diff --git a/.idea/misc.xml b/.idea/misc.xml
index 5821b2fa..fd8e2467 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,5 +4,5 @@
   <component name="FrameworkDetectionExcludesConfiguration">
     <file type="web" url="file://$PROJECT_DIR$" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_18" default="true" project-jdk-name="11" project-jdk-type="JavaSDK" />
 </project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
index 3ca86a67..5dda5d6f 100644
--- a/.idea/modules.xml
+++ b/.idea/modules.xml
@@ -2,6 +2,7 @@
 <project version="4">
   <component name="ProjectModuleManager">
     <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/modules/Rapid-Reee-2022.iml" filepath="$PROJECT_DIR$/.idea/modules/Rapid-Reee-2022.iml" />
       <module fileurl="file://$PROJECT_DIR$/.idea/modules/git.Rapid-Reee-2022.iml" filepath="$PROJECT_DIR$/.idea/modules/git.Rapid-Reee-2022.iml" />
       <module fileurl="file://$PROJECT_DIR$/.idea/modules/git.Rapid-Reee-2022.main.iml" filepath="$PROJECT_DIR$/.idea/modules/git.Rapid-Reee-2022.main.iml" />
       <module fileurl="file://$PROJECT_DIR$/.idea/modules/git.Rapid-Reee-2022.test.iml" filepath="$PROJECT_DIR$/.idea/modules/git.Rapid-Reee-2022.test.iml" />
diff --git a/.idea/modules/Rapid-Reee-2022.iml b/.idea/modules/Rapid-Reee-2022.iml
deleted file mode 100644
index 86c86d79..00000000
--- a/.idea/modules/Rapid-Reee-2022.iml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module external.linked.project.id="Rapid-Reee-2022" external.linked.project.path="$MODULE_DIR$/../.." external.root.project.path="$MODULE_DIR$/../.." external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
-  <component name="NewModuleRootManager" inherit-compiler-output="true">
-    <exclude-output />
-    <content url="file://$MODULE_DIR$/../..">
-      <excludeFolder url="file://$MODULE_DIR$/../../.gradle" />
-      <excludeFolder url="file://$MODULE_DIR$/../../build" />
-    </content>
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
\ No newline at end of file
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
new file mode 100644
index 00000000..02d3972b
--- /dev/null
+++ b/.pathplanner/settings.json
@@ -0,0 +1,7 @@
+{
+  "robotWidth": 0.75,
+  "robotLength": 0.79,
+  "holonomicMode": true,
+  "generateJSON": true,
+  "generateCSV": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/1 meter.path b/src/main/deploy/pathplanner/1 meter.path
new file mode 100644
index 00000000..ac1afe62
--- /dev/null
+++ b/src/main/deploy/pathplanner/1 meter.path	
@@ -0,0 +1,58 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 5.0,
+        "y": 5.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.638097093498402,
+        "y": 5.0
+      },
+      "holonomicAngle": 0.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 8.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 6.096443920933169,
+        "y": 5.064827693394764
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "StopShooter"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": [
+    {
+      "position": 0.0,
+      "names": [
+        "ShooterByRPM2000"
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/3 ball auto.path b/src/main/deploy/pathplanner/3 ball auto.path
index 0d8dba84..14465439 100644
--- a/src/main/deploy/pathplanner/3 ball auto.path	
+++ b/src/main/deploy/pathplanner/3 ball auto.path	
@@ -1 +1,90 @@
-{"waypoints":[{"anchorPoint":{"x":6.504985161869057,"y":2.5580101793114975},"prevControl":null,"nextControl":{"x":5.7642039334711574,"y":2.199194271806266},"holonomicAngle":45.9391909457357,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.104445651929278,"y":1.898251897769618},"prevControl":{"x":5.7988654057153415,"y":2.211122336288613},"nextControl":{"x":4.051147342801014,"y":1.4236889233272139},"holonomicAngle":19.311856564352684,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.373088163897846,"y":2.0255736714005077},"prevControl":{"x":6.493410455175339,"y":1.5857348170392553},"nextControl":null,"holonomicAngle":73.03385189146377,"isReversal":false,"velOverride":null,"isLocked":false}]}
\ No newline at end of file
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 6.249290884748916,
+        "y": 2.5495209491859923
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.869827301614257,
+        "y": 2.288639735780914
+      },
+      "holonomicAngle": -156.57130719125453,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 1.5
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 5.620804325182138,
+        "y": 2.241206787889081
+      },
+      "prevControl": {
+        "x": 5.751244931884676,
+        "y": 2.3123562097268304
+      },
+      "nextControl": {
+        "x": 4.754995772136629,
+        "y": 1.7689475771369774
+      },
+      "holonomicAngle": -132.35745470593506,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 7.731570506368677,
+        "y": 2.8815515844288186
+      },
+      "prevControl": {
+        "x": 6.178141462911166,
+        "y": 1.909176152646255
+      },
+      "nextControl": null,
