay":7.34958, "alpha":0.0, "fx":[-119.27095,-119.27095,-119.27095,-119.27095], "fy":[95.83857,95.83857,95.83857,95.83857]},
+    {"t":0.72512, "x":3.07082, "y":4.3055, "heading":0.0, "vx":2.65846, "vy":-2.13617, "omega":0.0, "ax":-9.15724, "ay":7.35817, "alpha":0.0, "fx":[-119.41036,-119.41036,-119.41036,-119.41036], "fy":[95.95059,95.95059,95.95059,95.95059]},
+    {"t":0.77346, "x":3.18864, "y":4.21083, "heading":0.0, "vx":2.21579, "vy":-1.78047, "omega":0.0, "ax":-9.1626, "ay":7.36248, "alpha":0.0, "fx":[-119.48026,-119.48026,-119.48026,-119.48026], "fy":[96.00676,96.00676,96.00676,96.00676]},
+    {"t":0.8218, "x":3.28505, "y":4.13336, "heading":0.0, "vx":1.77286, "vy":-1.42456, "omega":0.0, "ax":-9.16582, "ay":7.36507, "alpha":0.0, "fx":[-119.52225,-119.52225,-119.52225,-119.52225], "fy":[96.0405,96.0405,96.0405,96.0405]},
+    {"t":0.87014, "x":3.36004, "y":4.07311, "heading":0.0, "vx":1.32978, "vy":-1.06852, "omega":0.0, "ax":-9.16797, "ay":7.3668, "alpha":0.0, "fx":[-119.55027,-119.55027,-119.55027,-119.55027], "fy":[96.06301,96.06301,96.06301,96.06301]},
+    {"t":0.91848, "x":3.41361, "y":4.03006, "heading":0.0, "vx":0.88659, "vy":-0.7124, "omega":0.0, "ax":-9.1695, "ay":7.36803, "alpha":0.0, "fx":[-119.57028,-119.57028,-119.57028,-119.57028], "fy":[96.0791,96.0791,96.0791,96.0791]},
+    {"t":0.96682, "x":3.44575, "y":4.00423, "heading":0.0, "vx":0.44332, "vy":-0.35622, "omega":0.0, "ax":-9.17065, "ay":7.36895, "alpha":0.0, "fx":[-119.5853,-119.5853,-119.5853,-119.5853], "fy":[96.09116,96.09116,96.09116,96.09116]},
+    {"t":1.01517, "x":3.45647, "y":3.99562, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/HubToClimb.traj b/src/main/deploy/choreo/HubToClimb.traj
new file mode 100644
index 00000000..4aa67ff5
--- /dev/null
+++ b/src/main/deploy/choreo/HubToClimb.traj
@@ -0,0 +1,68 @@
+{
+ "name":"HubToClimb",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.456470012664795, "y":3.995620012283325, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.6633899211883545, "y":3.7032699584960938, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.456470012664795 m", "val":3.456470012664795}, "y":{"exp":"3.995620012283325 m", "val":3.995620012283325}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.6633899211883545 m", "val":1.6633899211883545}, "y":{"exp":"3.7032699584960938 m", "val":3.7032699584960938}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.37065],
+  "samples":[
+    {"t":0.0, "x":3.45647, "y":3.99562, "heading":0.0, "vx":-4.82993, "vy":-0.78749, "omega":0.0, "ax":-0.3564, "ay":-0.05811, "alpha":0.0, "fx":[-4.6474,-4.6474,-4.6474,-4.6474], "fy":[-0.75773,-0.75773,-0.75773,-0.75773]},
+    {"t":0.02317, "x":3.34449, "y":3.97736, "heading":0.0, "vx":-4.83819, "vy":-0.78884, "omega":0.0, "ax":-0.00068, "ay":-0.00011, "alpha":0.0, "fx":[-0.00893,-0.00893,-0.00893,-0.00893], "fy":[-0.00146,-0.00146,-0.00146,-0.00146]},
+    {"t":0.04633, "x":3.23241, "y":3.95909, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00002,-0.00002,-0.00002,-0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.0695, "x":3.12033, "y":3.94081, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.09266, "x":3.00825, "y":3.92254, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.11583, "x":2.89617, "y":3.90427, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.13899, "x":2.78409, "y":3.88599, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.16216, "x":2.67201, "y":3.86772, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.18532, "x":2.55993, "y":3.84944, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.20849, "x":2.44785, "y":3.83117, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.23166, "x":2.33577, "y":3.8129, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.25482, "x":2.22369, "y":3.79462, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.27799, "x":2.11161, "y":3.77635, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.30115, "x":1.99953, "y":3.75808, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.32432, "x":1.88745, "y":3.7398, "heading":0.0, "vx":-4.83821, "vy":-0.78884, "omega":0.0, "ax":0.00068, "ay":0.00011, "alpha":0.0, "fx":[0.00893,0.00893,0.00893,0.00893], "fy":[0.00146,0.00146,0.00146,0.00146]},
+    {"t":0.34748, "x":1.77537, "y":3.72153, "heading":0.0, "vx":-4.83819, "vy":-0.78884, "omega":0.0, "ax":0.3564, "ay":0.05811, "alpha":0.0, "fx":[4.6474,4.6474,4.6474,4.6474], "fy":[0.75773,0.75773,0.75773,0.75773]},
+    {"t":0.37065, "x":1.66339, "y":3.70327, "heading":0.0, "vx":-4.82993, "vy":-0.78749, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/HubToDepot.traj b/src/main/deploy/choreo/HubToDepot.traj
new file mode 100644
index 00000000..a3c07847
--- /dev/null
+++ b/src/main/deploy/choreo/HubToDepot.traj
@@ -0,0 +1,79 @@
+{
+ "name":"HubToDepot",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.456470012664795, "y":3.995620012283325, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":1.174944281578064, "y":5.828909397125244, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.456470012664795 m", "val":3.456470012664795}, "y":{"exp":"3.995620012283325 m", "val":3.995620012283325}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"1.174944281578064 m", "val":1.174944281578064}, "y":{"exp":"5.828909397125244 m", "val":5.828909397125244}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.01517],
+  "samples":[
+    {"t":0.0, "x":3.45647, "y":3.99562, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.17065, "ay":7.36895, "alpha":0.0, "fx":[-119.5853,-119.5853,-119.5853,-119.5853], "fy":[96.09116,96.09116,96.09116,96.09116]},
+    {"t":0.04834, "x":3.44575, "y":4.00423, "heading":0.0, "vx":-0.44332, "vy":0.35622, "omega":0.0, "ax":-9.1695, "ay":7.36803, "alpha":0.0, "fx":[-119.57028,-119.57028,-119.57028,-119.57028], "fy":[96.0791,96.0791,96.0791,96.0791]},
