diff --git a/src/main/cpp/AutoAimer.cpp b/src/main/cpp/AutoAimer.cpp
index 259af3e..1bdd917 100644
--- a/src/main/cpp/AutoAimer.cpp
+++ b/src/main/cpp/AutoAimer.cpp
@@ -3,11 +3,12 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 
 AutoAimer::AutoAimer()
+
 {
     m_lookup.emplace_back(VisionSetPoint{59.34, 50.0, 75.0, -51.9});
     m_lookup.emplace_back(VisionSetPoint{107.4769, 30, 130.0, -89.5});
-    m_lookup.emplace_back(VisionSetPoint{155.16, 22.3, 175.0, -104.5});
-    m_lookup.emplace_back(VisionSetPoint{172.71, 21.2, 205.3, -104.7}); 
+    m_lookup.emplace_back(VisionSetPoint{155.16, 21.3, 130.0, -89.5});
+    m_lookup.emplace_back(VisionSetPoint{172.71, 20.25, 130.3, -89.5}); 
     m_lookup.emplace_back(VisionSetPoint{200.58, 20.5, 250, -106.5});
 
     
diff --git a/src/main/cpp/ControllerInterface.cpp b/src/main/cpp/ControllerInterface.cpp
index 07e4a5f..0b61809 100644
--- a/src/main/cpp/ControllerInterface.cpp
+++ b/src/main/cpp/ControllerInterface.cpp
@@ -36,6 +36,7 @@ void ControllerInterface::UpdateLauncherInput(RobotControlData &controlData)
     controlData.launcherInput.goToStowPos = m_copilot.GetAButton();
     controlData.launcherInput.goToSubPos = m_copilot.GetYButton();
     controlData.launcherInput.runIndexerBackward = m_copilot.GetLeftTriggerAxis() >= 0.2;
+    controlData.launcherInput.goToHoardePos = m_copilot.GetBButton();
     // controlData.launcherInput.runIndexerForward = m_copilot.GetRightTriggerAxis() >= 0.2;
     //controlData.launcherInput.runIndexerForward = m_copilot.GetXButton();
     //controlData.launcherInput.runIndexerBackward = m_copilot.GetBButton();
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
index db5f247..2aef479 100644
--- a/src/main/cpp/Robot.cpp
+++ b/src/main/cpp/Robot.cpp
@@ -55,6 +55,10 @@ void Robot::RobotInit() {
   
   SwerveInit();
   
+  frc::CameraServer::StartAutomaticCapture();
+
+  // m_cvSink = frc::CameraServer::GetVideo();
+  // m_cvSource = frc::CameraServer::PutVideo("Camera", 640, 480);
 }
 
 /**
diff --git a/src/main/cpp/commands/SmartIntakeCommand.cpp b/src/main/cpp/commands/SmartIntakeCommand.cpp
index ee0be44..c711bcb 100644
--- a/src/main/cpp/commands/SmartIntakeCommand.cpp
+++ b/src/main/cpp/commands/SmartIntakeCommand.cpp
@@ -8,7 +8,11 @@ SmartIntakeCommand::SmartIntakeCommand(RobotControlData &controlData)
 
 void SmartIntakeCommand::Initialize()
 {
-    m_controlData.smartIntakeInput.smartIntake = true;
+    if (!m_controlData.smartIntakeOutput.smartIntakeFlag)
+    {
+        m_controlData.smartIntakeInput.smartIntake = true;
+    }
+    
     m_state = 0;
 }
 
diff --git a/src/main/cpp/subsystems/LauncherHAL.cpp b/src/main/cpp/subsystems/LauncherHAL.cpp
index a9f5388..34ffc99 100644
--- a/src/main/cpp/subsystems/LauncherHAL.cpp
+++ b/src/main/cpp/subsystems/LauncherHAL.cpp
@@ -134,7 +134,18 @@ LauncherHAL::LauncherHAL()
     m_FlywheelBottom.SetControl(m_FlywheelTopFollower);
     
     m_FlywheelTop.GetConfigurator().Apply(configs);
-    m_FlywheelBottom.GetConfigurator().Apply(configs);
+
+    {
+        bool successful = false;
+        int retries = 0;
+
+        while (!successful || retries <= 10)
+        {
+            retries++;
+            auto status = m_FlywheelBottom.GetConfigurator().Apply(configs);
+            successful = status == ctre::phoenix::StatusCode::OK;
+        }
+    }
 
     m_currentAngle = -100.0;
 }
@@ -175,6 +186,7 @@ void LauncherHAL::SetIndexerSpeed(double speed)
     m_IndMotor.Set(m_indexerSpeed);
 }
 