+      "holonomicAngle": -109.8,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "FullShoot2000"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "deadline",
+        "waitTime": 4.0
+      }
+    }
+  ],
+  "markers": [
+    {
+      "position": 1.4109090909090933,
+      "names": [
+        "StopRoller",
+        "ShooterByRPM2000"
+      ]
+    },
+    {
+      "position": 0.0,
+      "names": [
+        "ExtendAndCollect"
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/New New Path.path b/src/main/deploy/pathplanner/New New Path.path
deleted file mode 100644
index 46f28587..00000000
--- a/src/main/deploy/pathplanner/New New Path.path	
+++ /dev/null
@@ -1 +0,0 @@
-{"waypoints":[{"anchorPoint":{"x":1.0,"y":3.0},"prevControl":null,"nextControl":{"x":2.0,"y":3.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.0,"y":3.0},"prevControl":{"x":1.1227465492905666,"y":1.9908495513193545},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/New Path.path
deleted file mode 100644
index 7147a9de..00000000
--- a/src/main/deploy/pathplanner/New Path.path	
+++ /dev/null
@@ -1 +0,0 @@
-{"waypoints":[{"anchorPoint":{"x":0.0,"y":0.0},"prevControl":null,"nextControl":{"x":0.8439755667065119,"y":0.014731648314691396},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.0,"y":3.0},"prevControl":{"x":-0.9860895651722801,"y":2.9653326776866624},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json
new file mode 100644
index 00000000..dc186a24
--- /dev/null
+++ b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json	
@@ -0,0 +1 @@
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diff --git a/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json
index eafa6f3e..a684bc1a 100644
--- a/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json	
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diff --git a/src/main/deploy/pathplanner/generatedJSON/New New New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New New New Path.wpilib.json
index ca6fb6f5..6aeafc61 100644
--- a/src/main/deploy/pathplanner/generatedJSON/New New New Path.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/New New New Path.wpilib.json	
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diff --git a/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json
index 086e0d36..4c0e415e 100644
--- a/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json	
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diff --git a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json
index c46d2646..d04aea66 100644
--- a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json	
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diff --git a/src/main/deploy/pathplanner/generatedJSON/static auto.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/static auto.wpilib.json
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diff --git a/src/main/deploy/pathplanner/new.path b/src/main/deploy/pathplanner/new.path
new file mode 100644
index 00000000..5738dd5a
--- /dev/null
+++ b/src/main/deploy/pathplanner/new.path
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+      "nextControl": {
+        "x": 4.541704760642951,
+        "y": 3.4280286313658017
+      },
+      "holonomicAngle": -90.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 4.541704760642951,
+        "y": 4.434980627886328
+      },
+      "prevControl": {
+        "x": 4.541704760642951,
+        "y": 3.3203063524282665
+      },
+      "nextControl": {
+        "x": 4.541704760642951,
+        "y": 5.54965490334439
+      },
+      "holonomicAngle": -90.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 5.881685538587215,
+        "y": 5.680095510046928
+      },
+      "prevControl": {
+        "x": 5.087183661399023,
+        "y": 5.680095510046928
+      },
+      "nextControl": null,
+      "holonomicAngle": 179.40934278535332,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/static auto.path b/src/main/deploy/pathplanner/static auto.path
deleted file mode 100644
index d56de2f6..00000000
--- a/src/main/deploy/pathplanner/static auto.path	
+++ /dev/null
@@ -1 +0,0 @@
-{"waypoints":[{"anchorPoint":{"x":1.0,"y":3.0},"prevControl":null,"nextControl":{"x":2.0,"y":3.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.0,"y":5.0},"prevControl":{"x":3.0,"y":4.0},"nextControl":{"x":3.0,"y":4.0},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":4.0,"y":3.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
\ No newline at end of file
diff --git a/src/main/java/edu/greenblitz/GBLib b/src/main/java/edu/greenblitz/GBLib
index 457063c6..8a3830e6 160000
--- a/src/main/java/edu/greenblitz/GBLib
+++ b/src/main/java/edu/greenblitz/GBLib
@@ -1 +1 @@
-Subproject commit 457063c60d45d5c57bb658b9a80fff03eace7da5
+Subproject commit 8a3830e6b1cb616bacbca8fdb290478c747571eb
diff --git a/src/main/java/edu/greenblitz/pegasus/OI.java b/src/main/java/edu/greenblitz/pegasus/OI.java
index d7ef643b..28643813 100644
--- a/src/main/java/edu/greenblitz/pegasus/OI.java
+++ b/src/main/java/edu/greenblitz/pegasus/OI.java
@@ -1,5 +1,6 @@
 package edu.greenblitz.pegasus;
 