+    {"t":0.09668, "x":3.41361, "y":4.03006, "heading":0.0, "vx":-0.88659, "vy":0.7124, "omega":0.0, "ax":-9.16797, "ay":7.3668, "alpha":0.0, "fx":[-119.55027,-119.55027,-119.55027,-119.55027], "fy":[96.06301,96.06301,96.06301,96.06301]},
+    {"t":0.14502, "x":3.36004, "y":4.07311, "heading":0.0, "vx":-1.32978, "vy":1.06852, "omega":0.0, "ax":-9.16582, "ay":7.36507, "alpha":0.0, "fx":[-119.52225,-119.52225,-119.52225,-119.52225], "fy":[96.0405,96.0405,96.0405,96.0405]},
+    {"t":0.19336, "x":3.28505, "y":4.13336, "heading":0.0, "vx":-1.77286, "vy":1.42456, "omega":0.0, "ax":-9.1626, "ay":7.36248, "alpha":0.0, "fx":[-119.48026,-119.48026,-119.48026,-119.48026], "fy":[96.00676,96.00676,96.00676,96.00676]},
+    {"t":0.24171, "x":3.18864, "y":4.21083, "heading":0.0, "vx":-2.21579, "vy":1.78047, "omega":0.0, "ax":-9.15724, "ay":7.35817, "alpha":0.0, "fx":[-119.41036,-119.41036,-119.41036,-119.41036], "fy":[95.95059,95.95059,95.95059,95.95059]},
+    {"t":0.29005, "x":3.07082, "y":4.3055, "heading":0.0, "vx":-2.65846, "vy":2.13617, "omega":0.0, "ax":-9.14655, "ay":7.34958, "alpha":0.0, "fx":[-119.27095,-119.27095,-119.27095,-119.27095], "fy":[95.83857,95.83857,95.83857,95.83857]},
+    {"t":0.33839, "x":2.93162, "y":4.41735, "heading":0.0, "vx":-3.10062, "vy":2.49146, "omega":0.0, "ax":-9.11476, "ay":7.32405, "alpha":0.0, "fx":[-118.85651,-118.85651,-118.85651,-118.85651], "fy":[95.50555,95.50555,95.50555,95.50555]},
+    {"t":0.38673, "x":2.77109, "y":4.54635, "heading":0.0, "vx":-3.54124, "vy":2.84551, "omega":0.0, "ax":-5.86418, "ay":4.71208, "alpha":0.0, "fx":[-76.46886,-76.46886,-76.46886,-76.46886], "fy":[61.44552,61.44552,61.44552,61.44552]},
+    {"t":0.43507, "x":2.59305, "y":4.68941, "heading":0.0, "vx":-3.82472, "vy":3.0733, "omega":0.0, "ax":-0.00099, "ay":0.0008, "alpha":0.0, "fx":[-0.01293,-0.01293,-0.01293,-0.01293], "fy":[0.01039,0.01039,0.01039,0.01039]},
+    {"t":0.48341, "x":2.40815, "y":4.83798, "heading":0.0, "vx":-3.82477, "vy":3.07334, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.53175, "x":2.22326, "y":4.98655, "heading":0.0, "vx":-3.82477, "vy":3.07334, "omega":0.0, "ax":0.00099, "ay":-0.0008, "alpha":0.0, "fx":[0.01294,0.01294,0.01294,0.01294], "fy":[-0.01039,-0.01039,-0.01039,-0.01039]},
+    {"t":0.58009, "x":2.03837, "y":5.13512, "heading":0.0, "vx":-3.82472, "vy":3.0733, "omega":0.0, "ax":5.86418, "ay":-4.71208, "alpha":0.0, "fx":[76.46886,76.46886,76.46886,76.46886], "fy":[-61.44552,-61.44552,-61.44552,-61.44552]},
+    {"t":0.62844, "x":1.86033, "y":5.27818, "heading":0.0, "vx":-3.54124, "vy":2.84551, "omega":0.0, "ax":9.11476, "ay":-7.32405, "alpha":0.0, "fx":[118.85651,118.85651,118.85651,118.85651], "fy":[-95.50555,-95.50555,-95.50555,-95.50555]},
+    {"t":0.67678, "x":1.69979, "y":5.40718, "heading":0.0, "vx":-3.10062, "vy":2.49146, "omega":0.0, "ax":9.14655, "ay":-7.34958, "alpha":0.0, "fx":[119.27095,119.27095,119.27095,119.27095], "fy":[-95.83857,-95.83857,-95.83857,-95.83857]},
+    {"t":0.72512, "x":1.56059, "y":5.51903, "heading":0.0, "vx":-2.65846, "vy":2.13617, "omega":0.0, "ax":9.15724, "ay":-7.35817, "alpha":0.0, "fx":[119.41036,119.41036,119.41036,119.41036], "fy":[-95.95059,-95.95059,-95.95059,-95.95059]},
+    {"t":0.77346, "x":1.44278, "y":5.6137, "heading":0.0, "vx":-2.21579, "vy":1.78047, "omega":0.0, "ax":9.1626, "ay":-7.36248, "alpha":0.0, "fx":[119.48026,119.48026,119.48026,119.48026], "fy":[-96.00676,-96.00676,-96.00676,-96.00676]},
+    {"t":0.8218, "x":1.34637, "y":5.69116, "heading":0.0, "vx":-1.77286, "vy":1.42456, "omega":0.0, "ax":9.16582, "ay":-7.36507, "alpha":0.0, "fx":[119.52225,119.52225,119.52225,119.52225], "fy":[-96.0405,-96.0405,-96.0405,-96.0405]},
+    {"t":0.87014, "x":1.27137, "y":5.75142, "heading":0.0, "vx":-1.32978, "vy":1.06852, "omega":0.0, "ax":9.16797, "ay":-7.3668, "alpha":0.0, "fx":[119.55027,119.55027,119.55027,119.55027], "fy":[-96.06301,-96.06301,-96.06301,-96.06301]},
+    {"t":0.91848, "x":1.2178, "y":5.79447, "heading":0.0, "vx":-0.88659, "vy":0.7124, "omega":0.0, "ax":9.1695, "ay":-7.36803, "alpha":0.0, "fx":[119.57028,119.57028,119.57028,119.57028], "fy":[-96.0791,-96.0791,-96.0791,-96.0791]},
+    {"t":0.96682, "x":1.18566, "y":5.8203, "heading":0.0, "vx":-0.44332, "vy":0.35622, "omega":0.0, "ax":9.17065, "ay":-7.36895, "alpha":0.0, "fx":[119.5853,119.5853,119.5853,119.5853], "fy":[-96.09116,-96.09116,-96.09116,-96.09116]},
+    {"t":1.01517, "x":1.17494, "y":5.82891, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/LeftStartToHub.traj b/src/main/deploy/choreo/LeftStartToHub.traj
new file mode 100644
index 00000000..ce05e744
--- /dev/null
+++ b/src/main/deploy/choreo/LeftStartToHub.traj
@@ -0,0 +1,80 @@
+{
+ "name":"LeftStartToHub",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.5853428840637207, "y":7.289757251739502, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.456470012664795, "y":3.995620012283325, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.5853428840637207 m", "val":3.5853428840637207}, "y":{"exp":"7.289757251739502 m", "val":7.289757251739502}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.456470012664795 m", "val":3.456470012664795}, "y":{"exp":"3.995620012283325 m", "val":3.995620012283325}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.09065],
+  "samples":[
+    {"t":0.0, "x":3.58534, "y":7.28976, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.45991, "ay":-11.75576, "alpha":0.0, "fx":[-5.9972,-5.9972,-5.9972,-5.9972], "fy":[-153.29514,-153.29514,-153.29514,-153.29514]},
+    {"t":0.04958, "x":3.58478, "y":7.27531, "heading":0.0, "vx":-0.0228, "vy":-0.58279, "omega":0.0, "ax":-0.45985, "ay":-11.75433, "alpha":0.0, "fx":[-5.99646,-5.99646,-5.99646,-5.99646], "fy":[-153.27642,-153.27642,-153.27642,-153.27642]},
+    {"t":0.09915, "x":3.58308, "y":7.23197, "heading":0.0, "vx":-0.0456, "vy":-1.16552, "omega":0.0, "ax":-0.45978, "ay":-11.75241, "alpha":0.0, "fx":[-5.99549,-5.99549,-5.99549,-5.99549], "fy":[-153.25145,-153.25145,-153.25145,-153.25145]},
