diff --git a/.gitignore b/.gitignore
index 63c3692d..b1a3affd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -181,4 +181,5 @@ logs/
 /.outlineviewer/outlineviewer-window.json
 
 # Test Logging files
-testLog.wpilog
\ No newline at end of file
+testLog.wpilog
+/testLog_sim.wpilog
diff --git a/.run/Test FRC2024.run.xml b/.run/Test FRC2024.run.xml
index d93c33ef..a5be4737 100644
--- a/.run/Test FRC2024.run.xml	
+++ b/.run/Test FRC2024.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test FRC2024" type="GradleRunConfiguration" factoryName="Gradle">
+  <configuration default="false" name="Test FRC2024" type="GradleRunConfiguration" factoryName="Gradle" show_console_on_std_err="true">
     <ExternalSystemSettings>
       <option name="env">
         <map>
diff --git a/Choreo.chor b/Choreo.chor
index 89a5ce00..5457bc88 100644
--- a/Choreo.chor
+++ b/Choreo.chor
@@ -1,16 +1,16 @@
 {
     "version": "v0.3",
     "robotConfiguration": {
-        "mass": 150,
+        "mass": 100,
         "rotationalInertia": 9,
-        "motorMaxTorque": 0.7,
-        "motorMaxVelocity": 4704,
-        "gearing": 6.75,
-        "wheelbase": 0.5778496879611685,
-        "trackWidth": 0.5778496879611685,
-        "bumperLength": 0.8,
-        "bumperWidth": 0.8,
-        "wheelRadius": 0.050799972568014815
+        "motorMaxTorque": 0.3,
+        "motorMaxVelocity": 4800,
+        "gearing": 6.746031746031747,
+        "wheelbase": 0.52705,
+        "trackWidth": 0.52705,
+        "bumperLength": 0.84,
+        "bumperWidth": 0.84,
+        "wheelRadius": 0.04754228114
     },
     "paths": {
         "Center to Nearest Note": {
@@ -22,7 +22,7 @@
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": true,
-                    "controlIntervalCount": 26
+                    "controlIntervalCount": 15
                 },
                 {
                     "x": 2.2529802322387695,
@@ -31,7 +31,7 @@
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": false,
-                    "controlIntervalCount": 17
+                    "controlIntervalCount": 10
                 },
                 {
                     "x": 2.627329111099243,
@@ -40,7 +40,7 @@
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": true,
-                    "controlIntervalCount": 31
+                    "controlIntervalCount": 18
                 },
                 {
                     "x": 1.3747228384017944,
@@ -49,30 +49,30 @@
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": true,
-                    "controlIntervalCount": 40
+                    "controlIntervalCount": 74
                 },
                 {
                     "x": 15.427953720092773,
                     "y": 0.9164142608642578,
-                    "heading": -1.0489628401460993,
+                    "heading": 5.2342224670334865,
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": true,
-                    "controlIntervalCount": 40
+                    "controlIntervalCount": 67
                 },
                 {
                     "x": 1.122,
                     "y": 0.916,
-                    "heading": -2.096380127645166,
+                    "heading": 4.186805179534421,
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": true,
-                    "controlIntervalCount": 40
+                    "controlIntervalCount": 55
                 },
                 {
                     "x": 8.275,
                     "y": 5.022895812988281,
-                    "heading": 0,
+                    "heading": 6.283185307179586,
                     "isInitialGuess": false,
                     "translationConstrained": true,
                     "headingConstrained": true,
@@ -84,676 +84,2161 @@
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+                    "angularVelocity": 6.153971867046824e-22,
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                     "timestamp": 0
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+                {
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     "usesObstacles": true
 }
\ No newline at end of file
diff --git a/learningMoments.md b/learningMoments.md
new file mode 100644
index 00000000..cf17ef7a
--- /dev/null
+++ b/learningMoments.md
@@ -0,0 +1,12 @@
+# Choreo
+ - **Mar 31**: Use correct motor estimates and 
+underestimate the maximum available amperage 
+so that the pid controller still has some 
+left for corrections.
+
+# Why is our drivetrain wrong?
+What could be wrong? (check box means not wrong)
+ - [x] gyro
+ - [ ] wheel rotation
+ - [x] (?)wheel direction
+ - [ ] a
\ No newline at end of file
diff --git a/src/main/deploy/choreo/Amp Mobility.1.traj b/src/main/deploy/choreo/Amp Mobility.1.traj
index 959e473c..3b09d5e8 100644
--- a/src/main/deploy/choreo/Amp Mobility.1.traj	
+++ b/src/main/deploy/choreo/Amp Mobility.1.traj	
@@ -1,670 +1,697 @@
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diff --git a/src/main/deploy/choreo/Amp Mobility.traj b/src/main/deploy/choreo/Amp Mobility.traj
index 959e473c..3b09d5e8 100644
--- a/src/main/deploy/choreo/Amp Mobility.traj	
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index aa7ad745..f24dca41 100644
--- a/src/main/deploy/choreo/Center to Nearest Note.1.traj	
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diff --git a/src/main/deploy/choreo/Center to Nearest Note.traj b/src/main/deploy/choreo/Center to Nearest Note.traj
index aa7ad745..f24dca41 100644
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\ No newline at end of file
diff --git a/src/main/deploy/choreo/Friend Amp Side.1.traj b/src/main/deploy/choreo/Friend Amp Side.1.traj
index 16933c46..fa1e0b5d 100644
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diff --git a/src/main/deploy/choreo/Friend Amp Side.2.traj b/src/main/deploy/choreo/Friend Amp Side.2.traj
index 2fd6fdc5..1e00ab48 100644
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diff --git a/src/main/deploy/choreo/Friend Amp Side.3.traj b/src/main/deploy/choreo/Friend Amp Side.3.traj
index 6f76c876..63be6fbf 100644
--- a/src/main/deploy/choreo/Friend Amp Side.3.traj	
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diff --git a/src/main/deploy/choreo/Friend Amp Side.4.traj b/src/main/deploy/choreo/Friend Amp Side.4.traj
index e732621a..9bf84613 100644
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diff --git a/src/main/deploy/choreo/Friend Amp Side.traj b/src/main/deploy/choreo/Friend Amp Side.traj
index 69d5c8f4..fa1e0b5d 100644
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diff --git a/src/main/deploy/choreo/Friend Source Side.1.traj b/src/main/deploy/choreo/Friend Source Side.1.traj
index 80641202..d52de73f 100644
--- a/src/main/deploy/choreo/Friend Source Side.1.traj	
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diff --git a/src/main/deploy/choreo/Friend Source Side.2.traj b/src/main/deploy/choreo/Friend Source Side.2.traj
index 200fd031..3afbc0ce 100644
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diff --git a/src/main/deploy/choreo/Friend Source Side.3.traj b/src/main/deploy/choreo/Friend Source Side.3.traj