+import edu.greenblitz.pegasus.commands.auto.PathFollowerBuilder;
 import edu.greenblitz.pegasus.commands.funnel.RunFunnel;
 import edu.greenblitz.pegasus.commands.intake.extender.ToggleRoller;
 import edu.greenblitz.pegasus.commands.intake.roller.RunRoller;
@@ -9,6 +10,7 @@
 import edu.greenblitz.pegasus.commands.shooter.ShooterEvacuate;
 import edu.greenblitz.pegasus.commands.shooter.StopShooter;
 import edu.greenblitz.pegasus.commands.swerve.CombineJoystickMovement;
+import edu.greenblitz.pegasus.commands.swerve.calibration.CalibrateLampreyByNeo;
 import edu.greenblitz.pegasus.subsystems.Intake;
 import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
 import edu.greenblitz.pegasus.utils.DigitalInputMap;
@@ -25,10 +27,12 @@ public class OI {
     private final SmartJoystick mainJoystick;
 
     private final SmartJoystick secondJoystick;
+    private final SmartJoystick debugJoystick;
 
     private OI() {
         mainJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.MAIN, 0.1);
         secondJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.SECOND, 0.2);
+        debugJoystick = new SmartJoystick(3, 0.2);
         initButtons();
 
     }
@@ -50,9 +54,11 @@ public static void disableHandling() {
 
     private void initButtons() {
         SwerveChassis.getInstance().setDefaultCommand(new CombineJoystickMovement(mainJoystick, false));
-
+debugJoystick.A.whenPressed(new CalibrateLampreyByNeo(SwerveChassis.Module.BACK_LEFT));
         mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle()));
 
+        mainJoystick.X.whenPressed(PathFollowerBuilder.getInstance().followPath("new"));
+
         mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders()));
 
         mainJoystick.R1.whenHeld(new StartEndCommand(() -> Intake.getInstance().getExtender().retract(),
diff --git a/src/main/java/edu/greenblitz/pegasus/Robot.java b/src/main/java/edu/greenblitz/pegasus/Robot.java
index 617cc761..f1091197 100644
--- a/src/main/java/edu/greenblitz/pegasus/Robot.java
+++ b/src/main/java/edu/greenblitz/pegasus/Robot.java
@@ -1,9 +1,14 @@
 package edu.greenblitz.pegasus;
 