+    {"t":0.14873, "x":3.58026, "y":7.15975, "heading":0.0, "vx":-0.06839, "vy":-1.74814, "omega":0.0, "ax":-0.45967, "ay":-11.74973, "alpha":0.0, "fx":[-5.99412,-5.99412,-5.99412,-5.99412], "fy":[-153.21648,-153.21648,-153.21648,-153.21648]},
+    {"t":0.1983, "x":3.5763, "y":7.05865, "heading":0.0, "vx":-0.09118, "vy":-2.33064, "omega":0.0, "ax":-0.45951, "ay":-11.7457, "alpha":0.0, "fx":[-5.99206,-5.99206,-5.99206,-5.99206], "fy":[-153.16399,-153.16399,-153.16399,-153.16399]},
+    {"t":0.24788, "x":3.57122, "y":6.92867, "heading":0.0, "vx":-0.11396, "vy":-2.91293, "omega":0.0, "ax":-0.45925, "ay":-11.73899, "alpha":0.0, "fx":[-5.98864,-5.98864,-5.98864,-5.98864], "fy":[-153.07647,-153.07647,-153.07647,-153.07647]},
+    {"t":0.29745, "x":3.565, "y":6.76984, "heading":0.0, "vx":-0.13673, "vy":-3.4949, "omega":0.0, "ax":-0.45873, "ay":-11.72556, "alpha":0.0, "fx":[-5.98179,-5.98179,-5.98179,-5.98179], "fy":[-152.90133,-152.90133,-152.90133,-152.90133]},
+    {"t":0.34703, "x":3.55766, "y":6.58217, "heading":0.0, "vx":-0.15947, "vy":-4.07619, "omega":0.0, "ax":-0.45715, "ay":-11.68531, "alpha":0.0, "fx":[-5.96125,-5.96125,-5.96125,-5.96125], "fy":[-152.3764,-152.3764,-152.3764,-152.3764]},
+    {"t":0.3966, "x":3.54919, "y":6.36573, "heading":0.0, "vx":-0.18213, "vy":-4.6555, "omega":0.0, "ax":-0.19516, "ay":-4.98849, "alpha":0.0, "fx":[-2.54488,-2.54488,-2.54488,-2.54488], "fy":[-65.04992,-65.04992,-65.04992,-65.04992]},
+    {"t":0.44618, "x":3.53992, "y":6.12881, "heading":0.0, "vx":-0.19181, "vy":-4.9028, "omega":0.0, "ax":-0.00002, "ay":-0.00057, "alpha":0.0, "fx":[-0.00029,-0.00029,-0.00029,-0.00029], "fy":[-0.00739,-0.00739,-0.00739,-0.00739]},
+    {"t":0.49575, "x":3.53042, "y":5.88575, "heading":0.0, "vx":-0.19181, "vy":-4.90283, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.54533, "x":3.52091, "y":5.64269, "heading":0.0, "vx":-0.19181, "vy":-4.90283, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.5949, "x":3.5114, "y":5.39963, "heading":0.0, "vx":-0.19181, "vy":-4.90283, "omega":0.0, "ax":0.00002, "ay":0.00057, "alpha":0.0, "fx":[0.00029,0.00029,0.00029,0.00029], "fy":[0.00739,0.00739,0.00739,0.00739]},
+    {"t":0.64448, "x":3.50189, "y":5.15657, "heading":0.0, "vx":-0.19181, "vy":-4.9028, "omega":0.0, "ax":0.19516, "ay":4.98849, "alpha":0.0, "fx":[2.54488,2.54488,2.54488,2.54488], "fy":[65.04992,65.04992,65.04992,65.04992]},
+    {"t":0.69405, "x":3.49262, "y":4.91965, "heading":0.0, "vx":-0.18213, "vy":-4.6555, "omega":0.0, "ax":0.45715, "ay":11.68531, "alpha":0.0, "fx":[5.96125,5.96125,5.96125,5.96125], "fy":[152.3764,152.3764,152.3764,152.3764]},
+    {"t":0.74363, "x":3.48415, "y":4.70321, "heading":0.0, "vx":-0.15947, "vy":-4.07619, "omega":0.0, "ax":0.45873, "ay":11.72556, "alpha":0.0, "fx":[5.98179,5.98179,5.98179,5.98179], "fy":[152.90133,152.90133,152.90133,152.90133]},
+    {"t":0.7932, "x":3.47681, "y":4.51554, "heading":0.0, "vx":-0.13673, "vy":-3.4949, "omega":0.0, "ax":0.45925, "ay":11.73899, "alpha":0.0, "fx":[5.98864,5.98864,5.98864,5.98864], "fy":[153.07647,153.07647,153.07647,153.07647]},
+    {"t":0.84278, "x":3.4706, "y":4.3567, "heading":0.0, "vx":-0.11396, "vy":-2.91293, "omega":0.0, "ax":0.45951, "ay":11.7457, "alpha":0.0, "fx":[5.99206,5.99206,5.99206,5.99206], "fy":[153.16399,153.16399,153.16399,153.16399]},
+    {"t":0.89235, "x":3.46551, "y":4.22673, "heading":0.0, "vx":-0.09118, "vy":-2.33064, "omega":0.0, "ax":0.45967, "ay":11.74973, "alpha":0.0, "fx":[5.99412,5.99412,5.99412,5.99412], "fy":[153.21648,153.21648,153.21648,153.21648]},
+    {"t":0.94193, "x":3.46156, "y":4.12563, "heading":0.0, "vx":-0.06839, "vy":-1.74814, "omega":0.0, "ax":0.45978, "ay":11.75241, "alpha":0.0, "fx":[5.99549,5.99549,5.99549,5.99549], "fy":[153.25145,153.25145,153.25145,153.25145]},
+    {"t":0.9915, "x":3.45873, "y":4.0534, "heading":0.0, "vx":-0.0456, "vy":-1.16552, "omega":0.0, "ax":0.45985, "ay":11.75433, "alpha":0.0, "fx":[5.99646,5.99646,5.99646,5.99646], "fy":[153.27642,153.27642,153.27642,153.27642]},
+    {"t":1.04108, "x":3.45704, "y":4.01007, "heading":0.0, "vx":-0.0228, "vy":-0.58279, "omega":0.0, "ax":0.45991, "ay":11.75576, "alpha":0.0, "fx":[5.9972,5.9972,5.9972,5.9972], "fy":[153.29514,153.29514,153.29514,153.29514]},
+    {"t":1.09065, "x":3.45647, "y":3.99562, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/RightStartToHub.traj b/src/main/deploy/choreo/RightStartToHub.traj
new file mode 100644
index 00000000..22fb4f79
--- /dev/null
+++ b/src/main/deploy/choreo/RightStartToHub.traj
@@ -0,0 +1,81 @@
+{
+ "name":"RightStartToHub",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.603603839874267, "y":0.5698571801185608, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":3.456470012664795, "y":3.995620012283325, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.6036038398742676 m", "val":3.603603839874267}, "y":{"exp":"0.5698571801185608 m", "val":0.5698571801185608}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.456470012664795 m", "val":3.456470012664795}, "y":{"exp":"3.995620012283325 m", "val":3.995620012283325}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":52.16,
+   "inertia":4.39,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.4064,
+    "side":0.4064,
+    "back":0.4064
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.11756],
+  "samples":[
+    {"t":0.0, "x":3.6036, "y":0.56986, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.50481, "ay":11.75367, "alpha":0.0, "fx":[-6.58273,-6.58273,-6.58273,-6.58273], "fy":[153.26784,153.26784,153.26784,153.26784]},
+    {"t":0.04859, "x":3.60301, "y":0.58373, "heading":0.0, "vx":-0.02453, "vy":0.57111, "omega":0.0, "ax":-0.50475, "ay":11.7522, "alpha":0.0, "fx":[-6.58191,-6.58191,-6.58191,-6.58191], "fy":[153.24868,153.24868,153.24868,153.24868]},
