diff --git a/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto b/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto
index 3536d00..22c1095 100644
--- a/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto	
+++ b/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto	
@@ -90,6 +90,18 @@
           "data": {
             "name": "Wait and Shoot"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Off"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Dash"
+          }
         }
       ]
     }
diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path b/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path
index 48396c7..f712683 100644
--- a/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path	
+++ b/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path	
@@ -75,7 +75,7 @@
             {
               "type": "named",
               "data": {
-                "name": "Shoot"
+                "name": "Shoot No Vision"
               }
             }
           ]
diff --git a/Robot/src/main/deploy/pathplanner/paths/Dash.path b/Robot/src/main/deploy/pathplanner/paths/Dash.path
new file mode 100644
index 0000000..1b953b0
--- /dev/null
+++ b/Robot/src/main/deploy/pathplanner/paths/Dash.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.239865262137932,
+        "y": 7.028734983395893
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.2402544943978775,
+        "y": 7.123512450728605
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.316160664728736,
+        "y": 7.415208515602217
+      },
+      "prevControl": {
+        "x": 7.208760783262307,
+        "y": 7.320906123293729
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.7,
+    "maxAcceleration": 3.8,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 640.0
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": -172.82839318105817,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Amp",
+  "previewStartingState": {
+    "rotation": -163.10149254281322,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
index 4d75aaf..09f0343 100644
--- a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
+++ b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
@@ -112,10 +112,11 @@ public RobotContainer() {
         NamedCommands.registerCommand("Intake On", new IntakeSetCommand(intake, IntakeSubsystem.State.INTAKE));
         NamedCommands.registerCommand("Intake Off", new IntakeSetCommand(intake, IntakeSubsystem.State.OFF));
         NamedCommands.registerCommand("Intake Until Note", RobotCommands.intakeUntilNote(this));
-        NamedCommands.registerCommand("Shoot", RobotCommands.aimAndShoot(this, false));
+        NamedCommands.registerCommand("Shoot", RobotCommands.aimAndShoot(this, false, true));
         NamedCommands.registerCommand("Shoot Quick", RobotCommands.shootQuick(this));
+        NamedCommands.registerCommand("Shoot No Vision", RobotCommands.aimAndShoot(this, false, false));
         NamedCommands.registerCommand("Fling", RobotCommands.flingNote(this));
-        NamedCommands.registerCommand("Wait and Shoot", RobotCommands.aimAndShoot(this, true)); // Waits for indexer to have note
+        NamedCommands.registerCommand("Wait and Shoot", RobotCommands.aimAndShoot(this, true, true)); // Waits for indexer to have note
         NamedCommands.registerCommand("Eject Hard", RobotCommands.ejectHard(this));
 
         // Create a chooser to select the autonomous
diff --git a/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java b/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java
index ed6eff2..656117c 100644
--- a/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java
+++ b/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java
@@ -1,5 +1,8 @@
 package com.swrobotics.robot.commands;
 
+import java.util.ArrayList;
+import java.util.List;
+
 import com.swrobotics.robot.RobotContainer;
 import com.swrobotics.robot.config.NTData;
 import com.swrobotics.robot.subsystems.amp.AmpArm2Subsystem;
@@ -20,25 +23,30 @@ public static Command justShoot(RobotContainer robot) {
         );
     }
 
-    public static Command aimAndShoot(RobotContainer robot, boolean waitForNote) {
+    public static Command aimAndShoot(RobotContainer robot, boolean waitForNote, boolean useVision) {
         AimTowardsSpeakerCommand aim = new AimTowardsSpeakerCommand(robot.drive, robot.shooter);
-        Command shootSeq = Commands.sequence(
-                Commands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(false)),
+
+        List<Command> commands = new ArrayList<>();
+        commands.addAll(List.of(
                 Commands.waitUntil(robot.shooter::isCalibrated),
                 Commands.waitUntil(() -> (!waitForNote || robot.indexer.hasPiece())
                         && aim.isInTolerance(NTData.DRIVE_AIM_TOLERANCE.get())
                         && robot.shooter.isReadyToShoot())
                     .withTimeout(NTData.SHOOTER_AUTO_READY_TIMEOUT.get()),
                 Commands.waitSeconds(NTData.SHOOTER_AUTO_AFTER_READY_DELAY.get()),
-                new IndexerFeedCommand(robot.indexer),
-                Commands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(true))
-        );
+                new IndexerFeedCommand(robot.indexer)
+        ));
+
+        if (useVision) {
+            commands.add(0, Comm`ands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(false)));
+            commands.add(Commands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(true)));
+        }
 
-        return new ParallelDeadlineGroup(shootSeq, aim);
+        return new ParallelDeadlineGroup(Commands.sequence(commands.toArray(new Command[0])), aim);
     }
 
     public static Command shootQuick(RobotContainer robot) {
-        return aimAndShoot(robot, false);
+        return aimAndShoot(robot, false, true);
         // return Commands.sequence(
         //     Commands.runOnce(() -> robot.shooter.forcePivotCalibration(70)),
         //     Commands.waitUntil(() -> robot.shooter.isReadyToShoot()),