+import edu.greenblitz.pegasus.commands.auto.PathFollowerBuilder;
+import edu.greenblitz.pegasus.commands.auto.PathPlannerCommand;
 import edu.greenblitz.pegasus.commands.auto.Taxi;
 import edu.greenblitz.pegasus.subsystems.*;
 import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
+import edu.greenblitz.pegasus.utils.AutoSelector;
 import edu.greenblitz.pegasus.utils.DigitalInputMap;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,6 +25,7 @@ public void robotInit() {
 		Intake.getInstance();
 		Indexing.getInstance();
 		Shooter.create(RobotMap.Pegasus.Shooter.ShooterMotor.PORT_LEADER);
+		AutoSelector.getInstance();
 
 		//todo add voltage compensation
 		//swerve
@@ -27,7 +33,6 @@ public void robotInit() {
 		SwerveChassis.getInstance().resetChassisAngle();
 		SwerveChassis.getInstance().resetAllEncoders();
 		SmartDashboard.putNumber("auto number", 1);
-
 		OI.getInstance();
 	}
 
@@ -63,8 +68,8 @@ public void autonomousInit() {
 		//resets encoders
 		SwerveChassis.getInstance().resetAllEncoders();
 		SwerveChassis.getInstance().resetLocalizer();
-				(new Taxi(2.5, 2)).schedule(); //THIS   //todo sendablechooser for choosing auto
-
+		PathFollowerBuilder.getInstance().followPath("1 meter").schedule();
+//		SmartDashboard.putString("dood", AutoSelector.getInstance().getSelectedAuto());
 
 	}
 
diff --git a/src/main/java/edu/greenblitz/pegasus/RobotMap.java b/src/main/java/edu/greenblitz/pegasus/RobotMap.java
index a8a6cbff..714c6875 100644
--- a/src/main/java/edu/greenblitz/pegasus/RobotMap.java
+++ b/src/main/java/edu/greenblitz/pegasus/RobotMap.java
@@ -105,7 +105,7 @@ public static class DigitalInputMap {
 
 		public static class Swerve {
 
-			public static final Pose2d initialRobotPosition = new Pose2d(0, 0, new Rotation2d(0));
+			public static final Pose2d initialRobotPosition = new Pose2d(8, 8, new Rotation2d(0));
 			public static final double WHEEL_CIRC = 0.0517 * 2 * Math.PI; //very accurate right now
 
 			public static final double ANG_GEAR_RATIO = 1 / 6.0; //todo maybe 6.0 /1?   input/output
@@ -118,6 +118,7 @@ public static class Swerve {
 			public static final double angleTicksToWheelToRPM = Swerve.ANG_GEAR_RATIO * motors.SPARKMAX_VELOCITY_UNITS_TO_RPM;
 			public static final double linTicksToWheelToRPM = Swerve.LIN_GEAR_RATIO * motors.SPARKMAX_VELOCITY_UNITS_TO_RPM;
 
+			public static final double linRPMToMetersPerSecond = WHEEL_CIRC / 60;
 			public static final double angleTicksToRadians = Swerve.ANG_GEAR_RATIO * motors.SPARKMAX_TICKS_PER_RADIAN;
 
 			public static final double NEO_PHYSICAL_TICKS_TO_RADIANS = angleTicksToRadians / 42; //do not use unless you understand the meaning
@@ -139,7 +140,7 @@ public static class Swerve {
 
