diff --git a/src/main/deploy/choreo/RBumpToRCleanup.traj b/src/main/deploy/choreo/RBumpToRCleanup.traj
new file mode 100644
index 00000000..81894fe2
--- /dev/null
+++ b/src/main/deploy/choreo/RBumpToRCleanup.traj
@@ -0,0 +1,194 @@
+{
+ "name":"RBumpToRCleanup",
+ "version":3,
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/RBumptoOutpost.traj b/src/main/deploy/choreo/RBumptoOutpost.traj
index d35466bb..bfd3d6d6 100644
--- a/src/main/deploy/choreo/RBumptoOutpost.traj
+++ b/src/main/deploy/choreo/RBumptoOutpost.traj
@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"StartingRBump.x", "val":3.5344297885894775}, "y":{"exp":"StartingRBump.y", "val":2.057757616043091}, "heading":{"exp":"StartingRBump.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
diff --git a/src/main/deploy/choreo/RCleanupToRBump.traj b/src/main/deploy/choreo/RCleanupToRBump.traj
new file mode 100644
index 00000000..eb3dcbe9
--- /dev/null
+++ b/src/main/deploy/choreo/RCleanupToRBump.traj
@@ -0,0 +1,120 @@
+{
+ "name":"RCleanupToRBump",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
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+    "y":0.2761996
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+    "y":0.2761996
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+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
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+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.11993,2.58222],
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/RNeutralToRBump.traj b/src/main/deploy/choreo/RNeutralToRBump.traj
new file mode 100644
index 00000000..f3451e48
--- /dev/null
+++ b/src/main/deploy/choreo/RNeutralToRBump.traj
@@ -0,0 +1,122 @@
+{
+ "name":"RNeutralToRBump",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":8.24740982055664, "y":3.888876676559448, "heading":1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":6.327188968658447, "y":2.461277961730957, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":2.9401838779449463, "y":2.4093074798583984, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
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+    {"x":{"exp":"6.327188968658447 m", "val":6.327188968658447}, "y":{"exp":"2.461277961730957 m", "val":2.461277961730957}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RBump.x", "val":2.9401838779449463}, "y":{"exp":"RBump.y", "val":2.4093074798583984}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
+    {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2761996,
+    "y":0.2761996
+   },
+   "backLeft":{
+    "x":-0.2761996,
+    "y":0.2761996
+   },
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+   "inertia":10.42384825260472,
+   "gearing":7.03,
+   "radius":0.0508,
+   "vmax":485.8996637552213,
+   "tmax":0.9,
+   "cof":2.25,
+   "bumper":{
+    "front":0.44196,
+    "side":0.44196,
+    "back":0.44196
+   },
+   "differentialTrackWidth":0.5427218
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.06865,2.50573],
+  "samples":[
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+    {"t":1.06865, "x":6.32719, "y":2.46128, "heading":1.5708, "vx":-2.55195, "vy":-0.87752, "omega":0.0, "ax":-1.99246, "ay":7.0878, "alpha":0.0, "fx":[-32.94224,-32.94224,-32.94224,-32.94224], "fy":[117.18578,117.18578,117.18578,117.18578]},
