diff --git a/src/main/deploy/pathplanner/autos/Source start to center 3 piece.auto b/src/main/deploy/pathplanner/autos/Source start to center 3 piece.auto
index 1191508..254784d 100644
--- a/src/main/deploy/pathplanner/autos/Source start to center 3 piece.auto	
+++ b/src/main/deploy/pathplanner/autos/Source start to center 3 piece.auto	
@@ -40,7 +40,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.25
+                        "waitTime": 0.1
                       }
                     },
                     {
@@ -102,7 +102,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.25
+                        "waitTime": 0.5
                       }
                     },
                     {
@@ -135,29 +135,10 @@
             "pathName": "bot bot to shoot"
           }
         },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "turnToSpeaker"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "ShootSpeaker"
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "named",
           "data": {
-            "name": "StopShooter"
+            "name": "turnTo0"
           }
         },
         {
@@ -169,7 +150,7 @@
         {
           "type": "named",
           "data": {
-            "name": "turnTo0"
+            "name": "StopShooter"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/paths/bot bot intake.path b/src/main/deploy/pathplanner/paths/bot bot intake.path
index 0910f16..c88b505 100644
--- a/src/main/deploy/pathplanner/paths/bot bot intake.path	
+++ b/src/main/deploy/pathplanner/paths/bot bot intake.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.738322308553448,
-        "y": 0.77
+        "x": 7.404889111772525,
+        "y": 0.6197901854493164
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.738322308553448,
-        "y": 0.77
+        "x": 7.6048891117725255,
+        "y": 0.6197901854493164
       },
       "isLocked": false,
       "linkedName": "bot bot intake"
     },
     {
       "anchor": {
-        "x": 8.001290988336962,
-        "y": 0.77
+        "x": 8.281950694955519,
+        "y": 0.6197901854493164
       },
       "prevControl": {
-        "x": 6.901290988336961,
-        "y": 0.77
+        "x": 8.08195069495552,
+        "y": 0.6197901854493164
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 120.0
   },
diff --git a/src/main/deploy/pathplanner/paths/bot bot to shoot.path b/src/main/deploy/pathplanner/paths/bot bot to shoot.path
index 90e6529..2af67ac 100644
--- a/src/main/deploy/pathplanner/paths/bot bot to shoot.path	
+++ b/src/main/deploy/pathplanner/paths/bot bot to shoot.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.001290988336962,
-        "y": 0.77
+        "x": 8.281950694955519,
+        "y": 0.6197901854493164
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.744492076041221,
-        "y": 0.3101942986293386
+        "x": 6.925428779632487,
+        "y": 0.3157421699458774
       },
       "isLocked": false,
       "linkedName": "bot bot ring"
     },
     {
       "anchor": {
-        "x": 3.265158439148787,
-        "y": 2.8416795295129056
+        "x": 2.832474724778509,
+        "y": 2.7013496762036264
       },
       "prevControl": {
-        "x": 2.9623162048835896,
-        "y": 2.0683408993576364
+        "x": 2.9143338058755885,
+        "y": 1.7892056296933105
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,13 +33,13 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 5.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 120.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0,
+    "rotation": -40.42607874009909,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/bot ring to bot bot intake.path b/src/main/deploy/pathplanner/paths/bot ring to bot bot intake.path
index fb1569a..d20082f 100644
--- a/src/main/deploy/pathplanner/paths/bot ring to bot bot intake.path	
+++ b/src/main/deploy/pathplanner/paths/bot ring to bot bot intake.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 6.738322308553448,
-        "y": 0.77
+        "x": 7.404889111772525,
+        "y": 0.6197901854493164
       },
       "prevControl": {
-        "x": 5.738322308553448,
-        "y": 0.77
+        "x": 6.644769073013928,
+        "y": 0.16371816219415847
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,13 +32,13 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 120.0
   },
   "goalEndState": {
-    "velocity": 1.0,
+    "velocity": 0.0,
     "rotation": 0.0,
     "rotateFast": false
   },
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8839e98..486c305 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -106,6 +106,7 @@ public RobotContainer() {
 		NamedCommands.registerCommand("StopShooter", head.SpinDownShooter());
 		NamedCommands.registerCommand("TurnDown", turnAwayFromAmp());
 		NamedCommands.registerCommand("TurnAndShoot", Commands.sequence(turnToSpeaker(),MechanismCommands.AutonomousShoot(arm, head, drivetrain)));
+		NamedCommands.registerCommand("variableShoot", MechanismCommands.PrepareShoot(arm, head, ()->drivetrain.getDistanceToSpeaker()).andThen(MechanismCommands.Shoot(arm, head)));
 		
 		autoChooser = AutoBuilder.buildAutoChooser("Default Path");
 		
@@ -283,9 +284,9 @@ public void setMotorBrake(boolean isBraked) {
 	
 	public Command turnToSpeaker() {
 		if (checkAllianceColors(Alliance.Red)) {
-			return new ParallelRaceGroup(new TurnToTag(drivetrain, 4, true), Commands.waitSeconds(0.75));
+			return new ParallelRaceGroup(new TurnToTag(drivetrain, 4, true), Commands.waitSeconds(1));
 		}
-		return new ParallelRaceGroup(new TurnToTag(drivetrain, 7, true), Commands.waitSeconds(0.75));
+		return new ParallelRaceGroup(new TurnToTag(drivetrain, 7, true), Commands.waitSeconds(1));
 	}
 	
 	public Command turnToSpeaker(Supplier<Double> yMovement, Supplier<Double> xMovement) {