 			};
 			//TODO: calibrate GOOD PID
-			public static final PIDObject angPID = new PIDObject().withKp(0.5).withKd(10).withMaxPower(0.8);
+			public static final PIDObject angPID = new PIDObject().withKp(0.5).withMaxPower(0.5);
 			public static final PIDObject linPID = new PIDObject().withKp(0.0003).withMaxPower(0.5);
 			public static final PIDObject rotationPID = new PIDObject().withKp(0.5).withKi(0).withKd(0).withFF(0.1);
 
diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java
new file mode 100644
index 00000000..2eca3d5d
--- /dev/null
+++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java
@@ -0,0 +1,82 @@
+package edu.greenblitz.pegasus.commands.auto;
+
+
+import com.pathplanner.lib.*;
+
+import com.pathplanner.lib.auto.SwerveAutoBuilder;
+import edu.greenblitz.pegasus.RobotMap;
+import edu.greenblitz.pegasus.commands.intake.ExtendAndCollect;
+import edu.greenblitz.pegasus.commands.intake.roller.StopRoller;
+import edu.greenblitz.pegasus.commands.multiSystem.InsertIntoShooter;
+import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM;
+import edu.greenblitz.pegasus.commands.shooter.StopShooter;
+import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
+import edu.greenblitz.pegasus.utils.commands.GBCommand;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+import java.lang.reflect.Array;
+import java.util.ArrayList;
+import java.util.HashMap;
+
+public class PathFollowerBuilder extends SwerveAutoBuilder{
+
+
+	/** the use of the event map is to run a marker by its name run a command */
+	private static final HashMap<String, Command> eventMap = new HashMap<>();
+	static {
+		// the event name, the command()
+		eventMap.put("ShooterByRPM2000", new ShooterByRPM(2000));
+		eventMap.put("FullShoot2000", new ShooterByRPM(2000).alongWith(new InsertIntoShooter()));
+		eventMap.put("StopShooter", new StopShooter());
+		eventMap.put("ExtendAndCollect", new ExtendAndCollect());
+		eventMap.put("StopRoller", new StopRoller());
+	}
+	
+	private static PathFollowerBuilder instance;
+	private PathFollowerBuilder() {
+		super(SwerveChassis.getInstance()::getLocation,
+				SwerveChassis.getInstance()::resetLocalizer,
+				SwerveChassis.getInstance().getKinematics(),
+				RobotMap.Pegasus.Swerve.linPID.getPIDConst(),
+				RobotMap.Pegasus.Swerve.rotationPID.getPIDConst(),
+				SwerveChassis.getInstance()::setModuleStates,
+				eventMap,
+				SwerveChassis.getInstance()
+		);
+	}
+	
+	
+	public static PathFollowerBuilder getInstance() {
+		if (instance == null) {
+			instance = new PathFollowerBuilder();
+		}
+		return instance;
+	}
+	
+
+	/**
+	 * @return returns the command for the full auto (commands and trajectory included)
+	 * */
+	public CommandBase followPath(String pathName) {
+		
+		return fullAuto(PathPlanner.loadPath(
+				pathName,
+				new PathConstraints(
+						2,
+						1
+				))
+		);
+	}
+
+	/** get the WPILib trajectory object from a .path file */
+	public Trajectory getTrajectory (String trajectory){
+		return PathPlanner.loadPath(trajectory,
+				0.5,
+				0.1);
+	}
+
+}
\ No newline at end of file
diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java
new file mode 100644
index 00000000..a06258c2
--- /dev/null
+++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java
@@ -0,0 +1,51 @@
+package edu.greenblitz.pegasus.commands.auto;
+
+import com.pathplanner.lib.PathPlanner;
+import com.pathplanner.lib.PathPlannerTrajectory;
+import edu.greenblitz.pegasus.RobotMap;
+import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
+
+import java.util.ArrayList;
+import java.util.function.Consumer;
+import java.util.function.Supplier;
+
+public class PathPlannerCommand extends SwerveControllerCommand {
+
+
+    public PathPlannerCommand(PathPlannerTrajectory trajectory) {
+        super(
+                trajectory,
+                SwerveChassis.getInstance()::getLocation,
+                SwerveChassis.getInstance().getKinematics(),
+                createPIDController(),
+                createPIDController(),
+                createThetaController(),
+                SwerveChassis.getInstance()::setModuleStates,
+                SwerveChassis.getInstance());
+        System.out.println("starting auto");
+    }
+
+
+    private static ProfiledPIDController createThetaController() {
+        ProfiledPIDController thetaController = new ProfiledPIDController(
+                RobotMap.Pegasus.Swerve.rotationPID.getKp(), 0, 0, new TrapezoidProfile.Constraints(RobotMap.Pegasus.Swerve.KMaxAngularVelocity, RobotMap.Pegasus.Swerve.KMMaxAngularAcceleration));
+        thetaController.enableContinuousInput(-Math.PI, Math.PI);
+        return thetaController;
+    }
+
+
+    private static PIDController createPIDController() {
+        return new PIDController(RobotMap.Pegasus.Swerve.linPID.getKp(), 0, 0);
+    }
+}
+
diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java
index 8ec87780..095419b5 100644
--- a/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java
+++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java
@@ -5,7 +5,6 @@
 import edu.greenblitz.pegasus.commands.intake.extender.ExtendRoller;
 import edu.greenblitz.pegasus.commands.multiSystem.MoveBallUntilClick;
 import edu.greenblitz.pegasus.commands.shooter.DoubleShoot;
-import edu.greenblitz.pegasus.commands.swerve.PathFollowerCommand;
 import edu.greenblitz.pegasus.commands.swerve.TragectoryCreator;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -20,7 +19,7 @@ public ThreeBallAuto(){
 		addCommands(
 				new DoubleShoot(3000),
 				new ExtendRoller(),
-				new PathFollowerCommand(PathPlanner.loadPath("3 ball auto", RobotMap.Pegasus.Swerve.KMaxVelocity / 3, RobotMap.Pegasus.Swerve.KMMaxAcceleration / 3))
+				new PathPlannerCommand(PathPlanner.loadPath("3 ball auto", RobotMap.Pegasus.Swerve.KMaxVelocity / 3, RobotMap.Pegasus.Swerve.KMMaxAcceleration / 3))
 						.alongWith(new MoveBallUntilClick()),
 				new DoubleShoot(3000)
 		);
diff --git a/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java b/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java
deleted file mode 100644
index 50a53fd4..00000000
--- a/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package edu.greenblitz.pegasus.commands.swerve;
-
-import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
-import edu.greenblitz.pegasus.RobotMap;
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.controller.ProfiledPIDController;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
-
-public class PathFollowerCommand extends SwerveControllerCommand {//todo move to experimental branch
-	public PathFollowerCommand(Trajectory trajectory){
-		
-		super(
-				trajectory,
-				SwerveChassis.getInstance()::getLocation,
-				SwerveChassis.getInstance().getKinematics(),
-				createPIDController(),
-				createPIDController(),
-				createThetaController(),
-				SwerveChassis.getInstance()::setModuleStates,
-				SwerveChassis.getInstance());
-		System.out.println("starting auto");
-	}
-	
-	private static ProfiledPIDController createThetaController() {
-		ProfiledPIDController thetaController = new ProfiledPIDController(
-				RobotMap.Pegasus.Swerve.rotationPID.getKp(), 0, 0, new TrapezoidProfile.Constraints(RobotMap.Pegasus.Swerve.KMaxAngularVelocity, RobotMap.Pegasus.Swerve.KMMaxAngularAcceleration));
-		thetaController.enableContinuousInput(-Math.PI, Math.PI);
-		return thetaController;
-	}
-	
-	private static PIDController createPIDController() {
-		return new PIDController(RobotMap.Pegasus.Swerve.linPID.getKp(), 0, 0);
-	}
-	
-	
-	
-}
-
diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java b/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java
index 890d69ff..64922083 100644
--- a/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java
+++ b/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java
@@ -1,5 +1,6 @@
 package edu.greenblitz.pegasus.subsystems;
 