+
 void LauncherHAL::SetAngle(double angle)
 {
     if (angle > MAX_PIVOT_ANGLE)
@@ -191,19 +203,15 @@ void LauncherHAL::SetAngle(double angle)
 
 void LauncherHAL::ProfiledMoveToAngle(double angle)
 {
-    if (std::fabs(m_currentAngle - angle) >= 1e-8)
-    {
-        m_profileState = 0;
-        m_currentAngle = angle;
-    }
-
     switch(m_profileState)
     {
      case 0: 
         {
             m_ProfileStartPos = GetAngle();
 
-            m_Timer.Restart();
+            m_Timer.Stop();
+            m_Timer.Reset();
+            m_Timer.Start();
 
             m_profileState++;
 
@@ -259,5 +267,5 @@ double LauncherHAL::GetFlywheelSpeed()
 
 void LauncherHAL::ResetProfiledMoveState()
 {
-    // m_profileState = 0;
+    m_profileState = 0;
 }
\ No newline at end of file
diff --git a/src/main/cpp/subsystems/SmartIntake.cpp b/src/main/cpp/subsystems/SmartIntake.cpp
index 2cbc9f9..de54224 100644
--- a/src/main/cpp/subsystems/SmartIntake.cpp
+++ b/src/main/cpp/subsystems/SmartIntake.cpp
@@ -211,7 +211,7 @@ void SmartIntake::HandleInput(RobotControlData& input){
         }
         case 3:
         {
-            if (m_timer.Get() > units::second_t(0.035))
+            if (m_timer.Get() > units::second_t(0.025))
             {
                 m_SmartOutTakeFlag = false;
                 m_OutTakeState = 0;
@@ -255,4 +255,6 @@ void SmartIntake::HandleInput(RobotControlData& input){
     m_prevSmartIntake = input.smartIntakeInput.smartIntake;
     m_prevSmartOutTake = input.smartIntakeInput.smartOutTake;
     m_prevSwitchMode = input.smartIntakeInput.switchMode;
+    input.smartIntakeOutput.smartIntakeFlag = m_SmartIntakeFlag;
+    input.smartIntakeOutput.smartOuttakeFlag = m_SmartOutTakeFlag;
 }
diff --git a/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp b/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
index 30e95a4..763c968 100644
--- a/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
+++ b/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
@@ -2,8 +2,9 @@
 
 namespace
 {
-    const double NORMAL_INTAKE_SPEED = 0.80;
-    const double AMP_POS = 19.361;
+    const double NORMAL_INTAKE_SPEED = 0.95;
+    const double OUTAKE_SPEED = 0.7;
+    const double AMP_POS = 25.361;
     const double GROUND_POS = 129.000;
     const double STOW_POS = 68.144;
     const double PSEUDO_STOW_POS = 104.671;
@@ -23,7 +24,7 @@ void IntakeManager::HandleInput(IntakeInput &input, IntakeOutput &output)
 {
     if (input.runIntakeOutSlow)
     {
-        m_intake.RunIntake(-0.1);
+        m_intake.RunIntake(-0.15);
     }
     else if (input.runIntakeIn && !input.runIntakeOut)
     {
@@ -31,7 +32,7 @@ void IntakeManager::HandleInput(IntakeInput &input, IntakeOutput &output)
     }
     else if (input.runIntakeOut && !input.runIntakeIn)
     {
-        m_intake.RunIntake(-NORMAL_INTAKE_SPEED);
+        m_intake.RunIntake(-OUTAKE_SPEED);
     } 
     else 
     {
diff --git a/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp b/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
index 121fe21..8887d7c 100644
--- a/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
+++ b/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
@@ -5,6 +5,7 @@ void LauncherManager::ResetLauncher()
 {
     m_goToStowPos = false;
     m_goToSubPos = false;
+    m_goToHoardePos = false;
     m_visionResetProfiledMoveState = false;
 }
 