+    {"t":0.09718, "x":3.60122, "y":0.62536, "heading":0.0, "vx":-0.04905, "vy":1.14214, "omega":0.0, "ax":-0.50466, "ay":11.75024, "alpha":0.0, "fx":[-6.58081,-6.58081,-6.58081,-6.58081], "fy":[153.22314,153.22314,153.22314,153.22314]},
+    {"t":0.14577, "x":3.59824, "y":0.69472, "heading":0.0, "vx":-0.07358, "vy":1.71308, "omega":0.0, "ax":-0.50455, "ay":11.7475, "alpha":0.0, "fx":[-6.57928,-6.57928,-6.57928,-6.57928], "fy":[153.18739,153.18739,153.18739,153.18739]},
+    {"t":0.19436, "x":3.59407, "y":0.79183, "heading":0.0, "vx":-0.09809, "vy":2.28389, "omega":0.0, "ax":-0.50437, "ay":11.74339, "alpha":0.0, "fx":[-6.57698,-6.57698,-6.57698,-6.57698], "fy":[153.13378,153.13378,153.13378,153.13378]},
+    {"t":0.24295, "x":3.58871, "y":0.91666, "heading":0.0, "vx":-0.1226, "vy":2.8545, "omega":0.0, "ax":-0.50408, "ay":11.73654, "alpha":0.0, "fx":[-6.57314,-6.57314,-6.57314,-6.57314], "fy":[153.04451,153.04451,153.04451,153.04451]},
+    {"t":0.29154, "x":3.58216, "y":1.06922, "heading":0.0, "vx":-0.14709, "vy":3.42477, "omega":0.0, "ax":-0.50349, "ay":11.72288, "alpha":0.0, "fx":[-6.56549,-6.56549,-6.56549,-6.56549], "fy":[152.86633,152.86633,152.86633,152.86633]},
+    {"t":0.34013, "x":3.57442, "y":1.24947, "heading":0.0, "vx":-0.17156, "vy":3.99438, "omega":0.0, "ax":-0.50174, "ay":11.68218, "alpha":0.0, "fx":[-6.5427,-6.5427,-6.5427,-6.5427], "fy":[152.33563,152.33563,152.33563,152.33563]},
+    {"t":0.38872, "x":3.56549, "y":1.45734, "heading":0.0, "vx":-0.19594, "vy":4.56202, "omega":0.0, "ax":-0.3005, "ay":6.99668, "alpha":0.0, "fx":[-3.91855,-3.91855,-3.91855,-3.91855], "fy":[91.23672,91.23672,91.23672,91.23672]},
+    {"t":0.43731, "x":3.55561, "y":1.68727, "heading":0.0, "vx":-0.21054, "vy":4.90198, "omega":0.0, "ax":-0.00005, "ay":0.00107, "alpha":0.0, "fx":[-0.0006,-0.0006,-0.0006,-0.0006], "fy":[0.01395,0.01395,0.01395,0.01395]},
+    {"t":0.4859, "x":3.54538, "y":1.92546, "heading":0.0, "vx":-0.21054, "vy":4.90204, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.53449, "x":3.53515, "y":2.16364, "heading":0.0, "vx":-0.21054, "vy":4.90204, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.58308, "x":3.52492, "y":2.40183, "heading":0.0, "vx":-0.21054, "vy":4.90204, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.63167, "x":3.51469, "y":2.64002, "heading":0.0, "vx":-0.21054, "vy":4.90204, "omega":0.0, "ax":0.00005, "ay":-0.00107, "alpha":0.0, "fx":[0.0006,0.0006,0.0006,0.0006], "fy":[-0.01395,-0.01395,-0.01395,-0.01395]},
+    {"t":0.68026, "x":3.50446, "y":2.87821, "heading":0.0, "vx":-0.21054, "vy":4.90198, "omega":0.0, "ax":0.3005, "ay":-6.99668, "alpha":0.0, "fx":[3.91854,3.91854,3.91854,3.91854], "fy":[-91.23672,-91.23672,-91.23672,-91.23672]},
+    {"t":0.72885, "x":3.49459, "y":3.10813, "heading":0.0, "vx":-0.19594, "vy":4.56202, "omega":0.0, "ax":0.50174, "ay":-11.68218, "alpha":0.0, "fx":[6.5427,6.5427,6.5427,6.5427], "fy":[-152.33563,-152.33563,-152.33563,-152.33563]},
+    {"t":0.77744, "x":3.48566, "y":3.31601, "heading":0.0, "vx":-0.17156, "vy":3.99438, "omega":0.0, "ax":0.50349, "ay":-11.72288, "alpha":0.0, "fx":[6.56549,6.56549,6.56549,6.56549], "fy":[-152.86633,-152.86633,-152.86633,-152.86633]},
+    {"t":0.82602, "x":3.47792, "y":3.49626, "heading":0.0, "vx":-0.14709, "vy":3.42477, "omega":0.0, "ax":0.50408, "ay":-11.73654, "alpha":0.0, "fx":[6.57314,6.57314,6.57314,6.57314], "fy":[-153.04451,-153.04451,-153.04451,-153.04451]},
+    {"t":0.87461, "x":3.47137, "y":3.64881, "heading":0.0, "vx":-0.1226, "vy":2.8545, "omega":0.0, "ax":0.50437, "ay":-11.74339, "alpha":0.0, "fx":[6.57698,6.57698,6.57698,6.57698], "fy":[-153.13378,-153.13378,-153.13378,-153.13378]},
+    {"t":0.9232, "x":3.466, "y":3.77365, "heading":0.0, "vx":-0.09809, "vy":2.28389, "omega":0.0, "ax":0.50455, "ay":-11.7475, "alpha":0.0, "fx":[6.57928,6.57928,6.57928,6.57928], "fy":[-153.18739,-153.18739,-153.18739,-153.18739]},
+    {"t":0.97179, "x":3.46183, "y":3.87075, "heading":0.0, "vx":-0.07358, "vy":1.71308, "omega":0.0, "ax":0.50466, "ay":-11.75024, "alpha":0.0, "fx":[6.58081,6.58081,6.58081,6.58081], "fy":[-153.22314,-153.22314,-153.22314,-153.22314]},
+    {"t":1.02038, "x":3.45885, "y":3.94012, "heading":0.0, "vx":-0.04905, "vy":1.14214, "omega":0.0, "ax":0.50475, "ay":-11.7522, "alpha":0.0, "fx":[6.58191,6.58191,6.58191,6.58191], "fy":[-153.24868,-153.24868,-153.24868,-153.24868]},
+    {"t":1.06897, "x":3.45707, "y":3.98175, "heading":0.0, "vx":-0.02453, "vy":0.57111, "omega":0.0, "ax":0.50481, "ay":-11.75367, "alpha":0.0, "fx":[6.58273,6.58273,6.58273,6.58273], "fy":[-153.26784,-153.26784,-153.26784,-153.26784]},
+    {"t":1.11756, "x":3.45647, "y":3.99562, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/java/org/team5924/frc2026/Robot.java b/src/main/java/org/team5924/frc2026/Robot.java
index d6c7908f..fd366544 100644
--- a/src/main/java/org/team5924/frc2026/Robot.java
+++ b/src/main/java/org/team5924/frc2026/Robot.java
@@ -65,7 +65,6 @@ public Robot() {
           case 1 -> "Uncommitted changes";
           default -> "Unknown";
         });
-
     // Set up data receivers & replay source
     switch (Constants.currentMode) {
       case REAL:
diff --git a/src/main/java/org/team5924/frc2026/RobotContainer.java b/src/main/java/org/team5924/frc2026/RobotContainer.java
index e1767dce..c880ecd7 100644
--- a/src/main/java/org/team5924/frc2026/RobotContainer.java
+++ b/src/main/java/org/team5924/frc2026/RobotContainer.java
@@ -16,7 +16,7 @@
 
 package org.team5924.frc2026;
 
-import com.pathplanner.lib.auto.AutoBuilder;
+import choreo.auto.AutoFactory;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -29,6 +29,7 @@
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
+import org.team5924.frc2026.commands.AutoBuilder;
 import org.team5924.frc2026.commands.drive.DriveCommands;
 import org.team5924.frc2026.commands.intakePivot.IntakePivotCommands;
 import org.team5924.frc2026.generated.TunerConstants;
@@ -104,101 +105,107 @@ public class RobotContainer {
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
 
