diff --git a/PathWeaver/Autos/BlueHangarTwoBall b/PathWeaver/Autos/BlueHangarTwoBall
index b014ee35..61da1ea7 100644
--- a/PathWeaver/Autos/BlueHangarTwoBall
+++ b/PathWeaver/Autos/BlueHangarTwoBall
@@ -1,2 +1,3 @@
 BlueHangarTwoBall1
 BlueHangarTwoBall2
+BlueHangarTwoBall3
diff --git a/PathWeaver/Paths/BlueHangarTwoBall1 b/PathWeaver/Paths/BlueHangarTwoBall1
index 5bcf1ec3..88609a86 100644
--- a/PathWeaver/Paths/BlueHangarTwoBall1
+++ b/PathWeaver/Paths/BlueHangarTwoBall1
@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
-6.023,-3.1296,-0.13149347195622418,0.14,false,false,
-5.042593013228257,-2.1008850859555297,-0.03908627725014657,0.035,true,false,
+6.023,-3.1296,-0.0873,0.0933,false,false,
+4.943,-1.9705999999999992,-0.03908627725014657,0.035,true,false,
diff --git a/PathWeaver/Paths/BlueHangarTwoBall2 b/PathWeaver/Paths/BlueHangarTwoBall2
index 6312a551..43403b90 100644
--- a/PathWeaver/Paths/BlueHangarTwoBall2
+++ b/PathWeaver/Paths/BlueHangarTwoBall2
@@ -1,3 +1,3 @@
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-5.06017790576977,-2.109677532226286,-0.052345726635204315,0.06338740334731785,true,false,
+4.9,-1.9295999999999998,-0.052345726635204315,0.06338740334731785,true,false,
 5.877875408950182,-3.199940869800168,0.463184182077379,-0.253423782315632,true,false,
diff --git a/PathWeaver/Paths/BlueHangarTwoBall3 b/PathWeaver/Paths/BlueHangarTwoBall3
new file mode 100644
index 00000000..172ba1ee
--- /dev/null
+++ b/PathWeaver/Paths/BlueHangarTwoBall3
@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+5.878,-3.1995999999999993,0.10824742112462982,-0.0837668716250266,true,false,
+4.231847676866584,-1.6414286494348036,-0.039,0.035,true,false,
diff --git a/PathWeaver/Paths/BlueMidTwoBall1 b/PathWeaver/Paths/BlueMidTwoBall1
index 662f5380..de726938 100644
--- a/PathWeaver/Paths/BlueMidTwoBall1
+++ b/PathWeaver/Paths/BlueMidTwoBall1
@@ -1,3 +1,5 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 6.762,-5.7446,-0.074,-0.066,true,false,
+5.637616702714377,-4.936551246022031,-0.477712425800752,-0.04129112674355865,false,false,
+5.761324376988983,-6.589735620419036,-0.7067304970638131,0.5242086180784572,false,false,
 5.26649367989056,-6.139889532147743,-0.033,-0.015,true,false,
diff --git a/src/main/deploy/paths/BlueHangarTwoBall1.wpilib.json b/src/main/deploy/paths/BlueHangarTwoBall1.wpilib.json
index 95b4b417..09f24c87 100644
--- a/src/main/deploy/paths/BlueHangarTwoBall1.wpilib.json
+++ b/src/main/deploy/paths/BlueHangarTwoBall1.wpilib.json
@@ -4,7 +4,7 @@
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\ No newline at end of file
diff --git a/src/main/deploy/paths/BlueHangarTwoBall2.wpilib.json b/src/main/deploy/paths/BlueHangarTwoBall2.wpilib.json
index bf83b52b..72936c1b 100644
--- a/src/main/deploy/paths/BlueHangarTwoBall2.wpilib.json
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@@ -1,1052 +1,1142 @@
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diff --git a/src/main/deploy/paths/BlueHangarTwoBall3.wpilib.json b/src/main/deploy/paths/BlueHangarTwoBall3.wpilib.json
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diff --git a/src/main/deploy/paths/BlueMidTwoBall1.wpilib.json b/src/main/deploy/paths/BlueMidTwoBall1.wpilib.json
index c15f2910..dd1e5973 100644
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+}
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+}
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+"x": 5.269429828126473,
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+}
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+"radians": 2.9356222081523375
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+"x": 5.268992728883325,
+"y": 2.0900873445728942
+}
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+"pose": {
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+},
+"translation": {
+"x": 5.268788645263183,
+"y": 2.090125033044197
+}
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+"time": 3.690085825677315,
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+"acceleration": -1.161395907849177,
+"curvature": 266.16513328540077,
+"pose": {
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+"radians": 3.033196047147925