index f5984bf4..af2bd7cf 100644
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index ae28867f..94dbbe95 100644
--- a/src/main/deploy/choreo/Friend Source Side.4.traj	
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diff --git a/src/main/deploy/choreo/Friend Source Side.traj b/src/main/deploy/choreo/Friend Source Side.traj
index 4bb34977..d52de73f 100644
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diff --git a/src/main/deploy/choreo/Greedy (1).1.traj b/src/main/deploy/choreo/Greedy (1).1.traj
deleted file mode 100644
index be4aa303..00000000
--- a/src/main/deploy/choreo/Greedy (1).1.traj	
+++ /dev/null
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diff --git a/src/main/deploy/choreo/Greedy (1).2.traj b/src/main/deploy/choreo/Greedy (1).2.traj
deleted file mode 100644
index c6eb81b1..00000000
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diff --git a/src/main/deploy/choreo/Greedy (1).3.traj b/src/main/deploy/choreo/Greedy (1).3.traj
deleted file mode 100644
index e2de1b50..00000000
--- a/src/main/deploy/choreo/Greedy (1).3.traj	
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diff --git a/src/main/deploy/choreo/Greedy (1).4.traj b/src/main/deploy/choreo/Greedy (1).4.traj
deleted file mode 100644
index 4bcb661f..00000000
--- a/src/main/deploy/choreo/Greedy (1).4.traj	
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diff --git a/src/main/deploy/choreo/Greedy No Stage.1.traj b/src/main/deploy/choreo/Greedy No Stage.1.traj
index 0eb70d02..373ff45a 100644
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diff --git a/src/main/deploy/choreo/Greedy No Stage.2.traj b/src/main/deploy/choreo/Greedy No Stage.2.traj
index 31e5609c..08ae379c 100644
--- a/src/main/deploy/choreo/Greedy No Stage.2.traj	
+++ b/src/main/deploy/choreo/Greedy No Stage.2.traj	
@@ -4,442 +4,289 @@
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index e1c75c71..c62f3cea 100644
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diff --git a/src/main/deploy/choreo/Greedy No Stage.4.traj b/src/main/deploy/choreo/Greedy No Stage.4.traj
index 196288a8..f32816b7 100644
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diff --git a/src/main/deploy/choreo/Greedy No Stage.traj b/src/main/deploy/choreo/Greedy No Stage.traj
index 3466367e..373ff45a 100644
--- a/src/main/deploy/choreo/Greedy No Stage.traj	
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index 58f19540..36ff55cb 100644
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index 26c29b90..8aca9743 100644
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index fb4c36ba..4a203d02 100644
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index 7176dd59..7828555f 100644
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diff --git a/src/main/deploy/choreo/Greedy.traj b/src/main/deploy/choreo/Greedy.traj
index 71d7494e..36ff55cb 100644
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diff --git a/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.1.traj b/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.1.traj
index f8c115f2..c019adad 100644
--- a/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.1.traj	
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diff --git a/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.traj b/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.traj
index f8c115f2..c019adad 100644
--- a/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.traj	
+++ b/src/main/deploy/choreo/P2 Center Intake Nearest Far Note.traj	
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diff --git a/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.1.traj b/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.1.traj
index bb6ee993..4cea8ba5 100644
--- a/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.1.traj	
+++ b/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.1.traj	
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diff --git a/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.traj b/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.traj
index bb6ee993..4cea8ba5 100644
--- a/src/main/deploy/choreo/P3 Center Intake Nearest Far Note.traj	
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diff --git a/src/main/deploy/choreo/Sim PID Tuner.1.traj b/src/main/deploy/choreo/Sim PID Tuner.1.traj
new file mode 100644
index 00000000..3478ae4e
--- /dev/null
+++ b/src/main/deploy/choreo/Sim PID Tuner.1.traj	
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diff --git a/src/main/deploy/choreo/Sim PID Tuner.traj b/src/main/deploy/choreo/Sim PID Tuner.traj
new file mode 100644
index 00000000..3478ae4e
--- /dev/null
+++ b/src/main/deploy/choreo/Sim PID Tuner.traj	
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diff --git a/src/main/deploy/choreo/Source Mobility.1.traj b/src/main/deploy/choreo/Source Mobility.1.traj
index 24f7bef3..0abbdca6 100644
--- a/src/main/deploy/choreo/Source Mobility.1.traj	
+++ b/src/main/deploy/choreo/Source Mobility.1.traj	
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diff --git a/src/main/deploy/choreo/Source Mobility.traj b/src/main/deploy/choreo/Source Mobility.traj
index 24f7bef3..0abbdca6 100644
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diff --git a/src/main/deploy/choreo/Source Side.1.traj b/src/main/deploy/choreo/Source Side.1.traj
index 44a46062..7bc4cc7a 100644
--- a/src/main/deploy/choreo/Source Side.1.traj	
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diff --git a/src/main/deploy/choreo/Temp Greedy.1.traj b/src/main/deploy/choreo/Temp Greedy.1.traj
new file mode 100644
index 00000000..cda65ce9
--- /dev/null
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diff --git a/src/main/deploy/choreo/Temp Greedy.2.traj b/src/main/deploy/choreo/Temp Greedy.2.traj
new file mode 100644
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diff --git a/src/main/deploy/choreo/Temp Greedy.3.traj b/src/main/deploy/choreo/Temp Greedy.3.traj
new file mode 100644
index 00000000..ed282a66
--- /dev/null
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diff --git a/src/main/deploy/choreo/Temp Greedy.4.traj b/src/main/deploy/choreo/Temp Greedy.4.traj
new file mode 100644
index 00000000..b39bafd0
--- /dev/null
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diff --git a/src/main/deploy/choreo/Temp Greedy.traj b/src/main/deploy/choreo/Temp Greedy.traj
index 865167c3..cda65ce9 100644
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diff --git a/src/main/deploy/choreo/Wake Playoffs Path.1.traj b/src/main/deploy/choreo/Wake Playoffs Path.1.traj
index da5a2f6e..5e51061c 100644
--- a/src/main/deploy/choreo/Wake Playoffs Path.1.traj	
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+      "timestamp": 18.854033887598202
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+      "timestamp": 18.919041432089585
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+    {
+      "x": 2.9618171348394013,
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+    {
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+    {
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+      "timestamp": 19.43910178802065