+import edu.greenblitz.pegasus.subsystems.swerve.Calibration;
 import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis;
 import edu.greenblitz.pegasus.utils.GBMath;
 import edu.greenblitz.pegasus.OI;
@@ -30,8 +31,23 @@ public void periodic() {
 				SmartDashboard.putNumber("FL-angle-neo", GBMath.modulo(Math.toDegrees(SwerveChassis.getInstance().getModuleAngle(SwerveChassis.Module.FRONT_LEFT)), 360));
 				SmartDashboard.putNumber("BR-angle-neo", GBMath.modulo(Math.toDegrees(SwerveChassis.getInstance().getModuleAngle(SwerveChassis.Module.BACK_RIGHT)), 360));
 				SmartDashboard.putNumber("BL-angle-neo", GBMath.modulo(Math.toDegrees(SwerveChassis.getInstance().getModuleAngle(SwerveChassis.Module.BACK_LEFT)), 360));
-
-				SmartDashboard.putString("alliance", DriverStation.getAlliance().toString());
+		
+			SmartDashboard.putNumber("FR-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_RIGHT));
+			SmartDashboard.putNumber("FL-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_LEFT));
+			SmartDashboard.putNumber("BR-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_RIGHT));
+			SmartDashboard.putNumber("BL-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_LEFT));
+		
+		SmartDashboard.putNumber("FR-lamprey", Calibration.FRONT_RIGHT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_RIGHT))[0]);
+		SmartDashboard.putNumber("FL-lamprey", Calibration.FRONT_LEFT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_LEFT))[0]);
+		SmartDashboard.putNumber("BR-lamprey", Calibration.BACK_RIGHT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_RIGHT))[0]);
+		SmartDashboard.putNumber("BL-lamprey", Calibration.BACK_LEFT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_LEFT))[0]);
+		
+		
+		
+		
+		
+		
+		SmartDashboard.putString("alliance", DriverStation.getAlliance().toString());
 		