@@ -19,6 +20,7 @@ void LauncherManager::HandleInput(LauncherInput &launcherInput, LauncherOutput &
             m_visionResetProfiledMoveState = true;
             m_goToStowPos = false;
             m_goToSubPos = false;
+            m_goToHoardePos = false;
         }
 
         m_launcher.SetFlywheelSpeed(launcherInput.visionSpeedSetpoint);
@@ -37,13 +39,23 @@ void LauncherManager::HandleInput(LauncherInput &launcherInput, LauncherOutput &
         if(launcherInput.goToStowPos){
             m_goToStowPos = true;
             m_goToSubPos = false;
+            m_goToHoardePos = false;
             m_launcher.ResetProfiledMoveState();
         }
         else if (launcherInput.goToSubPos) {
             m_goToStowPos = false;
             m_goToSubPos = true;
+            m_goToHoardePos = false;
 
             m_launcher.ResetProfiledMoveState();
+        } else if (launcherInput.goToHoardePos) {
+
+            m_goToHoardePos = true; 
+            m_goToStowPos = false;
+            m_goToSubPos = false;
+
+            m_launcher.ResetProfiledMoveState();
+
         }
 
         if (m_goToStowPos)
@@ -64,6 +76,12 @@ void LauncherManager::HandleInput(LauncherInput &launcherInput, LauncherOutput &
             m_launcher.ProfiledMoveToAngle(SUB_ANGLE);
             m_launcher.SetFlywheelSpeed(SUB_SPEED);
         }
+        if (m_goToHoardePos) {
+
+            m_launcher.ProfiledMoveToAngle(HOARDE_ANG);
+            m_launcher.SetFlywheelSpeed(HOARDE_SPD);
+
+        }
     }
 