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
-  public RobotContainer() {
-    switch (Constants.currentMode) {
-      case REAL:
-        // Real robot, instantiate hardware IO implementations
-        drive =
-            new Drive(
-                new GyroIOPigeon2(),
-                new ModuleIOTalonFX(TunerConstants.FrontLeft),
-                new ModuleIOTalonFX(TunerConstants.FrontRight),
-                new ModuleIOTalonFX(TunerConstants.BackLeft),
-                new ModuleIOTalonFX(TunerConstants.BackRight),
-                (pose) -> {});
-
-        intake = new Intake(new IntakeIOKrakenFOC());
-        intakePivot = new IntakePivot(new IntakePivotIOTalonFX());
-        hopper = new Hopper(new HopperKrakenFOC());
-
-        shooterHoodRight = new ShooterHood(new ShooterHoodIOTalonFX(true), true);
-        shooterRollerRight =
-            new ShooterRoller(
-                new ShooterRollerIOKrakenFOC(true),
-                new BeamBreakIOHardware(Constants.ShooterRollerLeaderLeft.BEAM_BREAK_PORT),
-                true);
-        turretRight = new Turret(new TurretIOTalonFX(true), true);
-
-        shooterHoodLeft = new ShooterHood(new ShooterHoodIOTalonFX(false), false);
-        shooterRollerLeft =
-            new ShooterRoller(
-                new ShooterRollerIOKrakenFOC(false),
-                new BeamBreakIOHardware(Constants.ShooterRollerLeaderLeft.BEAM_BREAK_PORT),
-                false);
-        turretLeft = new Turret(new TurretIOTalonFX(false), false);
-        break;
-
-      case SIM:
-        // Sim robot, instantiate physics sim IO implementations
-        driveSimulation =
-            new SwerveDriveSimulation(Drive.mapleSimConfig, new Pose2d(3, 3, new Rotation2d()));
-        SimulatedArena.getInstance().addDriveTrainSimulation(driveSimulation);
-        drive =
-            new Drive(
-                new GyroIOSim(driveSimulation.getGyroSimulation()),
-                new ModuleIOTalonFXSim(TunerConstants.FrontLeft, driveSimulation.getModules()[0]),
-                new ModuleIOTalonFXSim(TunerConstants.FrontRight, driveSimulation.getModules()[1]),
-                new ModuleIOTalonFXSim(TunerConstants.BackLeft, driveSimulation.getModules()[2]),
-                new ModuleIOTalonFXSim(TunerConstants.BackRight, driveSimulation.getModules()[3]),
-                driveSimulation::setSimulationWorldPose);
-
-        intake = new Intake(new IntakeIOSim());
-        intakePivot = new IntakePivot(new IntakePivotIOSim());
-        hopper = new Hopper(new HopperIO() {}); // TODO: Hopper sim implementation
-
-        shooterHoodRight = new ShooterHood(new ShooterHoodIOSim(true), true);
-        shooterRollerRight =
-            new ShooterRoller(new ShooterRollerIOSim(true), new BeamBreakIO() {}, true);
-        turretRight = new Turret(new TurretIOSim(true), true);
-
-        shooterHoodLeft = new ShooterHood(new ShooterHoodIOSim(false), false);
-        shooterRollerLeft =
-            new ShooterRoller(new ShooterRollerIOSim(false), new BeamBreakIO() {}, false);
-        turretLeft = new Turret(new TurretIOSim(false), false);
-        break;
-
-      default:
-        // Replayed robot, disable IO implementations
-        drive =
-            new Drive(
-                new GyroIO() {},
-                new ModuleIO() {},
-                new ModuleIO() {},
-                new ModuleIO() {},
-                new ModuleIO() {},
-                (pose) -> {});
-
-        intake = new Intake(new IntakeIO() {});
-        intakePivot = new IntakePivot(new IntakePivotIO() {});
-        hopper = new Hopper(new HopperIO() {}); // TODO: Add replay IO implementation
-
-        shooterHoodRight = new ShooterHood(new ShooterHoodIO() {}, true);
-        shooterRollerRight =
-            new ShooterRoller(new ShooterRollerIO() {}, new BeamBreakIO() {}, true);
-        turretRight = new Turret(new TurretIO() {}, true);
-
-        shooterHoodLeft = new ShooterHood(new ShooterHoodIO() {}, false);
-        shooterRollerLeft =
-            new ShooterRoller(new ShooterRollerIO() {}, new BeamBreakIO() {}, false);
-        turretLeft = new Turret(new TurretIO() {}, false);
-        break;
-    }
-
-    superShooterRight = new SuperShooter(shooterRollerRight, shooterHoodRight, turretRight);
-    superShooterLeft = new SuperShooter(shooterRollerLeft, shooterHoodLeft, turretLeft);
-
-    // Auto commands
+  public static AutoFactory autoFactory;
+  
+    /** The container for the robot. Contains subsystems, OI devices, and commands. */
+    public RobotContainer() {
+      switch (Constants.currentMode) {
+        case REAL:
+          // Real robot, instantiate hardware IO implementations
+          drive =
+              new Drive(
+                  new GyroIOPigeon2(),
+                  new ModuleIOTalonFX(TunerConstants.FrontLeft),
+                  new ModuleIOTalonFX(TunerConstants.FrontRight),
+                  new ModuleIOTalonFX(TunerConstants.BackLeft),
+                  new ModuleIOTalonFX(TunerConstants.BackRight),
+                  (pose) -> {});
+  
+          intake = new Intake(new IntakeIOKrakenFOC());
+          intakePivot = new IntakePivot(new IntakePivotIOTalonFX());
+          hopper = new Hopper(new HopperKrakenFOC());
+  
+          shooterHoodRight = new ShooterHood(new ShooterHoodIOTalonFX(true), true);
+          shooterRollerRight =
+              new ShooterRoller(
+                  new ShooterRollerIOKrakenFOC(true),
+                  new BeamBreakIOHardware(Constants.ShooterRollerLeaderLeft.BEAM_BREAK_PORT),
+                  true);
+          turretRight = new Turret(new TurretIOTalonFX(true), true);
+  
+          shooterHoodLeft = new ShooterHood(new ShooterHoodIOTalonFX(false), false);
+          shooterRollerLeft =
+              new ShooterRoller(
+                  new ShooterRollerIOKrakenFOC(false),
