diff --git a/src/main/deploy/pathplanner/autos/BLUE AMP SIDE Auto.auto b/src/main/deploy/pathplanner/autos/BLUE AMP SIDE Auto.auto
deleted file mode 100644
index 649472d..0000000
--- a/src/main/deploy/pathplanner/autos/BLUE AMP SIDE Auto.auto	
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 0.4234789096358818,
-      "y": 6.981410202136645
-    },
-    "rotation": 2.145150039040434
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "SHOOTCONVEYOR"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "SHOOTFLYS"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 2.0
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "BLS Path"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/BLUE SOURCE SIDE Auto.auto b/src/main/deploy/pathplanner/autos/BLUE SOURCE SIDE Auto.auto
deleted file mode 100644
index af696be..0000000
--- a/src/main/deploy/pathplanner/autos/BLUE SOURCE SIDE Auto.auto	
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 0.79769185179396,
-      "y": 4.572414386994017
-    },
-    "rotation": -125.24061873233006
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "SHOOTCONVEYOR"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "SHOOTFLYS"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 2.0
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "BRS Path"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/RED Middle Shoot Auto.auto b/src/main/deploy/pathplanner/autos/D Amp to Speaker Score.auto
similarity index 76%
rename from src/main/deploy/pathplanner/autos/RED Middle Shoot Auto.auto
rename to src/main/deploy/pathplanner/autos/D Amp to Speaker Score.auto
index 4986d8b..b50f7b4 100644
--- a/src/main/deploy/pathplanner/autos/RED Middle Shoot Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/D Amp to Speaker Score.auto	
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 15.319384055583853,
-      "y": 5.551187918118234
+      "x": 2.0,
+      "y": 7.0
     },
     "rotation": 0
   },
@@ -12,27 +12,33 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "SHOOTCONVEYOR"
+            "pathName": "D Amp to Speaker Score"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "SHOOTFLYS"
+            "name": "SHOOTCONVEYOR"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 2.0
+            "name": "SHOOTFLYS"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "RS Path"
+            "pathName": "D Leave Zone"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/BLUE TAXI.auto b/src/main/deploy/pathplanner/autos/D Leave Zone.auto
similarity index 76%
rename from src/main/deploy/pathplanner/autos/BLUE TAXI.auto
rename to src/main/deploy/pathplanner/autos/D Leave Zone.auto
index a9f9f7a..61acc62 100644
--- a/src/main/deploy/pathplanner/autos/BLUE TAXI.auto	
+++ b/src/main/deploy/pathplanner/autos/D Leave Zone.auto	
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.400090600751002,
-      "y": 1.9997004096572308
+      "x": 2.0,
+      "y": 7.0
     },
     "rotation": 0
   },
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "BR Path"
+            "pathName": "D Leave Zone"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/RED TAXI.auto b/src/main/deploy/pathplanner/autos/D Source Leave Zone.auto
similarity index 73%
rename from src/main/deploy/pathplanner/autos/RED TAXI.auto
rename to src/main/deploy/pathplanner/autos/D Source Leave Zone.auto
index 1332884..239749c 100644
--- a/src/main/deploy/pathplanner/autos/RED TAXI.auto	
+++ b/src/main/deploy/pathplanner/autos/D Source Leave Zone.auto	
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 16.112410901029318,
-      "y": 2.0413098429059118
+      "x": 1.9169897697665406,
+      "y": 1.792603115355015
     },
     "rotation": 0
   },
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "RR Path"
+            "pathName": "D Source Leave Zone"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/BLUE Middle Shoot Auto.auto b/src/main/deploy/pathplanner/autos/D-1-AMP.auto
similarity index 75%
rename from src/main/deploy/pathplanner/autos/BLUE Middle Shoot Auto.auto
rename to src/main/deploy/pathplanner/autos/D-1-AMP.auto
index 27122dd..f7932dc 100644
--- a/src/main/deploy/pathplanner/autos/BLUE Middle Shoot Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/D-1-AMP.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3674277229789629,
-      "y": 5.557362183607978
+      "x": 2.0,
+      "y": 7.0
     },
     "rotation": 0
   },
@@ -12,27 +12,27 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "SHOOTCONVEYOR"
+            "pathName": "D-Amp-2"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "SHOOTFLYS"
+            "name": "SHOOTCONVEYOR"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 2.0
+            "name": "SHOOTFLYSLOW"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "BS Path"
+            "pathName": "D Leave Zone"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/RED AMP SIDE Auto.auto b/src/main/deploy/pathplanner/autos/RED AMP SIDE Auto.auto
deleted file mode 100644
index bec19dc..0000000
--- a/src/main/deploy/pathplanner/autos/RED AMP SIDE Auto.auto	
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 16.147134266099517,
-      "y": 6.9085276198721415
-    },
-    "rotation": 0.0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "SHOOTCONVEYOR"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "SHOOTFLYS"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 2.0
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Straight Red Amp Path"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/RED SOURCE SIDE Auto.auto b/src/main/deploy/pathplanner/autos/RED SOURCE SIDE Auto.auto
deleted file mode 100644
index b5b6605..0000000
--- a/src/main/deploy/pathplanner/autos/RED SOURCE SIDE Auto.auto	
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 16.1521166347176,
-      "y": 4.234725089168489
-    },
-    "rotation": -1.7858847665219348
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "RRS Path"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/D Amp to Speaker Score.path b/src/main/deploy/pathplanner/paths/D Amp to Speaker Score.path
new file mode 100644
index 0000000..93b9ece
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D Amp to Speaker Score.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.372979159427387,
+        "y": 5.522961586252069
+      },
+      "prevControl": {
+        "x": 2.3638556282594165,
+        "y": 5.445245784775046
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/D Leave Zone.path b/src/main/deploy/pathplanner/paths/D Leave Zone.path
new file mode 100644
index 0000000..c235ed9
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D Leave Zone.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.078897689510336,
+        "y": 5.31571944898001
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.901389921808818,
+        "y": 6.306595917812039
+      },
+      "prevControl": {
+        "x": 1.4830765448489962,
+        "y": 6.196060346707785
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/D Source Leave Zone.path b/src/main/deploy/pathplanner/paths/D Source Leave Zone.path
new file mode 100644
index 0000000..238686e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D Source Leave Zone.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.9520185680935184,
+        "y": 1.5983136116624606
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9520185680935191,
+        "y": 1.5983136116624606
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.756263738056059,
+        "y": 0.81467928010249
+      },
+      "prevControl": {
+        "x": 2.756263738056059,
+        "y": 0.81467928010249
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/D-1-AMP.path b/src/main/deploy/pathplanner/paths/D-1-AMP.path
new file mode 100644
index 0000000..3b714ca
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D-1-AMP.path
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2823107243708616,
+        "y": 6.41669330323782
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2823107243708582,
+        "y": 6.41669330323782
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8457502850792704,
+        "y": 7.51766715749563
+      },
+      "prevControl": {
+        "x": 0.9579957536303425,
+        "y": 7.977984321950629
+      },
+      "nextControl": {
+        "x": 2.5451924983724674,
+        "y": 7.154993417269528
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8457502850792704,
+        "y": 7.51766715749563
+      },
+      "prevControl": {
+        "x": 2.34575028507927,
+        "y": 7.51766715749563
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -88.99491399474583,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/D-Amp-2.path b/src/main/deploy/pathplanner/paths/D-Amp-2.path
new file mode 100644
index 0000000..93847fb
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D-Amp-2.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2110712396835914,
+        "y": 6.37783540249931
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2110712396835854,
+        "y": 6.37783540249931
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8327976514997666,
+        "y": 7.5759540086033965
+      },
+      "prevControl": {
+        "x": 1.8263213347100147,
+        "y": 8.04872513425528
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 766580a..dc5426d 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -62,9 +62,10 @@ public static class OperatorConstants {
     // TODO: Add button binds for driver controllers
 