     if (launcherInput.runIndexerBackwardSlow)
diff --git a/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto b/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
index b19e91b..18bc76a 100644
--- a/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
+++ b/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
@@ -36,6 +36,12 @@
             "pathName": "BLUE_3_Piece_Path_1"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/Red_Bottom_4_Piece.auto b/src/main/deploy/pathplanner/autos/Red_Bottom_4_Piece.auto
index bb2b78c..9eaf0f7 100644
--- a/src/main/deploy/pathplanner/autos/Red_Bottom_4_Piece.auto
+++ b/src/main/deploy/pathplanner/autos/Red_Bottom_4_Piece.auto
@@ -11,6 +11,25 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeDown"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SubShoot"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -23,6 +42,12 @@
             "pathName": "RED_Path5"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -34,6 +59,12 @@
           "data": {
             "pathName": "RED_Path3"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
         }
       ]
     }
diff --git a/src/main/deploy/pathplanner/autos/Red_Top_4_Piece.auto b/src/main/deploy/pathplanner/autos/Red_Top_4_Piece.auto
index 851ccc5..183faa3 100644
--- a/src/main/deploy/pathplanner/autos/Red_Top_4_Piece.auto
+++ b/src/main/deploy/pathplanner/autos/Red_Top_4_Piece.auto
@@ -11,12 +11,43 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeDown"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SubShoot"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "path",
           "data": {
             "pathName": "RED_3_Piece_Path_1"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -29,6 +60,12 @@
             "pathName": "RED_3_Piece_Path_3"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -40,6 +77,12 @@
           "data": {
             "pathName": "RED_3_Piece_Path_5"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
         }
       ]
     }
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
index 634ef46..f61e3ee 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntakeCommand",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
@@ -58,7 +58,7 @@
   "goalEndState": {
     "velocity": 0,
     "rotation": 25.0,
-    "rotateFast": false
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "BLUEPATH",
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
index 87aedc7..7ed1b3e 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.45,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
index be06b8b..5c3f32d 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
@@ -48,8 +48,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.35,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
@@ -57,7 +57,7 @@
             {
               "type": "named",
               "data": {
-                "name": "VisionShoot"
+                "name": "SmartIntakeCommand"
               }
             }
           ]
diff --git a/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path b/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
index 1b79ac3..7712452 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "Intake",
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Note5_Shoot.path b/src/main/deploy/pathplanner/paths/BLUE_Note5_Shoot.path
index 6658e4a..9be2603 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Note5_Shoot.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Note5_Shoot.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": {
-        "x": 4.656495012735573,
-        "y": 1.5562152243897376
+        "x": 3.9776091765924,
+        "y": 2.3708782277615454
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path1.path b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
index a349e5b..74af509 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path1.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 7.9882578085766855,
-        "y": 2.5170997924693057
+        "x": 7.998702206055811,
+        "y": 2.767765331968324
       },
       "prevControl": {
-        "x": 7.1735948052048775,
-        "y": 2.5170997924693057
+        "x": 7.184039202684003,
+        "y": 2.767765331968324
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,8 +48,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.95,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "sequential",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path2.path b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
index 59dc8df..e03cebe 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path2.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.572939832902567,
-        "y": 2.078435098346024
+        "x": 3.894053996759394,
+        "y": 2.893098101717832
       },
       "isLocked": false,
       "linkedName": "BottomShootPos"
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0.25,
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.05,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path3.path b/src/main/deploy/pathplanner/paths/BLUE_Path3.path
index a118a15..251ee55 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path3.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path3.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": {
-        "x": 4.499829050548687,
-        "y": 2.1515458806999037
+        "x": 3.820943214405514,
+        "y": 2.966208884071712
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path4.path b/src/main/deploy/pathplanner/paths/BLUE_Path4.path
index d1c59a7..806835a 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path4.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path4.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 7.9882578085766855,
-        "y": 2.5170997924693057
+        "x": 7.998702206055811,
+        "y": 2.767765331968324
       },
       "prevControl": {
-        "x": 6.442486981666077,
-        "y": 2.5484329849066834
+        "x": 6.452931379145203,
+        "y": 2.799098524405702
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path5.path b/src/main/deploy/pathplanner/paths/BLUE_Path5.path
index ddadb7d..07b2cc9 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path5.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path5.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.9882578085766855,
-        "y": 2.5170997924693057
+        "x": 7.998702206055811,
+        "y": 2.767765331968324
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.223154634604435,
-        "y": 2.454433407594551
+        "x": 6.233599032083561,
+        "y": 2.7050989470935694
       },
       "isLocked": false,
       "linkedName": "Note4"
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": {
-        "x": 4.750494590047705,
-        "y": 1.4413268521193536