+    {"t":1.1122, "x":6.21417, "y":2.42978, "heading":1.5708, "vx":-2.63872, "vy":-0.56886, "omega":0.0, "ax":-1.09375, "ay":6.98304, "alpha":0.0, "fx":[-18.08343,-18.08343,-18.08343,-18.08343], "fy":[115.45375,115.45375,115.45375,115.45375]},
+    {"t":1.15575, "x":6.09822, "y":2.41163, "heading":1.5708, "vx":-2.68635, "vy":-0.26476, "omega":0.0, "ax":-0.29162, "ay":5.12022, "alpha":0.0, "fx":[-4.82149,-4.82149,-4.82149,-4.82149], "fy":[84.65482,84.65482,84.65482,84.65482]},
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+    {"t":2.24444, "x":3.19701, "y":2.40883, "heading":1.5708, "vx":-1.96524, "vy":0.00362, "omega":0.0, "ax":7.51388, "ay":-0.01384, "alpha":0.0, "fx":[124.23033,124.23033,124.23033,124.23033], "fy":[-0.22875,-0.22875,-0.22875,-0.22875]},
+    {"t":2.28799, "x":3.11855, "y":2.40898, "heading":1.5708, "vx":-1.63803, "vy":0.00302, "omega":0.0, "ax":7.51867, "ay":-0.01384, "alpha":0.0, "fx":[124.30956,124.30956,124.30956,124.30956], "fy":[-0.2289,-0.2289,-0.2289,-0.2289]},
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+    {"t":2.41863, "x":2.96873, "y":2.40925, "heading":1.5708, "vx":-0.65543, "vy":0.00121, "omega":0.0, "ax":7.52483, "ay":-0.01386, "alpha":0.0, "fx":[124.41142,124.41142,124.41142,124.41142], "fy":[-0.22909,-0.22909,-0.22909,-0.22909]},
+    {"t":2.46218, "x":2.94732, "y":2.40929, "heading":1.5708, "vx":-0.32774, "vy":0.0006, "omega":0.0, "ax":7.52586, "ay":-0.01386, "alpha":0.0, "fx":[124.42839,124.42839,124.42839,124.42839], "fy":[-0.22912,-0.22912,-0.22912,-0.22912]},
+    {"t":2.50573, "x":2.94018, "y":2.40931, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj b/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj
index 2d1ca207..646e1f2b 100644
--- a/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj
+++ b/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj
@@ -3,7 +3,7 @@
  "version":3,
  "snapshot":{
   "waypoints":[
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.24740982055664, "y":3.888876676559448, "heading":1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":7.253174781799316, "y":0.7497746348381042, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -19,7 +19,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"RNeutral.x", "val":8.24740982055664}, "y":{"exp":"RNeutral.y", "val":3.888876676559448}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"7.253174781799316 m", "val":7.253174781799316}, "y":{"exp":"0.7497746348381042 m", "val":0.7497746348381042}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
     {"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrenchReversed.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
@@ -61,100 +61,104 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.50743,3.47089],
+  "waypoints":[0.0,1.70232,3.66544],
   "samples":[
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-    {"t":0.03277, "x":7.81606, "y":3.49163, "heading":1.62431, "vx":-0.13133, "vy":-1.99507, "omega":1.6363, "ax":0.00002, "ay":0.0, "alpha":0.06719, "fx":[-0.29929,0.33377,0.29986,-0.3332], "fy":[-0.33355,-0.29964,0.33342,0.29951]},
-    {"t":0.06554, "x":7.81176, "y":3.42625, "heading":1.67793, "vx":-0.13133, "vy":-1.99507, "omega":1.6385, "ax":0.00002, "ay":0.0, "alpha":0.03425, "fx":[-0.14309,0.17819,0.14364,-0.17764], "fy":[-0.17793,-0.14338,0.1779,0.14334]},