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+"translation": {
+"x": 5.268593534439897,
+"y": 2.090151295347627
+}
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+},
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+"acceleration": -0.8302892763343085,
+"curvature": 288.7176889193783,
+"pose": {
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+"radians": 3.0851896124406872
+},
+"translation": {
+"x": 5.268406879119117,
+"y": 2.090166776877714
+}
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+"velocity": 0.05001405980638318
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+"curvature": 307.8085174790793,
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+},
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+"x": 5.268228150795276,
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+}
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+}
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+}
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+"y": 2.0901343686957032
+}
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+"x": 5.267581540382782,
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+}
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+"time": 3.715367484357153,
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+}
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+},
+"translation": {
+"x": 5.267291218241194,
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+}
+},
+"time": 3.7215634332088317,
+"velocity": 0.05259849944089501
+},
+{
+"acceleration": -2.6299999999999994,
+"curvature": 200.35733499033566,
+"pose": {
+"rotation": {
+"radians": -2.774360645447143
+},
+"translation": {
+"x": 5.267016510913742,
+"y": 2.0899355275902227
+}
+},
+"time": 3.7269828180098963,
+"velocity": 0.05471803843525978
+},
+{
+"acceleration": -2.6299999999999994,
+"curvature": 3.6137736066750505e-11,
 "pose": {
 "rotation": {
-"radians": -2.7149651604621785
+"radians": -2.714965160462474
 },
 "translation": {
-"x": 5.266493679890565,
-"y": 2.0897104678522513
+"x": 5.26649367989056,
+"y": 2.089710467852253
 }
 },
-"time": 1.5343965366679646,
+"time": 3.7477881558179797,
 "velocity": 0.0
 }
 ]
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c116f1f7..a3cdac32 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -103,14 +103,15 @@ public RobotContainer() {
 		// Allows for independent control of climbers when enabled in test mode.
 		// Otherwise climbers are controlled together.
 		// m_climberSubsystem.setDefaultCommand(new RunCommand(() -> {
-		// 	if (DriverStation.isTest()) {
-		// 		m_climberSubsystem.set(leftClimbSpeed.getAsDouble(), rightClimbSpeed.getAsDouble());
-		// 	} else {
-		// 		m_climberSubsystem.set(leftClimbSpeed.getAsDouble());
-		// 	}
+		// if (DriverStation.isTest()) {
+		// m_climberSubsystem.set(leftClimbSpeed.getAsDouble(),
+		// rightClimbSpeed.getAsDouble());
+		// } else {
+		// m_climberSubsystem.set(leftClimbSpeed.getAsDouble());
+		// }
 		// }, m_climberSubsystem));
-		m_climberSubsystem.setDefaultCommand(new RunCommand(() -> {			
-				m_climberSubsystem.set(leftClimbSpeed.getAsDouble(), rightClimbSpeed.getAsDouble());			
+		m_climberSubsystem.setDefaultCommand(new RunCommand(() -> {
+			m_climberSubsystem.set(leftClimbSpeed.getAsDouble(), rightClimbSpeed.getAsDouble());
 		}, m_climberSubsystem));
 
 		m_chooser.addOption("BlueHangarTwoBall", "BlueHangar TwoBall");
@@ -173,7 +174,7 @@ private void configureButtonBindings() {
 		final DoubleSupplier leftClimbSpeed = () -> -Utils
 				.oddSquare(MathUtil.applyDeadband(m_operatorController.getLeftY(), OIConstants.kControllerDeadband))
 				* 0.5;
-		
+
 		// Climbers are controlled together while B is held
 		new JoystickButton(m_operatorController, Button.kB.value)
 				.whileHeld(new RunCommand(() -> m_climberSubsystem.set(leftClimbSpeed.getAsDouble())));
@@ -199,59 +200,115 @@ private void configureButtonBindings() {
 	 * @return the command to run in autonomous
 	 */
 	public Command getAutonomousCommand() {
-		// return new SequentialCommandGroup(new ShootTarmac(m_shooterSubsystem), new
-		// MoveCommand(m_swerveDriveSubsystem).withRobotRelativeX(-1.2));
-		// Returns null if a path has not been selected.