+        "x": 4.071608753904531,
+        "y": 2.2559898554911615
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
index 483b8c7..5bb53a1 100644
--- a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
+++ b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "SmartIntakeCommand",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
@@ -58,7 +58,7 @@
   "goalEndState": {
     "velocity": 0,
     "rotation": 25.0,
-    "rotateFast": false
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "REDPATH",
diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
index 8e15b77..e4ac6e7 100644
--- a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
+++ b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.1,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
index 1c700c4..b8d5a5f 100644
--- a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
+++ b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
@@ -46,7 +46,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.1,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path b/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
index e45d60b..b5f38dd 100644
--- a/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
+++ b/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "Intake",
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 0.1,
       "command": {
         "type": "parallel",
         "data": {
diff --git a/src/main/deploy/pathplanner/paths/RED_Note5_Shoot.path b/src/main/deploy/pathplanner/paths/RED_Note5_Shoot.path
index c424512..69a91f9 100644
--- a/src/main/deploy/pathplanner/paths/RED_Note5_Shoot.path
+++ b/src/main/deploy/pathplanner/paths/RED_Note5_Shoot.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": {
-        "x": 4.656495012735573,
-        "y": 1.5562152243897376
+        "x": 3.9776091765924,
+        "y": 2.3708782277615454
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/RED_Path1.path b/src/main/deploy/pathplanner/paths/RED_Path1.path
index da31120..6c4ff7f 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path1.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path1.path
@@ -46,7 +46,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.1,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/RED_Path2.path b/src/main/deploy/pathplanner/paths/RED_Path2.path
index 8501f42..7811a2b 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path2.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path2.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.572939832902567,
-        "y": 2.078435098346024
+        "x": 3.894053996759394,
+        "y": 2.893098101717832
       },
       "isLocked": false,
       "linkedName": "BottomShootPos"
     },
     {
       "anchor": {
-        "x": 7.977907247481162,
-        "y": 1.2188049746469864
+        "x": 8.259812143033956,
+        "y": 1.0966617353082035
       },
       "prevControl": {
-        "x": 6.244137265946287,
-        "y": 1.2188049746469864
+        "x": 6.526042161499081,
+        "y": 1.0966617353082035
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "SmartIntake",
+      "waypointRelativePos": 0.1,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/RED_Path3.path b/src/main/deploy/pathplanner/paths/RED_Path3.path
index f04b7cc..8eb9cc8 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path3.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path3.path
@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.977907247481162,
-        "y": 1.2188049746469864
+        "x": 8.259812143033956,
+        "y": 1.0966617353082035
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.620135575194813,
-        "y": 1.2188049746469864
+        "x": 6.9020404707476075,
+        "y": 1.0966617353082035
       },
       "isLocked": false,
       "linkedName": "RedNote5"
     },
     {
       "anchor": {
-        "x": 6.024711082501046,
-        "y": 1.2742164924533423
+        "x": 6.0038222875427945,
+        "y": 1.336882877328097
       },
       "prevControl": {
-        "x": 6.596541844483181,
-        "y": 0.9752456146133677
+        "x": 6.567819751415584,
+        "y": 1.1071061327873286
       },
       "nextControl": {
-        "x": 5.4528803205189105,
-        "y": 1.573187370293317
+        "x": 5.406242216137098,
+        "y": 1.5803414249378276
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": {
-        "x": 4.499829050548687,
-        "y": 2.1515458806999037
+        "x": 3.820943214405513,
+        "y": 2.966208884071712
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,7 +55,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -40.0,
+    "rotation": -39.0,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/RED_Path4.path b/src/main/deploy/pathplanner/paths/RED_Path4.path
index 05188e3..4f52486 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path4.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path4.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 7.9882578085766855,
-        "y": 2.5170997924693057
+        "x": 7.998702206055811,
+        "y": 2.767765331968324
       },
       "prevControl": {
-        "x": 6.442486981666077,
-        "y": 2.5484329849066834
+        "x": 6.452931379145203,
+        "y": 2.799098524405702
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/RED_Path5.path b/src/main/deploy/pathplanner/paths/RED_Path5.path
index 1aca035..9344f43 100644
--- a/src/main/deploy/pathplanner/paths/RED_Path5.path
+++ b/src/main/deploy/pathplanner/paths/RED_Path5.path
@@ -16,28 +16,28 @@
     },
     {
       "anchor": {
-        "x": 5.5429632487763705,
-        "y": 1.6149649602098184
+        "x": 5.502491208544758,
+        "y": 1.691992391618371
       },
       "prevControl": {
-        "x": 5.99337789006367,
-        "y": 1.5979928143062396
+        "x": 5.9529058498320575,
+        "y": 1.6750202457147922
       },
       "nextControl": {
-        "x": 5.01230600835305,
-        "y": 1.6349607402837398
+        "x": 4.971833968121438,
+        "y": 1.7119881716922924
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.8078366589303156,
-        "y": 3.0288752689464666
+        "x": 2.1289508227871425,
+        "y": 3.8435382723182747
       },
       "prevControl": {
-        "x": 4.750494590047705,
-        "y": 1.4413268521193536
+        "x": 3.538944482469119,
+        "y": 2.16199027817903
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,7 +55,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -40.0,
+    "rotation": -39.0,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h
index 6b2080e..67a01f0 100644
--- a/src/main/include/Robot.h
+++ b/src/main/include/Robot.h
@@ -38,6 +38,7 @@
 #include "commands/SubShoot.h"
 #include "commands/VisionShoot.h"
 #include "commands/IntakeDown.h"
+#include "cameraserver/CameraServer.h"
 