-    {"t":0.09831, "x":7.80746, "y":3.36088, "heading":1.73162, "vx":-0.13133, "vy":-1.99507, "omega":1.63962, "ax":0.00001, "ay":0.0, "alpha":0.00264, "fx":[-0.01008,0.01448,0.0105,-0.01406], "fy":[-0.01428,-0.0103,0.01426,0.01027]},
-    {"t":0.13108, "x":7.80315, "y":3.2955, "heading":1.78536, "vx":-0.13133, "vy":-1.99507, "omega":1.63971, "ax":0.00001, "ay":0.0, "alpha":-0.02806, "fx":[0.10129,-0.1574,-0.10103,0.15766], "fy":[0.15752,0.10115,-0.15754,-0.10116]},
-    {"t":0.16385, "x":7.79885, "y":3.23012, "heading":1.83909, "vx":-0.13133, "vy":-1.99507, "omega":1.63879, "ax":0.0, "ay":0.0, "alpha":-0.05829, "fx":[0.19229,-0.338,-0.19221,0.33808], "fy":[0.33803,0.19225,-0.33804,-0.19225]},
-    {"t":0.19662, "x":7.79455, "y":3.16474, "heading":1.89279, "vx":-0.13133, "vy":-1.99507, "omega":1.63688, "ax":0.0, "ay":0.0, "alpha":-0.08855, "fx":[0.26402,-0.5285,-0.26411,0.52841], "fy":[0.52846,0.26407,-0.52845,-0.26406]},
-    {"t":0.22939, "x":7.79024, "y":3.09936, "heading":1.94643, "vx":-0.13133, "vy":-1.99507, "omega":1.63397, "ax":-0.00001, "ay":0.0, "alpha":-0.11938, "fx":[0.31717,-0.73066,-0.31743,0.73039], "fy":[0.73053,0.31731,-0.73051,-0.31729]},
-    {"t":0.26216, "x":7.78594, "y":3.03398, "heading":1.99998, "vx":-0.13133, "vy":-1.99507, "omega":1.63006, "ax":-0.00001, "ay":0.0, "alpha":-0.15141, "fx":[0.35206,-0.94694,-0.35248,0.94652], "fy":[0.94674,0.35228,-0.94671,-0.35225]},
-    {"t":0.29493, "x":7.78164, "y":2.9686, "heading":2.0534, "vx":-0.13133, "vy":-1.99507, "omega":1.6251, "ax":-0.00002, "ay":0.0, "alpha":-0.18531, "fx":[0.36838,-1.18031,-0.36892,1.17977], "fy":[1.18006,0.36867,-1.18002,-0.36863]},
-    {"t":0.3277, "x":7.77733, "y":2.90322, "heading":2.10665, "vx":-0.13133, "vy":-1.99507, "omega":1.61903, "ax":-0.00002, "ay":0.0, "alpha":-0.22184, "fx":[0.3652,-1.43453,-0.36583,1.4339], "fy":[1.43423,0.36554,-1.43419,-0.3655]},
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   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/RPreTrenchReversedtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchReversedtoRNeutral.traj
index 48de76b8..0334137f 100644
--- a/src/main/deploy/choreo/RPreTrenchReversedtoRNeutral.traj
+++ b/src/main/deploy/choreo/RPreTrenchReversedtoRNeutral.traj
@@ -4,8 +4,8 @@
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+    {"t":2.59824, "x":8.24689, "y":3.88539, "heading":1.58325, "vx":0.02961, "vy":0.1976, "omega":-0.35332, "ax":-0.83987, "ay":-5.6052, "alpha":10.02264, "fx":[-57.85495,28.77072,87.02333,-113.48272], "fy":[-110.18001,-121.06331,-88.60537,-50.8445]},
+    {"t":2.63349, "x":8.24741, "y":3.88888, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj
index 68065601..52457145 100644
--- a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj
+++ b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj
@@ -4,9 +4,9 @@
  "snapshot":{
   "waypoints":[
     {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.106660842895508, "y":1.2649099826812744, "heading":1.3633881813651478, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.24740982055664, "y":3.888876676559448, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -20,9 +20,9 @@
  "params":{
   "waypoints":[
     {"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
