diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path
index 6e2776fd..45841f1b 100644
--- a/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path
+++ b/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path
@@ -36,8 +36,8 @@
         "y": 7.225738959188476
       },
       "prevControl": {
-        "x": 3.9951899595376896,
-        "y": 7.206262573853738
+        "x": 5.212464042958929,
+        "y": 6.953069564502119
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
index 2f4bd3f2..ac990131 100644
--- a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
+++ b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
@@ -3,25 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.215497887698029,
-        "y": 6.212966921782006
+        "x": 5.475395244977917,
+        "y": 6.310348848455705
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.343956445841113,
-        "y": 6.176454482054112
+        "x": 5.603853803121001,
+        "y": 6.273836408727811
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.897171374413923,
-        "y": 5.68710451774403
+        "x": 6.19602150236329,
+        "y": 6.281134270453595
       },
       "prevControl": {
-        "x": 6.19602150236329,
-        "y": 5.67736632507666
+        "x": 5.942217077535311,
+        "y": 6.352516764936465
+      },
+      "nextControl": {
+        "x": 6.507643667719127,
+        "y": 6.193490536447265
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.052982457091843,
+        "y": 5.72605728841351
+      },
+      "prevControl": {
+        "x": 6.449214511714907,
+        "y": 5.618937169072441
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path
index 813f53bc..ab529493 100644
--- a/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path
+++ b/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.3068121248935265,
-        "y": 6.027941261101977
+        "x": 4.608696097581994,
+        "y": 6.144799573110416
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.7450028218176925,
-        "y": 5.271930425780205
+        "x": 7.04688679450616,
+        "y": 5.388788737788644
       },
       "isLocked": false,
       "linkedName": "SourceSideShoot"
diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path
index 7b298687..59740a4f 100644
--- a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path
+++ b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.3068121248935265,
-        "y": 6.027941261101977
+        "x": 4.608696097581994,
+        "y": 6.144799573110416
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3950925173499225,
-        "y": 2.8922432222088648
+        "x": 1.6969764900383901,
+        "y": 3.009101534217304
       },
       "isLocked": false,
       "linkedName": "SourceSideShoot"
diff --git a/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path b/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path
index af7b64ee..a542966a 100644
--- a/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path
+++ b/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.3068121248935265,
-        "y": 6.027941261101977
+        "x": 4.608696097581994,
+        "y": 6.144799573110416
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.6446150235123724,
-        "y": 3.807633332941637
+        "x": 3.94649899620084,
+        "y": 3.924491644950076
       },
       "isLocked": false,
       "linkedName": "SourceSideShoot"
diff --git a/src/main/deploy/pathplanner/paths/Blue5AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue5AutoPickupFromStart.path
index 53a4614f..7758b384 100644
--- a/src/main/deploy/pathplanner/paths/Blue5AutoPickupFromStart.path
+++ b/src/main/deploy/pathplanner/paths/Blue5AutoPickupFromStart.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.90084187760309,
-        "y": 1.071201193410692
+        "x": 5.7578028323316435,
+        "y": 1.4120379367686373
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 1.5483726341118162
       },
       "prevControl": {
-        "x": 6.829004025742336,
-        "y": 2.2397843134950803
+        "x": 6.225236080365399,
+        "y": 2.142402386821381
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path b/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path
index c2e9ad97..163a87f0 100644
--- a/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path
+++ b/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.429738126380168,
-        "y": 7.206262573853738
+        "x": 7.9683725678246144,
+        "y": 7.459455583205354
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.658054843107622,
-        "y": 7.492239403441069
+        "x": 4.326288510228267,
+        "y": 7.751601363226451
       },
       "isLocked": false,
       "linkedName": null
@@ -39,7 +39,7 @@
   "eventMarkers": [
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 0.75,
+      "waypointRelativePos": 0.9,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path b/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path
index 1e3e883d..cd206d61 100644
--- a/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path
+++ b/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 4.3068121248935265,
-        "y": 6.027941261101977
+        "x": 4.73,
+        "y": 6.144799573110416
       },
       "prevControl": {
-        "x": 3.94649899620084,
-        "y": 7.751601363226451
+        "x": 4.369686871307314,
+        "y": 7.86845967523489
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "SourceSideShoot"
+      "linkedName": null
     }
   ],
   "rotationTargets": [
diff --git a/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path b/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path
index 6750ed46..831841ba 100644
--- a/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path
+++ b/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 4.102310078878758,
-        "y": 5.72605728841351
+        "x": 4.043880922874538,
+        "y": 6.096108609773567
       },
       "prevControl": {
-        "x": 4.014666344872429,
-        "y": 4.245852002973283
+        "x": 3.9172844181987303,
+        "y": 3.963444415619555
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   "eventMarkers": [
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 0.85,
+      "waypointRelativePos": 0.8,
       "command": {
         "type": "parallel",
         "data": {