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+    {
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+      "timestamp": 19.504109332512034
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+    {
+      "x": 2.1556269495755025,
+      "y": 3.0293845546580815,
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+      "velocityX": -1.1986456081801626,
+      "velocityY": 0.5180612292011536,
+      "timestamp": 19.569116877003417
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+    {
+      "x": 2.080610175239195,
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+    {
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+    {
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+      "timestamp": 19.894154599460332
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+    {
+      "x": 1.7490161746007489,
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+      "angularVelocity": 0.300346192077135,
+      "velocityX": -0.93106757760381,
+      "velocityY": 0.4057148001692168,
+      "timestamp": 19.959162143951716
+    },
+    {
+      "x": 1.6913826283667528,
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+      "angularVelocity": 0.28887848428784035,
+      "velocityX": -0.8865670390247488,
+      "velocityY": 0.3867669860029649,
+      "timestamp": 20.0241696884431
+    },
+    {
+      "x": 1.6366404782637995,
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+      "heading": 1.9590277124429292,
+      "angularVelocity": 0.277013635373033,
+      "velocityX": -0.8420891841285958,
+      "velocityY": 0.3677669309910055,
+      "timestamp": 20.08917723293448
+    },
+    {
+      "x": 1.584788340165468,
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+    {
+      "x": 1.5358249123712686,
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+      "velocityX": -0.7531960817361579,
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+    {
+      "x": 1.489748968475076,
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+      "velocityY": 0.3104856338435739,
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+    },
+    {
+      "x": 1.4465593510311059,
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+    },
+    {
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+    {
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+      "heading": 2.049623492240404,
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+      "timestamp": 20.47922249988278
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+    {
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+      "velocityY": 0.23355256450726375,
+      "timestamp": 20.544230044374164
+    },
+    {
+      "x": 1.3026431105237626,
+      "y": 3.401473089686103,
+      "heading": 2.0727104022911806,
+      "angularVelocity": 0.17042514478721263,
+      "velocityX": -0.48693874931014175,
+      "velocityY": 0.2142339695851224,
+      "timestamp": 20.609237588865547
+    },
+    {
+      "x": 1.2738698135832542,
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+      "heading": 2.082845068919812,
+      "angularVelocity": 0.15589985297744519,
+      "velocityX": -0.4426147328841481,
+      "velocityY": 0.19488478382515442,
+      "timestamp": 20.67424513335693
+    },
+    {
+      "x": 1.2479770683669789,
+      "y": 3.425551320354469,
+      "heading": 2.09202105523592,
+      "angularVelocity": 0.14115263678855464,
+      "velocityX": -0.3983036956534628,
+      "velocityY": 0.17550654316239375,
+      "timestamp": 20.739252677848313
+    },
+    {
+      "x": 1.224964070812257,
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+      "heading": 2.1002246365547808,
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+      "velocityX": -0.3540050271822192,
+      "velocityY": 0.15610067073669778,
+      "timestamp": 20.804260222339696
+    },
+    {
+      "x": 1.2048300538086083,
+      "y": 3.4445835244452514,
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+      "angularVelocity": 0.11103486520916488,
+      "velocityX": -0.30971815904102007,
+      "velocityY": 0.1366684876692928,
+      "timestamp": 20.86926776683108
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+    {
+      "x": 1.1875742847116346,
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+    {
+      "x": 1.1731960630747735,
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+      "velocityY": 0.09773002003650631,
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+    },
+    {
+      "x": 1.1616947185756044,
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+      "velocityY": 0.07822594802191152,
+      "timestamp": 21.06429040030523
+    },
+    {
+      "x": 1.1530696091163117,
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+      "velocityX": -0.1326785917969231,
+      "velocityY": 0.058700004641388116,
+      "timestamp": 21.129297944796612
+    },
+    {
+      "x": 1.1473201190804243,
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+      "angularVelocity": 0.03252732111091431,
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+      "velocityY": 0.03915312407455308,
+      "timestamp": 21.194305489287995
+    },
+    {
+      "x": 1.1444456577301023,
+      "y": 3.471276044845581,
+      "heading": 2.1293959162615916,
+      "angularVelocity": 0.016337255580827388,
+      "velocityX": -0.04421735004470161,
+      "velocityY": 0.019586181921587377,
+      "timestamp": 21.259313033779378
+    },
+    {
+      "x": 1.1444456577301023,
+      "y": 3.471276044845581,
+      "heading": 2.1293959162615916,
+      "angularVelocity": 2.3467656538225474e-27,
+      "velocityX": 1.5490245700130218e-25,
+      "velocityY": 4.661815257901536e-25,
+      "timestamp": 21.32432057827076
     }
   ],
   "eventMarkers": []
diff --git a/src/main/deploy/pathplanner/autos/Simulation PID Tuning Path.auto b/src/main/deploy/pathplanner/autos/Simulation PID Tuning Path.auto
new file mode 100644
index 00000000..e7cad56d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Simulation PID Tuning Path.auto	
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 10.712042808532717,
+      "y": 7.466688632965088
+    },
+    "rotation": -1.3590897263903884e-23
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Sim PID Tuner"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": 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 aeaa21ab..19442c17 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -18,6 +18,9 @@
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
 import static edu.wpi.first.math.util.Units.degreesToRadians;
 import static edu.wpi.first.math.util.Units.inchesToMeters;
@@ -32,7 +35,9 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    public static final Mode currentMode = (RobotBase.isReal()) ? Mode.REAL : Mode.REPLAY;
+    public static final boolean isInReplayTestMode =
+            (System.getenv().getOrDefault("TEST_RUN_MODE", "false").equalsIgnoreCase("true"));
+    public static final Mode currentMode = (RobotBase.isReal()) ? Mode.REAL : ((isInReplayTestMode)?Mode.REPLAY:Mode.REPLAY);
 
