diff --git a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
index f19104e9..50b4692b 100644
--- a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
+++ b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
@@ -5,7 +5,7 @@
       "x": 0.6842044526319189,
       "y": 6.690138362483131
     },
-    "rotation": -117.0
+    "rotation": -120.0
   },
   "command": {
     "type": "sequential",
diff --git a/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto b/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
index 040362aa..ede8550a 100644
--- a/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
+++ b/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
@@ -5,7 +5,7 @@
       "x": 0.7523718013035084,
       "y": 4.450354048988052
     },
-    "rotation": 117.3
+    "rotation": 120.0
   },
   "command": {
     "type": "sequential",
diff --git a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
index ac990131..6de58a3a 100644
--- a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
+++ b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.475395244977917,
-        "y": 6.310348848455705
+        "x": 5.640944520323205,
+        "y": 6.602494628476801
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.603853803121001,
-        "y": 6.273836408727811
+        "x": 5.769403078466289,
+        "y": 6.565982188748907
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 6.281134270453595
       },
       "prevControl": {
-        "x": 5.942217077535311,
-        "y": 6.352516764936465
+        "x": 6.010995841683261,
+        "y": 6.495374509135732
       },
       "nextControl": {
-        "x": 6.507643667719127,
-        "y": 6.193490536447265
+        "x": 6.4076064401853925,
+        "y": 6.03614118455432
       },
       "isLocked": false,
       "linkedName": null
diff --git a/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path b/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path
index 163a87f0..f6c7a3c2 100644
--- a/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path
+++ b/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.326288510228267,
-        "y": 7.751601363226451
+        "x": 4.219168390887197,
+        "y": 7.936627023906479
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.725554409590433,
-        "y": 6.436945353131514
+        "x": 4.764507180259913,
+        "y": 6.621971013811542
       },
       "prevControl": {
-        "x": 4.71302813700922,
-        "y": 6.874943512199754
+        "x": 4.598957904914624,
+        "y": 7.128357032514777
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 37cdb990..467a58cd 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -299,6 +299,12 @@ private void lightsInst() {
   private void configureBindings() {
     new Trigger(AmpAngleSup).onTrue(new InstantCommand(driveTrain::pointWheelsInward, driveTrain));
     SmartDashboard.putData("drivetrain", driveTrain);
+    Command setGyroTo180 = new InstantCommand(()->driveTrain.zeroGyroscope(180)) {
+      public boolean runsWhenDisabled() {
+              return true;
+      };
+    };
+    SmartDashboard.putData("set gyro 180", setGyroTo180);
     // new Trigger(driverController::getCrossButton).onTrue(new autoAimParallel(driveTrain/*, shooter*/));
     new Trigger(ZeroGyroSup).onTrue(new InstantCommand(driveTrain::zeroGyroscope));
     // new Trigger(driverController::getCircleButton).whileTrue(new GoToAmp(driveTrain)); unused becuase we dont pickup from amp with a path anymore
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
index 7374ca70..1de9d097 100644
--- a/src/main/java/frc/robot/settings/Constants.java
+++ b/src/main/java/frc/robot/settings/Constants.java
@@ -466,14 +466,14 @@ public final class Field{
 
     public static final double CALCULATED_SHOOTER_RED_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_RED_X+3.213;
     public static final double CALCULATED_RED_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_RED_Y+1.263;
-    public static final double RED_SPEAKER_Y = 5.68;//home field: 5.613 HCPA: 5.68
-    public static final double SHOOTER_RED_SPEAKER_X = 16.55;//home field: 16.582 HCPA: 16.55
+    public static final double RED_SPEAKER_Y = 5.58;//home field: 5.613 HCPA: 5.68
+    public static final double SHOOTER_RED_SPEAKER_X = 16.5;//home field: 16.582 HCPA: 16.55
     public static final double ROBOT_RED_SPEAKER_X = SHOOTER_RED_SPEAKER_X-0.165;//changed so that shots from the side wil aim to the opposite side, and bank in
     
     public static final double CALCULATED_SHOOTER_BLUE_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_X-3.213; //changed so that shots from the side wil aim to the opposite side, and bank in
     public static final double CALCULATED_BLUE_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_Y+1.263;
-    public static final double BLUE_SPEAKER_Y = 5.348;//home field: HCPA: 5.348
-    public static final double SHOOTER_BLUE_SPEAKER_X = 0.13; //HCPA: 0.13
+    public static final double BLUE_SPEAKER_Y = 5.372;//home field: HCPA: 5.348
+    public static final double SHOOTER_BLUE_SPEAKER_X = -0.03; //HCPA: 0.13
     public static final double ROBOT_BLUE_SPEAKER_X = SHOOTER_BLUE_SPEAKER_X+0.2;
 
     public static final double SPEAKER_Z = 2.08;//1.5;//1.8;//2.08; //height of opening. Changed so that the smaller spekeaker_x shots will still go in