     // Joystick Deadband
-    public static final double LEFT_X_DEADBAND = 0.1;
-    public static final double LEFT_Y_DEADBAND = 0.1;
-    public static final double RIGHT_X_DEADBAND = 0.1;
+    public static final double LEFT_X_DEADBAND = 0.2;
+    public static final double LEFT_Y_DEADBAND = 0.2;
+    public static final double RIGHT_X_DEADBAND = 0.5;
+    public static final double RIGHT_Y_DEADBAND = 0.5;
     public static final double TURN_CONSTANT = 6;
   }
 
@@ -75,14 +76,14 @@ public static class MechanismConstants {
     public static final int INTAKE_MOTOR_FRONT = 52;
     public static final boolean INTAKE_MOTOR_SUSHI_INVERTED = true;
     public static final boolean INTAKE_MOTOR_FRONT_INVERTED = false;
-    public static final double INTAKE_MOTOR_SPEED_FRONT = 0.1;
+    public static final double INTAKE_MOTOR_SPEED_FRONT = 0.5;
     public static final double INTAKE_MOTOR_SPEED_SUSHI = 1;
     // Conveyor Motors
     public static final int CONVEYOR_MOTOR_1 = 1;
     public static final int CONVEYOR_MOTOR_2 = 2;
     public static final boolean CONVEYOR_MOTOR_1_INVERTED = false;
     public static final boolean CONVEYOR_MOTOR_2_INVERTED = true;
-    public static final double CONVEYOR_MOTOR_SPEED = 0.38;
+    public static final double CONVEYOR_MOTOR_SPEED = 0.4;
 
     // Flywheel Motors
     public static final int FLYWHEEL_MOTOR_1 = 3;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 707c89f..34c51ff 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -123,8 +123,11 @@ public RobotContainer() {
         drivebase.driveCommand(
             () -> MathUtil.applyDeadband(-driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
             () -> MathUtil.applyDeadband(-driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-            () -> driverXbox.getRightX(),
-            () -> driverXbox.getRightY());
+            () ->
+                MathUtil.applyDeadband(-driverXbox.getRightX(), OperatorConstants.RIGHT_X_DEADBAND),
+            () ->
+                MathUtil.applyDeadband(
+                    -driverXbox.getRightY(), OperatorConstants.RIGHT_Y_DEADBAND));
 
     // Applies deadbands and inverts controls because joysticks
     // are back-right positive while robot
diff --git a/src/main/java/frc/robot/commands/auto/SHOOTFLYSLOW.java b/src/main/java/frc/robot/commands/auto/SHOOTFLYSLOW.java
new file mode 100644
index 0000000..1856d43
--- /dev/null
+++ b/src/main/java/frc/robot/commands/auto/SHOOTFLYSLOW.java
@@ -0,0 +1,44 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.FlyWheel;
+
+public class SHOOTFLYSLOW extends Command {
+  /** Creates a new SHOOTFLYS. */
+  private final FlyWheel m_flywheel;
+
+  private boolean m_finished = false;
+
+  public SHOOTFLYSLOW(FlyWheel flywheel) {
+    m_flywheel = flywheel;
+    addRequirements(m_flywheel);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_finished = false;
+    m_flywheel.enableflywheellow();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_finished = true;
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return m_finished;
+  }
+}