     public static enum Mode {
         /**
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 2e051ce2..23c921da 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -13,6 +13,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import org.littletonrobotics.junction.LogFileUtil;
@@ -94,6 +95,13 @@ public void robotInit() {
   /** This function is called periodically during all modes. */
   @Override
   public void robotPeriodic() {
+    Logger.runEveryN(25, ()-> {
+        Transform3d[] robotToCam = Constants.robotToCam;
+        for (int i = 0; i < robotToCam.length; i++) {
+            Transform3d transform3d = robotToCam[i];
+            Logger.recordOutput("cameraTransform"+i, transform3d);
+        }
+    });
     // Runs the Scheduler. This is responsible for polling buttons, adding
     // newly-scheduled commands, running already-scheduled commands, removing
     // finished or interrupted commands, and running subsystem periodic() methods.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index afb5e203..251b9cdb 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -318,6 +318,8 @@ private void configureButtonBindings() {
                                 () -> (-driverController.getLeftY() * (invertX.get()?-1:1)),
                                 () -> (-driverController.getLeftX() * (invertY.get()?-1:1)),
                                 () -> (-driverController.getRightX()) * (invertOmega.get()?-1:1));
+
+                drive.setDefaultCommand(command.getCommand());
                 driverController.leftBumper().whileTrue(command.getCommand());
 