-    {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.5327982902526855 m", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"8.106660842895508 m", "val":8.106660842895508}, "y":{"exp":"1.2649099826812744 m", "val":1.2649099826812744}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RNeutral.x", "val":8.24740982055664}, "y":{"exp":"RNeutral.y", "val":3.888876676559448}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -61,93 +61,99 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,1.13102,1.7415,2.65319],
+  "waypoints":[0.0,1.12876,1.86428,2.86161],
   "samples":[
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-    {"t":0.0377, "x":3.43138, "y":0.68671, "heading":0.0, "vx":2.69899, "vy":-0.0399, "omega":0.0, "ax":-0.0002, "ay":-0.01371, "alpha":0.0, "fx":[-0.00333,-0.00333,-0.00333,-0.00333], "fy":[-0.22659,-0.22659,-0.22659,-0.22659]},
-    {"t":0.0754, "x":3.53314, "y":0.6852, "heading":0.0, "vx":2.69898, "vy":-0.04041, "omega":0.0, "ax":-0.00019, "ay":-0.01228, "alpha":0.0, "fx":[-0.00307,-0.00307,-0.00307,-0.00307], "fy":[-0.20311,-0.20311,-0.20311,-0.20311]},
-    {"t":0.1131, "x":3.63489, "y":0.68367, "heading":0.0, "vx":2.69897, "vy":-0.04087, "omega":0.0, "ax":-0.00016, "ay":-0.01028, "alpha":0.0, "fx":[-0.00259,-0.00259,-0.00259,-0.00259], "fy":[-0.16995,-0.16995,-0.16995,-0.16995]},
-    {"t":0.1508, "x":3.73664, "y":0.68212, "heading":0.0, "vx":2.69897, "vy":-0.04126, "omega":0.0, "ax":-0.00013, "ay":-0.00867, "alpha":0.0, "fx":[-0.00221,-0.00221,-0.00221,-0.00221], "fy":[-0.14335,-0.14335,-0.14335,-0.14335]},
-    {"t":0.1885, "x":3.83839, "y":0.68056, "heading":0.0, "vx":2.69896, "vy":-0.04159, "omega":0.0, "ax":-0.00012, "ay":-0.00753, "alpha":0.0, "fx":[-0.00193,-0.00193,-0.00193,-0.00193], "fy":[-0.12444,-0.12444,-0.12444,-0.12444]},
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-    {"t":0.2639, "x":4.0419, "y":0.6774, "heading":0.0, "vx":2.69895, "vy":-0.04213, "omega":0.0, "ax":-0.0001, "ay":-0.00647, "alpha":0.0, "fx":[-0.00168,-0.00168,-0.00168,-0.00168], "fy":[-0.10703,-0.10703,-0.10703,-0.10703]},
-    {"t":0.3016, "x":4.14365, "y":0.67581, "heading":0.0, "vx":2.69895, "vy":-0.04237, "omega":0.0, "ax":-0.0001, "ay":-0.00651, "alpha":0.0, "fx":[-0.0017,-0.0017,-0.0017,-0.0017], "fy":[-0.10762,-0.10762,-0.10762,-0.10762]},
-    {"t":0.33931, "x":4.2454, "y":0.6742, "heading":0.0, "vx":2.69894, "vy":-0.04262, "omega":0.0, "ax":-0.00011, "ay":-0.00692, "alpha":0.0, "fx":[-0.00182,-0.00182,-0.00182,-0.00182], "fy":[-0.11435,-0.11435,-0.11435,-0.11435]},
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-    {"t":0.49011, "x":4.65241, "y":0.66769, "heading":0.0, "vx":2.69892, "vy":-0.04391, "omega":0.0, "ax":-0.00021, "ay":-0.01306, "alpha":0.0, "fx":[-0.00354,-0.00354,-0.00354,-0.00354], "fy":[-0.21599,-0.21599,-0.21599,-0.21599]},
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+    {"t":1.79741, "x":7.98115, "y":1.13546, "heading":1.52202, "vx":1.93625, "vy":1.87815, "omega":1.09122, "ax":-1.76882, "ay":1.786, "alpha":-16.17159, "fx":[15.30986,-83.75066,-123.85898,75.32102], "fy":[122.97507,91.58819,-4.19089,-92.25717]},
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+    {"t":1.86428, "x":8.10666, "y":1.26491, "heading":1.5708, "vx":1.81711, "vy":1.99072, "omega":0.0, "ax":-5.73935, "ay":4.83324, "alpha":0.0, "fx":[-94.89121,-94.89121,-94.89121,-94.89121], "fy":[79.91012,79.91012,79.91012,79.91012]},
+    {"t":1.90121, "x":8.16987, "y":1.34174, "heading":1.5708, "vx":1.60511, "vy":2.16925, "omega":0.0, "ax":-6.23961, "ay":4.15035, "alpha":0.0, "fx":[-103.16219,-103.16219,-103.16219,-103.16219], "fy":[68.61958,68.61958,68.61958,68.61958]},