 class Robot : public frc::TimedRobot {
  public:
@@ -85,4 +86,8 @@ class Robot : public frc::TimedRobot {
   frc::SendableChooser<std::string> m_auto_chooser;
 
   AutoAimer m_autoAim = AutoAimer();
-}; 
+
+  cs::CvSink m_cvSink;
+
+  cs::CvSource m_cvSource;
+};
diff --git a/src/main/include/RobotControlData.h b/src/main/include/RobotControlData.h
index aedf7d6..4049503 100644
--- a/src/main/include/RobotControlData.h
+++ b/src/main/include/RobotControlData.h
@@ -29,6 +29,11 @@ struct AutoAimOutput{
     double robotRotSpeed;
 };
 
+struct SmartIntakeOutput{
+    bool smartIntakeFlag;
+    bool smartOuttakeFlag;
+};
+
 struct RobotControlData {
     IntakeInput intakeInput;
     IntakeOutput intakeOutput;
@@ -36,6 +41,7 @@ struct RobotControlData {
     LauncherOutput launcherOutput;
     SwerveInput swerveInput;
     SmartIntakeInput smartIntakeInput;
+    SmartIntakeOutput smartIntakeOutput;
     AutoAimInput autoAimInput;
     AutoAimOutput autoAimOutput;
 };
diff --git a/src/main/include/SwerveConfig.h b/src/main/include/SwerveConfig.h
index a8bf074..ca23701 100644
--- a/src/main/include/SwerveConfig.h
+++ b/src/main/include/SwerveConfig.h
@@ -39,7 +39,7 @@ rev::SparkPIDController fl_drive_pid = fl_drive_mtr.GetPIDController();
 // --------------------Absolute Encoder-----------------------
 const int FR_ABS_ENC_PORT = 12;
 const bool FR_ABS_ENC_INVERTED = false;
-const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{77.9f}};
+const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{92.94f}};
 
 ctre::phoenix6::hardware::CANcoder fr_abs_enc{FR_ABS_ENC_PORT};
 
@@ -154,7 +154,7 @@ const double MAX_DRIVE_SPEED_FPS = 18.0;
 const double MAX_ANGULAR_VELOCITY_DEGPS = 540.0;
 const double CONTROLLER_DEADZONE = 0.1;
 const int TURN_MOTOR_CURRENT_LIMIT = 20;
-const int DRIVE_MOTOR_CURRENT_LIMIT = 55;
+const int DRIVE_MOTOR_CURRENT_LIMIT = 30;
 const double SWERVE_VOLTAGE_COMPENSATION = 10.5;
 const bool IS_DRIVE_IN_COAST = false;
 const bool IS_ROBOT_ORIENTED_DRIVE = false;
diff --git a/src/main/include/subsystems/SubSystemConfig.h b/src/main/include/subsystems/SubSystemConfig.h
index 58d2ffd..84e2c6e 100644
--- a/src/main/include/subsystems/SubSystemConfig.h
+++ b/src/main/include/subsystems/SubSystemConfig.h
@@ -79,7 +79,9 @@ const double DOWN_MAX_ACC = 200.0;
 const double MAX_JERK = 1250.0;
 
 const double SUB_ANGLE = 55.0;
+const double HOARDE_ANG = 40.0;
 const double STOW_ANGLE = 10.0;
 const double SUB_SPEED = 150.0;
+const double HOARDE_SPD = 70.0;
 const double INDEXER_SPEED = 1.0;
 const double INDEXER_SLOW_SPEED = 0.15;
\ No newline at end of file
diff --git a/src/main/include/subsystems/subsystemsManagers/LauncherManager.h b/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
index d2c7056..a6c55f5 100644
--- a/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
+++ b/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
@@ -14,6 +14,7 @@ struct LauncherInput
     bool runIndexerForward; //Indexer is the little "kick" to help the Note transfer from the Intake to the Launcher
     bool runIndexerBackward;
     bool runIndexerBackwardSlow;
+    bool goToHoardePos;
 };
 
 struct LauncherOutput
@@ -32,5 +33,6 @@ class LauncherManager
         LauncherHAL m_launcher;
         bool m_goToStowPos;
         bool m_goToSubPos;
+        bool m_goToHoardePos;
         bool m_visionResetProfiledMoveState = false;
 };
\ No newline at end of file