                 // ---- INTAKE COMMANDS ----
diff --git a/src/main/java/frc/robot/commands/FeederCommands.java b/src/main/java/frc/robot/commands/FeederCommands.java
index 2c267042..25f27276 100644
--- a/src/main/java/frc/robot/commands/FeederCommands.java
+++ b/src/main/java/frc/robot/commands/FeederCommands.java
@@ -24,6 +24,7 @@ public static Command feedToShooter(Feeder feeder) {
         return sequence(
                 run(() -> feeder.runVolts(9), feeder)
                         .onlyIf(feeder::getBeamBroken)
+                        .raceWith(SpecializedCommands.timeoutDuringAutoSim(2))
                         .until(() -> !feeder.getBeamBroken()),
                 run(() -> feeder.runVolts(9), feeder)
                         .withTimeout(0.5),
@@ -44,9 +45,11 @@ public static Command feedToBeamBreak(Feeder feeder) {
                 sequence(
                         sequence(
                                 run(() -> feeder.runVolts(6), feeder)
-                                        .onlyWhile(() -> !feeder.getIntakeBeamBroken()),
+                                        .onlyWhile(() -> !feeder.getIntakeBeamBroken())
+                                        .raceWith(SpecializedCommands.timeoutDuringAutoSim(2)),
                                 run(() -> feeder.runVolts(6), feeder)
                                         .onlyWhile(feeder::getIntakeBeamBroken)
+                                        .raceWith(SpecializedCommands.timeoutDuringAutoSim(3))
                         )
                                 .onlyWhile(() -> !feeder.getBeamBroken()),
                         either(
@@ -60,14 +63,16 @@ public static Command feedToBeamBreak(Feeder feeder) {
 