+    {"t":1.93815, "x":8.2249, "y":1.4247, "heading":1.5708, "vx":1.37463, "vy":2.32256, "omega":0.0, "ax":-6.62049, "ay":3.4787, "alpha":0.0, "fx":[-109.4595,-109.4595,-109.4595,-109.4595], "fy":[57.51482,57.51482,57.51482,57.51482]},
+    {"t":1.97509, "x":8.27116, "y":1.51287, "heading":1.5708, "vx":1.13008, "vy":2.45106, "omega":0.0, "ax":-6.91727, "ay":2.77376, "alpha":0.0, "fx":[-114.36629,-114.36629,-114.36629,-114.36629], "fy":[45.85972,45.85972,45.85972,45.85972]},
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+    {"t":2.38141, "x":8.32644, "y":2.59512, "heading":1.5708, "vx":-0.16457, "vy":2.69425, "omega":0.0, "ax":-0.00012, "ay":-0.00001, "alpha":0.0, "fx":[-0.00202,-0.00202,-0.00202,-0.00202], "fy":[-0.00013,-0.00013,-0.00013,-0.00013]},
+    {"t":2.41835, "x":8.32036, "y":2.69464, "heading":1.5708, "vx":-0.16457, "vy":2.69424, "omega":0.0, "ax":-0.0001, "ay":-0.00001, "alpha":0.0, "fx":[-0.00164,-0.00164,-0.00164,-0.00164], "fy":[-0.00011,-0.00011,-0.00011,-0.00011]},
+    {"t":2.45529, "x":8.31428, "y":2.79416, "heading":1.5708, "vx":-0.16458, "vy":2.69424, "omega":0.0, "ax":-0.00009, "ay":-0.00001, "alpha":0.0, "fx":[-0.00146,-0.00146,-0.00146,-0.00146], "fy":[-0.0001,-0.0001,-0.0001,-0.0001]},
+    {"t":2.49223, "x":8.30821, "y":2.89368, "heading":1.5708, "vx":-0.16458, "vy":2.69424, "omega":0.0, "ax":-0.00008, "ay":-0.00001, "alpha":0.0, "fx":[-0.00132,-0.00132,-0.00132,-0.00132], "fy":[-0.00009,-0.00009,-0.00009,-0.00009]},
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+    {"t":2.78773, "x":8.25957, "y":3.68985, "heading":1.5708, "vx":-0.1646, "vy":2.69424, "omega":0.0, "ax":-0.00003, "ay":0.0, "alpha":0.0, "fx":[-0.00041,-0.00041,-0.00041,-0.00041], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]},
+    {"t":2.82467, "x":8.25349, "y":3.78937, "heading":1.5708, "vx":-0.1646, "vy":2.69424, "omega":0.0, "ax":0.00121, "ay":-0.01994, "alpha":0.0, "fx":[0.01997,0.01997,0.01997,0.01997], "fy":[-0.32973,-0.32973,-0.32973,-0.32973]},
+    {"t":2.86161, "x":8.24741, "y":3.88888, "heading":1.5708, "vx":-0.16455, "vy":2.69351, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/StartingRTrenchtoRNeutral.traj b/src/main/deploy/choreo/StartingRTrenchtoRNeutral.traj
index fd77d4d5..d5d29043 100644
--- a/src/main/deploy/choreo/StartingRTrenchtoRNeutral.traj
+++ b/src/main/deploy/choreo/StartingRTrenchtoRNeutral.traj
@@ -5,9 +5,9 @@
   "waypoints":[
     {"x":4.386671543121338, "y":0.7306628823280334, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":5.7704949378967285, "y":0.7309682965278625, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.451920032501221, "y":0.98580801486969, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":2.213677883148194, "heading":1.5707963267948966, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":7.451920032501221, "y":0.98580801486969, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.24740982055664, "y":2.213677883148194, "heading":1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":8.24740982055664, "y":3.888876676559448, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -21,9 +21,9 @@
   "waypoints":[