-		String[] path;
-		if (m_chooser.getSelected() != null) {
-			// Splits the selection into a location and number of balls.
-			// Ex: {"BlueMid", "FourBall"}
-			path = m_chooser.getSelected().split(" ");
-		} else {
-			return null;
-		}
-
-		SequentialCommandGroup twoBallAuton = new SequentialCommandGroup(
+		// // return new SequentialCommandGroup(new ShootTarmac(m_shooterSubsystem), new
+		// // MoveCommand(m_swerveDriveSubsystem).withRobotRelativeX(-1.2));
+		// // Returns null if a path has not been selected.
+		// String[] path;
+		// if (m_chooser.getSelected() != null) {
+		// // Splits the selection into a location and number of balls.
+		// // Ex: {"BlueMid", "FourBall"}
+		// path = m_chooser.getSelected().split(" ");
+		// } else {
+		// return null;
+		// }
+
+		return new SequentialCommandGroup(
 				new ParallelDeadlineGroup(
-						new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "TwoBall1", true),
+						new PathWeaverCommand(m_swerveDriveSubsystem, "BlueHangarTwoBall1", true),
 						new SequentialCommandGroup(
 								new ArmCommand(m_shooterSubsystem, ShooterConstants.kLowerArmAngle),
 								new IntakeCommand(m_shooterSubsystem))),
 				new ParallelDeadlineGroup(
-						new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "TwoBall2", false),
+						new PathWeaverCommand(m_swerveDriveSubsystem, "BlueHangarTwoBall2", false),
 						new IntakeCommand(m_shooterSubsystem)),
+
 				new ShootTarmac(m_shooterSubsystem));
 
-		switch (path[1]) {
-			case ("TwoBall"):
-				return twoBallAuton;
-			case ("ThreeBall"):
-				return new SequentialCommandGroup(
-						new ShootTarmac(m_shooterSubsystem),
-						new ParallelDeadlineGroup(
-								new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "ThreeBall1", true),
-								new SequentialCommandGroup(
-										new ArmCommand(m_shooterSubsystem, ShooterConstants.kLowerArmAngle),
-										new IntakeCommand(m_shooterSubsystem))),
-						new ParallelDeadlineGroup(
-								new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "ThreeBall2", false),
-								new IntakeCommand(m_shooterSubsystem)),
-						new ParallelDeadlineGroup(
-								new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "ThreeBall3", false),
-								new IntakeCommand(m_shooterSubsystem)),
-						new ShootTarmac(m_shooterSubsystem));
-			case ("FourBall"):
-				return new SequentialCommandGroup(
-						twoBallAuton,
-						new ParallelCommandGroup(
-								new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "FourBall3", false),
-								new IntakeCommand(m_shooterSubsystem)),
-						new ParallelDeadlineGroup(
-								new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "FourBall4", false),
-								new IntakeCommand(m_shooterSubsystem)),
-						new ShootTarmac(m_shooterSubsystem));
-			default:
-				return null;
-		}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+				
+
+		// switch (path[1]) {
+		// case ("TwoBall"):
+		// return twoBallAuton;
+		// case ("ThreeBall"):
+		// return new SequentialCommandGroup(
+		// new ShootTarmac(m_shooterSubsystem),
+		// new ParallelDeadlineGroup(
+		// new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "ThreeBall1", true),
+		// new SequentialCommandGroup(
+		// new ArmCommand(m_shooterSubsystem, ShooterConstants.kLowerArmAngle),
+		// new IntakeCommand(m_shooterSubsystem))),
+		// new ParallelDeadlineGroup(
+		// new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "ThreeBall2", false),
+		// new IntakeCommand(m_shooterSubsystem)),
+		// new ParallelDeadlineGroup(
+		// new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "ThreeBall3", false),
+		// new IntakeCommand(m_shooterSubsystem)),
+		// new ShootTarmac(m_shooterSubsystem));
+		// case ("FourBall"):
+		// return new SequentialCommandGroup(
+		// twoBallAuton,
+		// new ParallelCommandGroup(
+		// new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "FourBall3", false),
+		// new IntakeCommand(m_shooterSubsystem)),
+		// new ParallelDeadlineGroup(
+		// new PathWeaverCommand(m_swerveDriveSubsystem, path[0] + "FourBall4", false),
+		// new IntakeCommand(m_shooterSubsystem)),
+		// new ShootTarmac(m_shooterSubsystem));
+		// default:
+		// return null;
 	}
 }