     private static Command slowToBeam(Feeder feeder) {
         return run(() -> feeder.runVolts(2), feeder)
-                .onlyWhile(() -> !feeder.getBeamBroken());
+                .onlyWhile(() -> !feeder.getBeamBroken())
+                .raceWith(SpecializedCommands.timeoutDuringAutoSim(2));
     }
 
     private static Command zeroToBeamBreak(Feeder feeder) {
         return sequence(
                 run(() -> feeder.runVolts(-6), feeder).onlyWhile(feeder::getBeamBroken),
                 slowToBeam(feeder)
-        );
+        )
+                .raceWith(SpecializedCommands.timeoutDuringAutoSim(1));
     }
 
     public static Command humanPlayerIntake(Feeder feeder) {
diff --git a/src/main/java/frc/robot/commands/IntakeCommands.java b/src/main/java/frc/robot/commands/IntakeCommands.java
index b72c4e16..22cafe24 100644
--- a/src/main/java/frc/robot/commands/IntakeCommands.java
+++ b/src/main/java/frc/robot/commands/IntakeCommands.java
@@ -19,7 +19,8 @@ public static Command intakeCommand(Intake intake) {
                     intake.setIntakePosition(Rotation2d.fromDegrees(-10));
                     intake.setRollerVoltage(9.0);
                 },
-                intake);
+                intake)
+                .raceWith(SpecializedCommands.timeoutDuringAutoSim(3));
     }
 
     public static Command safeIntakeCommand(Intake intake, Feeder feeder) {
@@ -57,7 +58,9 @@ public static Command flushIntakeWithoutTheArmExtendedOutward(Intake intake, Fee
                 () -> {
                     intake.setIntakePosition(Rotation2d.fromRadians(-2.05));
                     intake.setRollerVoltage(6.0);
-                }, intake).until(() -> !feeder.getIntakeBeamBroken());
+                }, intake)
+                .raceWith(SpecializedCommands.timeoutDuringAutoSim(5))
+                .until(() -> !feeder.getIntakeBeamBroken());
     }
 
     public static Command idleCommand(Intake intake) {
diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java
index 56cdbed5..aad85a54 100644
--- a/src/main/java/frc/robot/commands/ShooterCommands.java
+++ b/src/main/java/frc/robot/commands/ShooterCommands.java
@@ -115,6 +115,7 @@ public static Command autoAim(Shooter shooter, Drive drive, Feeder feeder) {
                 shooter.shooterRunVelocity(distanceToRPM.get(distance));
             }
         }, shooter)
+                .raceWith(SpecializedCommands.timeoutDuringAutoSim(2))
                 .withName("Auto Aim");
     }
 
@@ -124,6 +125,7 @@ public static Command JustShoot(Shooter shooter) {
             shooter.setTargetShooterAngle(Rotation2d.fromRadians(.8));
             shooter.shooterRunVelocity(3500);
         }, shooter)
+                .raceWith(SpecializedCommands.timeoutDuringAutoSim(2))
                 .withName("Just Shoot");
     }
 
diff --git a/src/main/java/frc/robot/commands/SpecializedCommands.java b/src/main/java/frc/robot/commands/SpecializedCommands.java
new file mode 100644
index 00000000..30739b3e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SpecializedCommands.java
@@ -0,0 +1,24 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.RobotState;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.Constants;
+
+public class SpecializedCommands {
+    public static Command timeoutDuringAuto(double timeout) {
+        return Commands.either(
+                Commands.waitSeconds(timeout),
+                Commands.none(),
+                RobotState::isAutonomous
+        );
+    }
+
+    public static Command timeoutDuringAutoSim(double timeout) {
+        return Commands.either(
+                Commands.waitSeconds(timeout),
+                Commands.none(),
+                () -> RobotState.isAutonomous() && Constants.currentMode.equals(Constants.Mode.SIM)
+        );
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index d785f47e..afaa0c4a 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -32,6 +32,7 @@
 import edu.wpi.first.math.numbers.*;
 import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.system.LinearSystemLoop;
 import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Velocity;
@@ -41,6 +42,8 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+import frc.robot.Robot;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 import org.photonvision.EstimatedRobotPose;
@@ -70,7 +73,7 @@ public class Drive extends SubsystemBase {
     private final GyroIO gyroIO;
     private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged();
     private final Module[] modules = new Module[4]; // FL, FR, BL, BR
-    private final SwerveModulePosition[] swerveModulePositions;
+    private SwerveModulePosition[] swerveModulePositions;
     private final VisionIO[] visionIO;
     private final VisionIO.VisionIOInputs[] visionInputs;
 
@@ -79,8 +82,8 @@ public class Drive extends SubsystemBase {
     private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations());
     private SwerveDrivePoseEstimator poseEstimator;
     private Pose2d pose = new Pose2d();
-    PIDConstants positionPID = new PIDConstants(4, .00);
-    PIDConstants rotationPID = new PIDConstants(2.5, .00);
+    PIDConstants positionPID = new PIDConstants(20, .1);//64 //works at 8
+    PIDConstants rotationPID = new PIDConstants(45, 0.8);//32+16
     private Measure<Velocity<Angle>> angularVelocity = RadiansPerSecond.zero();
     private Rotation2d lastGyroRotation = new Rotation2d();
 