+                  new BeamBreakIOHardware(Constants.ShooterRollerLeaderLeft.BEAM_BREAK_PORT),
+                  false);
+          turretLeft = new Turret(new TurretIOTalonFX(false), false);
+          break;
+  
+        case SIM:
+          // Sim robot, instantiate physics sim IO implementations
+          driveSimulation =
+              new SwerveDriveSimulation(Drive.mapleSimConfig, new Pose2d(3, 3, new Rotation2d()));
+          SimulatedArena.getInstance().addDriveTrainSimulation(driveSimulation);
+          drive =
+              new Drive(
+                  new GyroIOSim(driveSimulation.getGyroSimulation()),
+                  new ModuleIOTalonFXSim(TunerConstants.FrontLeft, driveSimulation.getModules()[0]),
+                  new ModuleIOTalonFXSim(TunerConstants.FrontRight, driveSimulation.getModules()[1]),
+                  new ModuleIOTalonFXSim(TunerConstants.BackLeft, driveSimulation.getModules()[2]),
+                  new ModuleIOTalonFXSim(TunerConstants.BackRight, driveSimulation.getModules()[3]),
+                  driveSimulation::setSimulationWorldPose);
+  
+          intake = new Intake(new IntakeIO() {});
+          intakePivot = new IntakePivot(new IntakePivotIOSim());
+          hopper = new Hopper(new HopperIO() {}); // TODO: Hopper sim implementation
+  
+          shooterHoodRight = new ShooterHood(new ShooterHoodIOSim(true), true);
+          shooterRollerRight =
+              new ShooterRoller(new ShooterRollerIOSim(true), new BeamBreakIO() {}, true);
+          turretRight = new Turret(new TurretIOSim(true), true);
+  
+          shooterHoodLeft = new ShooterHood(new ShooterHoodIOSim(false), false);
+          shooterRollerLeft =
+              new ShooterRoller(new ShooterRollerIOSim(false), new BeamBreakIO() {}, false);
+          turretLeft = new Turret(new TurretIOSim(false), false);
+          break;
+  
+        default:
+          // Replayed robot, disable IO implementations
+          drive =
+              new Drive(
+                  new GyroIO() {},
+                  new ModuleIO() {},
+                  new ModuleIO() {},
+                  new ModuleIO() {},
+                  new ModuleIO() {},
+                  (pose) -> {});
+  
+          intake = new Intake(new IntakeIO() {});
+          intakePivot = new IntakePivot(new IntakePivotIO() {});
+          hopper = new Hopper(new HopperIO() {}); // TODO: Add replay IO implementation
+  
+          shooterHoodRight = new ShooterHood(new ShooterHoodIO() {}, true);
+          shooterRollerRight =
+              new ShooterRoller(new ShooterRollerIO() {}, new BeamBreakIO() {}, true);
+          turretRight = new Turret(new TurretIO() {}, true);
+  
+          shooterHoodLeft = new ShooterHood(new ShooterHoodIO() {}, false);
+          shooterRollerLeft =
+              new ShooterRoller(new ShooterRollerIO() {}, new BeamBreakIO() {}, false);
+          turretLeft = new Turret(new TurretIO() {}, false);
+          break;
+      }
+  
+      superShooterRight = new SuperShooter(shooterRollerRight, shooterHoodRight, turretRight);
+      superShooterLeft = new SuperShooter(shooterRollerLeft, shooterHoodLeft, turretLeft);
+  
+      autoFactory =
+        new AutoFactory(drive::getPose, drive::setPose, drive::followChoreoTrajectory, true, drive);
+
+    // *** OUTDATED AUTO COMMANDS *** Auto commands
+    /* 
     NamedCommands.registerCommand(
         "Run Shooter",
         Commands.runOnce(
@@ -221,9 +228,20 @@ public RobotContainer() {
             () -> {
               // intake.setGoalState(IntakeState.INTAKE);
             }));
+    */
 
     // Set up auto routines
-    autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
+    autoChooser = new LoggedDashboardChooser<>("Auto Choices");
+    LoggedDashboardChooser<String> startingPosition =
+        new LoggedDashboardChooser<>("Starting Position?");
+    startingPosition.addDefaultOption("Middle", "Mid");
+    startingPosition.addOption("Right", "Right");
+    startingPosition.addOption("Left", "Left");
+    AutoBuilder.setStartingPosition(startingPosition::get);
+    var autoBuilder = new AutoBuilder(drive, superShooterLeft, superShooterRight, intake);
+
+    autoChooser.addDefaultOption("Score and Climb Auto", autoBuilder.scoreAndClimbAuto());
+    autoChooser.addOption("Score, Depot, and Climb Auto", autoBuilder.scorePickupAndClimbAuto());
 
     // // Set up SysId routines
     // autoChooser.addOption(
diff --git a/src/main/java/org/team5924/frc2026/commands/AutoBuilder.java b/src/main/java/org/team5924/frc2026/commands/AutoBuilder.java
index 134a36c4..3402e881 100644
--- a/src/main/java/org/team5924/frc2026/commands/AutoBuilder.java
+++ b/src/main/java/org/team5924/frc2026/commands/AutoBuilder.java
@@ -16,43 +16,98 @@
 
 package org.team5924.frc2026.commands;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import java.util.Set;
+import java.util.function.Supplier;
 import lombok.RequiredArgsConstructor;
-import org.team5924.frc2026.RobotState;
-import org.team5924.frc2026.commands.drive.DriveToPose;
+import org.team5924.frc2026.RobotContainer;
 import org.team5924.frc2026.subsystems.SuperShooter;
+import org.team5924.frc2026.subsystems.SuperShooter.ShooterState;
 import org.team5924.frc2026.subsystems.drive.Drive;
 import org.team5924.frc2026.subsystems.rollers.intake.Intake;
-import org.team5924.frc2026.util.AllianceFlipUtil;
+import org.team5924.frc2026.subsystems.rollers.intake.Intake.IntakeState;
 
 @RequiredArgsConstructor
 public class AutoBuilder {
-
   private final Drive drive;
-  private final SuperShooter shooter;
+  private final SuperShooter superShooterLeft;
+  private final SuperShooter superShooterRight;
   // private final Climb climb;
   private final Intake intake;
 
-  public Command basicDriveAuto() {
-    return Commands.runOnce(
-            () ->
-                RobotState.getInstance()
-                    .resetPose(