     {"x":{"exp":"StartingRTrench.x", "val":4.386671543121338}, "y":{"exp":"StartingRTrench.y", "val":0.7306628823280334}, "heading":{"exp":"StartingRTrench.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"5.7704949378967285 m", "val":5.7704949378967285}, "y":{"exp":"RTrench.y", "val":0.7309682965278625}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"7.451920032501221 m", "val":7.451920032501221}, "y":{"exp":"0.9858080148696899 m", "val":0.98580801486969}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"2.2136778831481934 m", "val":2.213677883148194}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
-    {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+    {"x":{"exp":"7.451920032501221 m", "val":7.451920032501221}, "y":{"exp":"0.9858080148696899 m", "val":0.98580801486969}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RNeutral.x", "val":8.24740982055664}, "y":{"exp":"2.2136778831481934 m", "val":2.213677883148194}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"RNeutral.x", "val":8.24740982055664}, "y":{"exp":"RNeutral.y", "val":3.888876676559448}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
@@ -61,98 +61,102 @@
    "differentialTrackWidth":0.5427218
   },
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.69264,1.33973,1.82928,2.32701],
+  "waypoints":[0.0,0.69266,1.32833,1.87798,2.49987],
   "samples":[
-    {"t":0.0, "x":4.38667, "y":0.73066, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":7.52488, "ay":0.00331, "alpha":0.0, "fx":[124.4121,124.4121,124.4121,124.4121], "fy":[0.05472,0.05472,0.05472,0.05472]},
-    {"t":0.03848, "x":4.39224, "y":0.73067, "heading":0.0, "vx":0.28956, "vy":0.00013, "omega":0.0, "ax":7.52385, "ay":0.00331, "alpha":0.0, "fx":[124.3952,124.3952,124.3952,124.3952], "fy":[0.05471,0.05471,0.05471,0.05471]},
-    {"t":0.07696, "x":4.40896, "y":0.73067, "heading":0.0, "vx":0.57907, "vy":0.00025, "omega":0.0, "ax":7.52254, "ay":0.00331, "alpha":0.0, "fx":[124.37346,124.37346,124.37346,124.37346], "fy":[0.0547,0.0547,0.0547,0.0547]},
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+    {"t":2.43768, "x":8.25169, "y":3.72109, "heading":1.5708, "vx":-0.06884, "vy":2.69825, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.00005,-0.00005,-0.00005,-0.00005]},
+    {"t":2.46878, "x":8.24955, "y":3.80499, "heading":1.5708, "vx":-0.06884, "vy":2.69825, "omega":0.0, "ax":0.00072, "ay":-0.0282, "alpha":0.0, "fx":[0.0119,0.0119,0.0119,0.0119], "fy":[-0.46633,-0.46633,-0.46633,-0.46633]},
+    {"t":2.49987, "x":8.24741, "y":3.88888, "heading":1.5708, "vx":-0.06882, "vy":2.69737, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]
diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor
index c96ccc8b..ececb3a8 100644
--- a/src/main/deploy/choreo/rebuiltChoreo.chor
+++ b/src/main/deploy/choreo/rebuiltChoreo.chor
@@ -253,12 +253,26 @@
    },
    "RBump":{
     "x":{
-     "exp":"3.5344297885894775 m",
-     "val":3.5344297885894775
+     "exp":"2.9401838779449463 m",
+     "val":2.9401838779449463
     },
     "y":{
-     "exp":"2.057757616043091 m",
-     "val":2.057757616043091
+     "exp":"2.4093074798583984 m",
+     "val":2.4093074798583984
+    },
+    "heading":{
+     "exp":"90 deg",
+     "val":1.5707963267948966
+    }
+   },
+   "RCleanup":{
+    "x":{
+     "exp":"5.824512958526611 m",
+     "val":5.824512958526611
+    },
+    "y":{
+     "exp":"4.3513383865356445 m",
+     "val":4.3513383865356445
     },
     "heading":{