@@ -93,6 +96,14 @@ public class Drive extends SubsystemBase {
     private Pose2d previousPose = new Pose2d();
     double[] timestampSeconds;
 
+    private SwerveModulePosition[] lastModulePositions = // For delta tracking
+            new SwerveModulePosition[] {
+                    new SwerveModulePosition(),
+                    new SwerveModulePosition(),
+                    new SwerveModulePosition(),
+                    new SwerveModulePosition()
+            };
+
     public Drive(
             GyroIO gyroIO,
             VisionIO visionIO,
@@ -142,7 +153,7 @@ public Drive(
                 () -> kinematics.toChassisSpeeds(getModuleStates()),
                 this::runVelocity,
                 new HolonomicPathFollowerConfig(positionPID, rotationPID,
-                        MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig(true, true)),
+                        MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig(true, true), Robot.defaultPeriodSecs),
                 () ->
                         DriverStation.getAlliance().isPresent()
                                 && DriverStation.getAlliance().get() == Alliance.Red,
@@ -219,19 +230,26 @@ public void periodic() {
 
         updateSwerveModulePositions();
         // Update odometry
-        SwerveModulePosition[] wheelDeltas = new SwerveModulePosition[4];
-        for (int i = 0; i < 4; i++) {
-            wheelDeltas[i] = modules[i].getPositionDelta();
+
+        // Read wheel positions and deltas from each module
+        swerveModulePositions = getModulePositions();
+        SwerveModulePosition[] moduleDeltas = new SwerveModulePosition[4];
+        for (int moduleIndex = 0; moduleIndex < 4; moduleIndex++) {
+            moduleDeltas[moduleIndex] =
+                    new SwerveModulePosition(
+                            swerveModulePositions[moduleIndex].distanceMeters
+                                    - lastModulePositions[moduleIndex].distanceMeters,
+                            swerveModulePositions[moduleIndex].angle);
+            lastModulePositions[moduleIndex] = swerveModulePositions[moduleIndex];
         }
 
+
         // The twist represents the motion of the robot since the last
         // loop cycle in x, y, and theta based only on the modules,
         // without the gyro. The gyro is always disconnected in simulation.
-        var twist = kinematics.toTwist2d(wheelDeltas);
-//        twist.dtheta *= -1;
-//        twist.dx *= -1;
-//        twist.dy *= -1;
+        var twist = kinematics.toTwist2d(moduleDeltas);
         this.transform = pose.exp(twist).minus(pose);
+        twist.dtheta *= -1;
         if (gyroInputs.connected) {
             boolean isAnyCameraConnected = false;
             for (VisionIO.VisionIOInputs visionInput : visionInputs) {
@@ -261,8 +279,7 @@ public void periodic() {
             }
 
             // Apply the twist (change since last loop cycle) to the current pose
-            noGyroRotation =
-                    pose.rotateBy(noGyroRotation.minus(pose.getRotation())).exp(twist).getRotation();
+            noGyroRotation = noGyroRotation.plus(Rotation2d.fromRadians(twist.dtheta));
             pose = noGyroPoseEstimation.updateWithTime(Timer.getFPGATimestamp(), noGyroRotation, swerveModulePositions);
             angularVelocity = RadiansPerSecond.of(twist.dtheta / .02);
         }
@@ -286,7 +303,13 @@ public void periodic() {
                 Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Estimated Robot Pose", estimatedRobotPose.estimatedPose);
                 Pose2d pose2d = estimatedRobotPose.estimatedPose.toPose2d();
                 if (
-                        !DriverStation.isFMSAttached() || estimatedRobotPose.estimatedPose.getX() <= 16.5 && estimatedRobotPose.estimatedPose.getX() > 0 && estimatedRobotPose.estimatedPose.getZ() <= 1 && estimatedRobotPose.estimatedPose.getZ() > -1 && estimatedRobotPose.estimatedPose.getY() <= 8.2 && estimatedRobotPose.estimatedPose.getY() > 0
+                                    ((!DriverStation.isFMSAttached()) ||
+                                            ((estimatedRobotPose.estimatedPose.getX() <= 16.5) &&
+                                                    (estimatedRobotPose.estimatedPose.getX() > 0) &&
+                                                    (estimatedRobotPose.estimatedPose.getZ() <= 1) &&
+                                                    (estimatedRobotPose.estimatedPose.getZ() > -1) && //fixme: remove Z restriction
+                                                    (estimatedRobotPose.estimatedPose.getY() <= 8.2) &&
+                                                    (estimatedRobotPose.estimatedPose.getY() > 0)))
                 ) // only add it if it's less than 1 meter and in the field
                 {
                     Matrix<N3, N1> visionMatrix;
@@ -434,12 +457,10 @@ public void populateDriveCharacterizationData(SysIdRoutineLog routineLog) {
 