-                        AllianceFlipUtil.apply(
-                            new Pose2d(
-                                RobotState.getInstance().getEstimatedPose().getTranslation(),
-                                Rotation2d.kPi))))
-        .andThen(
-            new DriveToPose(
-                    drive,
-                    () -> RobotState.getInstance().getEstimatedPose(),
-                    () -> RobotState.getInstance().getEstimatedPose(),
-                    () ->
-                        new Translation2d((AllianceFlipUtil.shouldFlip() ? -1.0 : 1.0) * -1.0, 0.0))
-                .withTimeout(0.6));
+  // Left, Mid, Right 1-5
+  private static Supplier<String> startingPositionSupplier;
+
+  public static void setStartingPosition(Supplier<String> supplier) {
+    if (supplier == null)
+      throw new IllegalArgumentException("startingPositionSupplier can't be null");
+    startingPositionSupplier = supplier;
+  }
+
+  public Command scoreAndClimbAuto() {
+    if (startingPositionSupplier == null) {
+      throw new IllegalStateException(
+          "starting position must be set before building auto commands");
+    }
+    return Commands.defer(() -> Commands.sequence(
+        startToHub(startingPositionSupplier.get()),
+        shootersOn(1.0), // TODO: Edit timout 
+        shootersOff(),
+        RobotContainer.autoFactory.trajectoryCmd("HubToClimb")
+        // Commands.run(() -> climb.setGoalState(ClimbState.L1_CLIMB), climb)
+    ), Set.of(drive, superShooterLeft, superShooterRight));
+  }
+
+  public Command scorePickupAndClimbAuto() {
+    if (startingPositionSupplier == null) {
+      throw new IllegalStateException(
+          "starting position must be set before building auto commands");
+    }
+    return Commands.defer(() -> Commands.sequence(
+        startToHub(startingPositionSupplier.get()),
+        shootersOn(1.0), // TODO: edit timeouts
+        shootersOff(),
+        RobotContainer.autoFactory.trajectoryCmd("HubToDepot"),
+        intakeSequence(),
+        RobotContainer.autoFactory.trajectoryCmd("DepotToHub"),
+        shootersOn(1.0),
+        shootersOff(),
+        RobotContainer.autoFactory.trajectoryCmd("HubToClimb")
+        // Commands.run(() -> climb.setGoalState(ClimbState.L1_CLIMB), climb)
+        ), Set.of(drive, superShooterLeft, superShooterRight, intake));  
+  }
+
+  private Command startToHub(String startingPosition) {
+    if ("Mid".equals(startingPosition)) {
+      return Commands.none();
+    } else {
+      return Commands.sequence(
+          RobotContainer.autoFactory.resetOdometry(startingPosition + "StartToHub"),
+          RobotContainer.autoFactory.trajectoryCmd(startingPosition + "StartToHub"));
+    }
+  }
+
+  private Command shootersOn(double timeout) {
+    return Commands.parallel(
+            Commands.run(() -> superShooterLeft.setGoalState(ShooterState.AUTO_SHOOTING), superShooterLeft),
+            Commands.run(() -> superShooterRight.setGoalState(ShooterState.AUTO_SHOOTING), superShooterRight)
+          ).withTimeout(timeout); 
+  }
+
+  private Command shootersOff() {
+    return Commands.parallel(
+            Commands.runOnce(() -> superShooterLeft.setGoalState(ShooterState.OFF), superShooterLeft),
+            Commands.runOnce(() -> superShooterRight.setGoalState(ShooterState.OFF), superShooterRight)
+          );
+  }
+
+  private Command intakeSequence() {
+    return Commands.sequence( 
+            Commands.deadline(
+              RobotContainer.autoFactory.trajectoryCmd("DepotIntake"),
+              Commands.run(() -> intake.setGoalState(IntakeState.INTAKE), intake)
+            ),
+            Commands.runOnce(() -> intake.setGoalState(IntakeState.OFF), intake));
   }
 }
diff --git a/src/main/java/org/team5924/frc2026/commands/climb/AutoClimbCommands.java b/src/main/java/org/team5924/frc2026/commands/climb/AutoClimbCommands.java
deleted file mode 100644
index 60ae3e8c..00000000
--- a/src/main/java/org/team5924/frc2026/commands/climb/AutoClimbCommands.java
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * AutoClimbCommands.java
- */
-
-/* 
- * Copyright (C) 2025-2026 Team 5924 - Golden Gate Robotics and/or its affiliates.
- *
- * This file, and the associated project, are offered under the GNU General
- * Public License v3.0. A copy of this license can be found in LICENSE.md
- * at the root of this project.
- *
- * If this file has been separated from the original project, you should have
- * received a copy of the GNU General Public License along with it.
- * If you did not, see <https://www.gnu.org/licenses>.
- */
-
-package org.team5924.frc2026.commands.climb;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import java.util.function.BooleanSupplier;
-import org.team5924.frc2026.subsystems.drive.Drive;
-
-public class AutoClimbCommands {
-  // TODO Make and auto climb program
-  // public static Command autoClimb(
-  //   Drive drive,
-  //   SuperShooter shooter,
-  //   DoubleSupplier driverX,
-  //   DoubleSupplier driverY,
-  //   DoubleSupplier driverOmega,
-  //   Command joystickDrive,
-  //   Supplier<Command> controllerRumble,
-  //   BooleanSupplier trigger,
-  //   BooleanSupplier disableReefAutoAlign,
-  //   BooleanSupplier manualEject) {
-  //   }
-  private AutoClimbCommands() {}
-
-  public static Command autoClimb(Drive drive, /*Climb climb, */ BooleanSupplier s) {
-    // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'autoClimb'");
-  }
-}
diff --git a/src/main/java/org/team5924/frc2026/commands/shooter/AutoScoreCommands.java b/src/main/java/org/team5924/frc2026/commands/shooter/AutoScoreCommands.java
deleted file mode 100644
index 6dc3e691..00000000
--- a/src/main/java/org/team5924/frc2026/commands/shooter/AutoScoreCommands.java
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * AutoScoreCommands.java
- */
-
-/* 
- * Copyright (C) 2025-2026 Team 5924 - Golden Gate Robotics and/or its affiliates.