      "exp":"90 deg",
@@ -281,12 +295,12 @@
    },
    "RNeutral":{
     "x":{
-     "exp":"7.8203654289245605 m",
-     "val":7.82036542892456
+     "exp":"8.24740982055664 m",
+     "val":8.24740982055664
     },
     "y":{
-     "exp":"3.55698299407959 m",
-     "val":3.55698299407959
+     "exp":"3.8888766765594482 m",
+     "val":3.888876676559448
     },
     "heading":{
      "exp":"1.5707963267948966 rad",
@@ -433,6 +447,20 @@
      "val":0.0
     }
    },
+   "StartingRBump":{
+    "x":{
+     "exp":"3.5344297885894775 m",
+     "val":3.5344297885894775
+    },
+    "y":{
+     "exp":"2.057757616043091 m",
+     "val":2.057757616043091
+    },
+    "heading":{
+     "exp":"90 deg",
+     "val":1.5707963267948966
+    }
+   },
    "StartingRTrench":{
     "x":{
      "exp":"4.386671543121338 m",
diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java
index 5171ae7b..06ef6666 100644
--- a/src/main/java/frc/robot/Autos.java
+++ b/src/main/java/frc/robot/Autos.java
@@ -120,6 +120,10 @@ public enum Path {
     LBumptoLCleanup("LBumpToLCleanup", Action.INTAKE),
     LCleanupToLBump("LCleanupToLBump", Action.SCORE_AT_END),
 
+    RNeutralToRBump("RNeutralToRBump", Action.SCORE_AT_END),
+    RBumptoRCleanup("RBumpToRCleanup", Action.INTAKE),
+    RCleanupToRBump("RCleanupToRBump", Action.SCORE_AT_END),
+
     HubtoDepot("HubtoDepot", Action.DEPOT),
 
     PreDepottoDepot("PreDepottoDepot", Action.DEPOT),
@@ -303,6 +307,7 @@ public Command delayedScorePath(Path path, AutoRoutine routine) {
 
   public Command scoreAtEndPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
+        stopFlowing(),
         startIntaking(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
         stopIntaking(),
@@ -771,6 +776,19 @@ public Command getLeftBumpDoubleDipAuto() {
         Commands.none());
   }
 
+  public Command getRightBumpDoubleDipAuto() {
+    return createAuto(
+        "Right Double Dip Bump",
+        new Path[] {
+          Path.StartingRTrenchtoRNeutral,
+          Path.RNeutralToRBump,
+          Path.RBumptoRCleanup,
+          Path.RCleanupToRBump
+          // Path.EndWScoreLCleanuptoLPreTrench
+        },
+        Commands.none());
+  }
+
   public Command getTestAuto() {
     final AutoRoutine routine = factory.newRoutine("test auto");
     Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST};
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index afeac208..f4e521a8 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -855,6 +855,7 @@ private void addAutos() {
 
     autoChooser.addOption("Right Neutral Outpost Score", autos.getRightNeutralOutpostScore());
     autoChooser.addOption("Left Double Dip Bump", autos.getLeftBumpDoubleDipAuto());
+    autoChooser.addOption("Right Double Dip Bump", autos.getRightBumpDoubleDipAuto());
 
     autoChooser.addOption("spin", spinTest());
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
index befed9ed..9a018535 100644
--- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
@@ -573,7 +573,7 @@ public static TalonFXConfiguration getTurretConfig() {
     config.Slot0.kS = 0.45;
     config.Slot0.kV = 5.7;
     config.Slot0.kP = 240.0;
-    //kd was added once we switched to position voltage
+    // kd was added once we switched to position voltage
     config.Slot0.kD = 0.04;
 
     config.MotionMagic.MotionMagicAcceleration = 10; // 2.064;