 	}
 }
diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java
index def2b1ba..8f393aca 100644
--- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java
+++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java
@@ -1035,6 +1035,6 @@ public class Calibration {
 		BACK_RIGHT.addDatapoint(4.750976076000001, new double[]{1.0,});
 		BACK_RIGHT.addDatapoint(4.752196779, new double[]{0.0,});
 		BACK_RIGHT.addDatapoint(4.761962403, new double[]{2.0,});
-		BACK_RIGHT.addDatapoint(4.761962403, new double[]{2.0,});
+		BACK_RIGHT.addDatapoint(5, new double[]{2.0,});
 	}
 }
diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java
index a0227c08..2d215db4 100644
--- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java
+++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java
@@ -4,19 +4,29 @@
 import edu.greenblitz.pegasus.utils.PigeonGyro;
 import edu.greenblitz.pegasus.subsystems.GBSubsystem;
 import edu.greenblitz.pegasus.utils.GBMath;
+import edu.wpi.first.math.controller.RamseteController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.*;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 public class SwerveChassis extends GBSubsystem {
 	
 	private final SwerveModule frontRight, frontLeft, backRight, backLeft;
+	public static Field2d field2d = new Field2d();
 	//	private final PigeonGyro pigeonGyro;
 	private final PigeonGyro pigeonGyro;
 	private final SwerveDriveOdometry localizer;
 	private final SwerveDriveKinematics kinematics;
-
-
+	
+	public void resetLocalizer(Pose2d pose2d) {
+		localizer.resetPosition(pose2d, new Rotation2d(getChassisAngle()));
+	}
+	
+	
 	public enum Module {
 		FRONT_RIGHT,
 		FRONT_LEFT,
@@ -25,7 +35,7 @@ public enum Module {
 	}
 
 	public SwerveChassis() {
-
+		SmartDashboard.putData(field2d);
 		this.frontRight  = new SwerveModule(
 				RobotMap.Pegasus.Swerve.Module1.SteerMotorID,
 				RobotMap.Pegasus.Swerve.Module1.linMotorID,
@@ -81,6 +91,7 @@ public void periodic() {
 		localizer.update(new Rotation2d(getChassisAngle()),
 				frontLeft.getModuleState(), frontRight.getModuleState(),
 				backLeft.getModuleState(), backRight.getModuleState());
+		field2d.setRobotPose(localizer.getPoseMeters());
 	}
 	