     @AutoLogOutput()
     public Transform3d poseEstTransform() {
-        try {
+        if (visionInputs.length >= 2)
             return visionInputs[1].cameraResult.getMultiTagResult().estimatedPose.best
                     .plus(visionInputs[0].cameraResult.getMultiTagResult().estimatedPose.best.inverse());
-        } catch (Exception e) {
-            return new Transform3d();
-        }
+        else return null;
     }
 
     public void populateTurnCharacterizationData(SysIdRoutineLog routineLog) {
@@ -488,6 +509,9 @@ private void logCameraData() {
             // Tag Count
             Logger.recordOutput("Vision/" + visionInput.name + "/Tag Count", visionInput.cameraResult.getTargets().size());
 
+            // Camera Offsets
+            Logger.recordOutput("Vision/" + visionInput.name + "/Vision Override", new Pose3d(pose).plus(robotToCam[k]));
+
             var outAmbiguities = new double[targets.size()];
             for (int i = 0, targetsSize = targets.size(); i < targetsSize; i++) {
                 PhotonTrackedTarget target = targets.get(i);
@@ -527,6 +551,15 @@ private SwerveModuleState[] getModuleStates() {
         return states;
     }
 
+    /** Returns the module positions (turn angles and drive positions) for all of the modules. */
+    private SwerveModulePosition[] getModulePositions() {
+        SwerveModulePosition[] states = new SwerveModulePosition[4];
+        for (int i = 0; i < 4; i++) {
+            states[i] = modules[i].getPosition();
+        }
+        return states;
+    }
+
     /**
      * Returns the current odometry pose.
      */
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
index 8740754e..2cbb5ed1 100644
--- a/src/main/java/frc/robot/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -69,10 +69,11 @@ public Module(ModuleIO io, int index) {
             driveFeedback = new PIDController(0.10222, 0.0, 0.0);
             break;
           default:
-            driveFeedforward = new SimpleMotorFeedforward(0.05, 0.8, .13);
-            driveFeedback = new PIDController(0.05, 0.0, 0.0);
+            driveFeedforward = new SimpleMotorFeedforward(.175, 0.8, .13);
+            driveFeedback = new PIDController(0.15254, 0.0, 0.0);
             break;
         }
+//        driveFeedback = new PIDController(0.16, 0.0, 0.0);//fixme: try commenting/uncommenting this line: it overrides the previous ones
         turnFeedback = new PIDController(5.0, 0.0, .02);
         break;
       case REPLAY:
@@ -143,8 +144,8 @@ public void periodic() {
         // Run drive controller
         double velocityRadPerSec = adjustSpeedSetpoint / WHEEL_RADIUS;
         io.setDriveVoltage( // fixme
-            (driveFeedforward.calculate(velocityRadPerSec)
-                + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec)) * freeSpinningAmount);
+            driveFeedforward.calculate(velocityRadPerSec)
+                + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec));
       }
     }
   }
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
index a33f6a5b..d35cc437 100644
--- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
@@ -30,7 +30,7 @@
 public class ModuleIOSim implements ModuleIO {
   private static final double LOOP_PERIOD_SECS = 0.02;
 
-  private DCMotorSim driveSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(0.83827,0.13853), DCMotor.getNEO(1), 6.75);
+  private DCMotorSim driveSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(0.83827/6.75,0.13853/6.75), DCMotor.getNEO(1), 6.75);
   private DCMotorSim turnSim = new DCMotorSim(DCMotor.getNEO(1), 150.0 / 7.0, 0.004);
 
   private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI);
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
index 050daab5..1318794c 100644
--- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
+++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -38,8 +38,8 @@
  */
 public class ModuleIOSparkMax implements ModuleIO {
   // Gear ratios for SDS MK4i L2, adjust as necessary
-  private static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);
-  private static final double TURN_GEAR_RATIO = 150.0 / 7.0;
+  static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);
+  static final double TURN_GEAR_RATIO = 150.0 / 7.0;
 
   private final CANSparkMax driveSparkMax;
   private final CANSparkMax turnSparkMax;