- *
- * This file, and the associated project, are offered under the GNU General
- * Public License v3.0. A copy of this license can be found in LICENSE.md
- * at the root of this project.
- *
- * If this file has been separated from the original project, you should have
- * received a copy of the GNU General Public License along with it.
- * If you did not, see <https://www.gnu.org/licenses>.
- */
-
-package org.team5924.frc2026.commands.shooter;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import org.team5924.frc2026.subsystems.SuperShooter;
-import org.team5924.frc2026.subsystems.drive.Drive;
-
-public class AutoScoreCommands {
-  // TODO Make and auto score program
-  // public static Command autoScore(
-  //   Drive drive,
-  //   SuperShooter shooter,
-  //   DoubleSupplier driverX,
-  //   DoubleSupplier driverY,
-  //   DoubleSupplier driverOmega,
-  //   Command joystickDrive,
-  //   Supplier<Command> controllerRumble,
-  //   BooleanSupplier trigger,
-  //   BooleanSupplier disableReefAutoAlign,
-  //   BooleanSupplier manualEject) {
-  //   }
-  private AutoScoreCommands() {}
-
-  public static Command autoScore(Drive drive, SuperShooter shooter) {
-    // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'autoScore'");
-  }
-}
diff --git a/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java b/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
index 743bb44a..0b7933f2 100644
--- a/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
+++ b/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
@@ -22,6 +22,7 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
+import choreo.trajectory.SwerveSample;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.config.ModuleConfig;
 import com.pathplanner.lib.config.PIDConstants;
@@ -34,6 +35,7 @@
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -72,6 +74,7 @@
 import org.team5924.frc2026.util.Elastic.Notification;
 import org.team5924.frc2026.util.Elastic.Notification.NotificationLevel;
 import org.team5924.frc2026.util.LocalADStarAK;
+import org.team5924.frc2026.util.LoggedTunableNumber;
 
 public class Drive extends SubsystemBase {
   // TunerConstants doesn't include these constants, so they are declared locally
@@ -86,7 +89,8 @@ public class Drive extends SubsystemBase {
               Math.hypot(TunerConstants.BackRight.LocationX, TunerConstants.BackRight.LocationY)));
 
   // PathPlanner config constants
-  private static final double ROBOT_MASS_KG = 52.16; // TODO: update
+  private static final double ROBOT_MASS_KG =
+      52.16; // TODO: update, when updating also update choreo
   private static final double ROBOT_MOI = 4.39;
   private static final double WHEEL_COF = 1.2;
   private static final RobotConfig PP_CONFIG =
@@ -103,6 +107,33 @@ public class Drive extends SubsystemBase {
               1),
           getModuleTranslations());
 
+  private final LoggedTunableNumber xControllerKp =
+      new LoggedTunableNumber("Drive/xControllerKp", 10.0);
+  private final LoggedTunableNumber xControllerKi =
+      new LoggedTunableNumber("Drive/xControllerKi", 0.0);
+  private final LoggedTunableNumber xControllerKd =
+      new LoggedTunableNumber("Drive/xControllerKd", 0.0);
+  private final LoggedTunableNumber yControllerKp =
+      new LoggedTunableNumber("Drive/yControllerKp", 10.0);
+  private final LoggedTunableNumber yControllerKi =
+      new LoggedTunableNumber("Drive/yControllerKi", 0.0);
+  private final LoggedTunableNumber yControllerKd =
+      new LoggedTunableNumber("Drive/yControllerKd", 0.0);
+  private final LoggedTunableNumber headingControllerKp =
+      new LoggedTunableNumber("Drive/headingControllerKp", 7.5);
+  private final LoggedTunableNumber headingControllerKi =
+      new LoggedTunableNumber("Drive/headingControllerKi", 0.0);
+  private final LoggedTunableNumber headingControllerKd =
+      new LoggedTunableNumber("Drive/headingControllerKd", 0.0);
+
+  private final PIDController xController =
+      new PIDController(xControllerKp.get(), xControllerKi.get(), xControllerKd.get());
+  private final PIDController yController =
+      new PIDController(yControllerKp.get(), yControllerKi.get(), yControllerKd.get());
+  private final PIDController headingController =
+      new PIDController(
+          headingControllerKp.get(), headingControllerKi.get(), headingControllerKd.get());
+
   public static final DriveTrainSimulationConfig mapleSimConfig =
       DriveTrainSimulationConfig.Default()
           .withRobotMass(Kilograms.of(ROBOT_MASS_KG))
@@ -239,6 +270,7 @@ public void initSendable(SendableBuilder builder) {
             builder.addDoubleProperty("Robot Angle", () -> getRotation().getRadians(), null);
           }
         });
+    headingController.enableContinuousInput(-Math.PI, Math.PI);
   }
 
   @Override
@@ -311,6 +343,40 @@ public void periodic() {
       Elastic.sendNotification(gyroDisconnectedNotification);
     }
     wasGyroConnected = gyroInputs.connected;
+
+    LoggedTunableNumber.ifChanged(
+        hashCode(),
+        gains -> {
+          xController.setPID(gains[0], gains[1], gains[2]);
+          yController.setPID(gains[3], gains[4], gains[5]);
+          headingController.setPID(gains[6], gains[7], gains[8]);
+        },
+        xControllerKp,
+        xControllerKi,
+        xControllerKd,
+        yControllerKp,
+        yControllerKi,
+        yControllerKd,
+        headingControllerKp,
+        headingControllerKi,
+        headingControllerKd);
+  }
+
+  public void followChoreoTrajectory(SwerveSample sample) {
+    // Get the current pose of the robot
+    Pose2d pose = getPose();
+
+    // Generate the next speeds for the robot
+    ChassisSpeeds speeds =
+        ChassisSpeeds.fromFieldRelativeSpeeds(
+            sample.vx + xController.calculate(pose.getX(), sample.x),
+            sample.vy + yController.calculate(pose.getY(), sample.y),
+            sample.omega
+                + headingController.calculate(pose.getRotation().getRadians(), sample.heading),
+            pose.getRotation());
+
+    // Apply the generated speeds
+    runVelocity(speeds);
   }
 
   /**
diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json
new file mode 100644
index 00000000..322c9e20
--- /dev/null
+++ b/vendordeps/ChoreoLib2026.json
@@ -0,0 +1,44 @@
+{
+    "fileName": "ChoreoLib2026.json",
+    "name": "ChoreoLib",
+    "version": "2026.0.1",
+    "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
+    "frcYear": "2026",
+    "mavenUrls": [
+        "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/",
+        "https://repo1.maven.org/maven2"
+    ],
+    "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json",
+    "javaDependencies": [
+        {
+            "groupId": "choreo",
+            "artifactId": "ChoreoLib-java",
+            "version": "2026.0.1"
+        },
+        {
+            "groupId": "com.google.code.gson",
+            "artifactId": "gson",
+            "version": "2.11.0"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "choreo",
+            "artifactId": "ChoreoLib-cpp",
+            "version": "2026.0.1",
+            "libName": "ChoreoLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}
\ No newline at end of file