 	/**
@@ -199,7 +210,10 @@ public SwerveDriveOdometry getLocalizer (){
 	public Pose2d getLocation(){
 		return this.localizer.getPoseMeters();
 	}
-	public void resetLocalizer(){localizer.resetPosition(new Pose2d(),new Rotation2d());}
+	public Pose2d resetLocalizer(){
+		localizer.resetPosition(new Pose2d(),new Rotation2d());
+		return getLocation();
+	}
 	
 	public PigeonGyro getPigeonGyro() {
 		return pigeonGyro;
@@ -244,4 +258,15 @@ public SwerveModuleState getModuleState (Module module){
 		return getModule(module).getModuleState();
 	}
 
+	public SwerveModuleState[] getModuleStates (){
+		SwerveModuleState[] states = {
+				getModuleState(Module.FRONT_RIGHT),
+				getModuleState(Module.FRONT_LEFT),
+				getModuleState(Module.BACK_LEFT),
+				getModuleState(Module.BACK_RIGHT)
+		};
+		return states;
+	}
+	
+	
 }
diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java
index e474190c..bdd59164 100644
--- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java
+++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java
@@ -81,7 +81,7 @@ public double getModuleAngle() {
 	}
 
 	public double getCurrentVelocity() {
-		return (linearMotor.getEncoder().getVelocity() / RobotMap.Pegasus.Swerve.linTicksToWheelToRPM);
+		return (RobotMap.Pegasus.Swerve.linRPMToMetersPerSecond * linearMotor.getEncoder().getVelocity());
 	}
 
 	public void rotateByAngle(double angle) {
diff --git a/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java b/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java
new file mode 100644
index 00000000..0c86a3bf
--- /dev/null
+++ b/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java
@@ -0,0 +1,28 @@
+package edu.greenblitz.pegasus.utils;
+
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+public class AutoSelector {
+    static private AutoSelector instance; //i did some shenanigan with the static private hehe
+    private SendableChooser<String> chooser = new SendableChooser<>();
+
+    private AutoSelector (){
+        //         m_chooser.addOption(auto name, path name );
+        chooser.addOption("1 meter", "1 meter");
+        chooser.addOption("3 ball auto","3 ball auto");
+        chooser.addOption("new", "new"); //this is the name of the path
+        chooser.setDefaultOption("default","1 meter");
+        SmartDashboard.putData(chooser);
+    }
+
+    public static AutoSelector getInstance () {
+        if (instance == null) {
+            instance = new AutoSelector();
+        }
+        return instance;
+    }
+
+    public String getSelectedAuto (){
+        return chooser.getSelected();
+    }
+}
diff --git a/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java b/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java
index 09016b17..14caa332 100644
--- a/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java
+++ b/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java
@@ -1,5 +1,7 @@
 package edu.greenblitz.pegasus.utils;
 
+import com.pathplanner.lib.auto.PIDConstants;
+
 public class PIDObject {
 
 	private double kp, kd, ki, ff;
@@ -81,6 +83,8 @@ public String toString() {
 	public void invert() {
 		inverted *= -1;
 	}
+	
+	public PIDConstants getPIDConst(){return new PIDConstants(this.kp,this.ki, this.kd);}
 
 	public int getInverted() {
 		return inverted;
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 1858ea40..0b6bdbbc 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2022.2.1",
+    "version": "2023.2.0",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
@@ -11,7 +11,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2022.2.1"
+            "version": "2023.2.0"
         }
     ],
     "jniDependencies": [],
@@ -19,7 +19,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2022.2.1",
+            "version": "2023.2.0",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -27,7 +27,7 @@
             "binaryPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
-                "osxx86-64",
+                "osxuniversal",
                 "linuxathena"
             ]
         }