diff --git a/src/main/deploy/pathplanner/autos/S C1-5 S Over W1 DEF.auto b/src/main/deploy/pathplanner/autos/S C1-5 S Over W1 DEF.auto
index 9d5c394f..a88d7aaf 100644
--- a/src/main/deploy/pathplanner/autos/S C1-5 S Over W1 DEF.auto	
+++ b/src/main/deploy/pathplanner/autos/S C1-5 S Over W1 DEF.auto	
@@ -22,16 +22,9 @@
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "S C1"
-                      }
-                    }
-                  ]
+                  "pathName": "S C1"
                 }
               },
               {
diff --git a/src/main/deploy/pathplanner/autos/S W1 S C1-5 S DEF.auto b/src/main/deploy/pathplanner/autos/S W1 S C1-5 S DEF.auto
new file mode 100644
index 00000000..ac781220
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/S W1 S C1-5 S DEF.auto	
@@ -0,0 +1,107 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.182727334398768,
+      "y": 6.395529951663276
+    },
+    "rotation": -142.27500495788928
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "P CA1"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ShootInstantlyWhenReady2"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "CA1 W1"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ShootInstantlyWhenReady1"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "PrepareSWD"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "W1 C1"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopAll"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ToIndexer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "C1toC5default"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Normal",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S DEF.auto b/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S DEF.auto
new file mode 100644
index 00000000..b92cda53
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S DEF.auto	
@@ -0,0 +1,101 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.29235458470917,
+      "y": 4.778983272252259
+    },
+    "rotation": 151.53108100340572
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "FullPowerPreload"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "S W3-1 Bayou"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ShootInstantlyWhenReady"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "PrepareSWD"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "W1 C1"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopAll"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ToIndexer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "C1toC5default"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Normal",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto b/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto
index d07f9773..cb77a592 100644
--- a/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto	
+++ b/src/main/deploy/pathplanner/autos/S W3-1 S C1-5 S.auto	
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.182727334398768,
-      "y": 6.395529951663276
+      "x": 1.29235458470917,
+      "y": 4.778983272252259
     },
     "rotation": 151.53108100340572
   },
@@ -11,12 +11,6 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.3
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -37,12 +31,6 @@
                         "pathName": "S W3-1 Bayou"
                       }
                     },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "EnableLimelight"
-                      }
-                    },
                     {
                       "type": "named",
                       "data": {
diff --git a/src/main/deploy/pathplanner/paths/W2 C3.path b/src/main/deploy/pathplanner/paths/W2 C3.path
index 60da3d5b..c15c3f4f 100644
--- a/src/main/deploy/pathplanner/paths/W2 C3.path	
+++ b/src/main/deploy/pathplanner/paths/W2 C3.path	
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.722849836116708,
-        "y": 4.625468700804305
+        "x": 5.202725850291558,
+        "y": 4.411401278318571
       },
       "isLocked": false,
       "linkedName": "W2"
@@ -20,8 +20,8 @@
         "y": 4.095455268178173
       },
       "prevControl": {
-        "x": 5.677080386991298,
-        "y": 4.2102691481336825
+        "x": 5.718850061662163,
+        "y": 3.729727791602677
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": 179.09166216609205,
+    "rotation": -169.4937204001024,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/java/frc/robot/util/auto/PathPlannerStorage.java b/src/main/java/frc/robot/util/auto/PathPlannerStorage.java
index a6592de1..a875e7a1 100644
--- a/src/main/java/frc/robot/util/auto/PathPlannerStorage.java
+++ b/src/main/java/frc/robot/util/auto/PathPlannerStorage.java
@@ -349,10 +349,10 @@ private Command generateCenterDefaultCommand(int i, int endingNote, boolean goin
                         .raceWith(Commands.waitUntil(() -> !shooterSensor.getAsBoolean() && !elevatorSensor.getAsBoolean() && swerve.insideOwnWing())),
                     NamedCommands.getCommand("StopIntake")
                         .andThen(NamedCommands.getCommand("ToIndexer")
-                            .onlyIf(() -> !shooterSensor.getAsBoolean())),
+                            .unless(shooterSensor)),
                     NamedCommands.getCommand("PrepareSWD")
                 ),
-                NamedCommands.getCommand("ShootInstantlyWhenReady"),
+                NamedCommands.getCommand("ShootInstantlyWhenReady2"),
                 Commands.deadline(
                     AutoBuilder.followPath(getNoteAfterShot),
                     Commands.sequence(