diff --git a/src/main/deploy/pathplanner/MiddleRamTotes.path b/src/main/deploy/pathplanner/MiddleRamTotes.path
deleted file mode 100644
index 99f1369..0000000
--- a/src/main/deploy/pathplanner/MiddleRamTotes.path
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diff --git a/src/main/deploy/pathplanner/MiddleRamTotesOther.path b/src/main/deploy/pathplanner/MiddleRamTotesOther.path
deleted file mode 100644
index 48b0992..0000000
--- a/src/main/deploy/pathplanner/MiddleRamTotesOther.path
+++ /dev/null
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diff --git a/src/main/deploy/pathplanner/RamMoreTotes.path b/src/main/deploy/pathplanner/RamMoreTotes.path
deleted file mode 100644
index 08e2bf3..0000000
--- a/src/main/deploy/pathplanner/RamMoreTotes.path
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diff --git a/src/main/deploy/pathplanner/RamSide5Totes .path b/src/main/deploy/pathplanner/RamSide5Totes .path
deleted file mode 100644
index 6169dbe..0000000
--- a/src/main/deploy/pathplanner/RamSide5Totes .path	
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diff --git a/src/main/deploy/pathplanner/Shoot5RamTotes.path b/src/main/deploy/pathplanner/Shoot5RamTotes.path
deleted file mode 100644
index a5a96b1..0000000
--- a/src/main/deploy/pathplanner/Shoot5RamTotes.path
+++ /dev/null
@@ -1,124 +0,0 @@
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diff --git a/src/main/deploy/pathplanner/ShootRamSide5Totes.path b/src/main/deploy/pathplanner/ShootRamSide5Totes.path
deleted file mode 100644
index 6169dbe..0000000
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+++ /dev/null
@@ -1,124 +0,0 @@
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\ No newline at end of file
diff --git a/src/main/java/org/team1540/bunnybotTank2023/RobotContainer.java b/src/main/java/org/team1540/bunnybotTank2023/RobotContainer.java
index a1f5864..9809bc6 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/RobotContainer.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/RobotContainer.java
@@ -13,7 +13,6 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 import org.team1540.bunnybotTank2023.commands.auto.*;
-import org.team1540.bunnybotTank2023.commands.auto.utilSequences.AutoAimShoot5;
 import org.team1540.bunnybotTank2023.commands.drivetrain.ArcadeDriveCommand;
 import org.team1540.bunnybotTank2023.commands.drivetrain.Drivetrain;
 import org.team1540.bunnybotTank2023.commands.indexer.Indexer;
@@ -131,10 +130,10 @@ private void initAutoChooser() {
         autoChooser.addDefaultOption("ZeroTurret", new TurretZeroSequenceCommand(turret));
         autoChooser.addOption("DoNothing", new InstantCommand());
         autoChooser.addOption("AutoTaxi", new AutoTaxi(drivetrain, turret));
-        autoChooser.addOption("LeftSideRamTotes", new AutoLeftSideRamTotes(drivetrain, indexer,  turret, shooter, limelight));
-        autoChooser.addOption("RightSideRamTotes", new AutoRightSideRamTotes(drivetrain, indexer,  turret, shooter, limelight));
-        autoChooser.addOption("LeftSideRamSinusoid", new AutoLeftSideRamSinusoid(drivetrain, indexer, turret, shooter, limelight));
-        autoChooser.addOption("RightSideRamSinusoid", new AutoRightSideRamSinusoid(drivetrain, indexer, turret, shooter, limelight));
+        autoChooser.addOption("LeftSideRamTotes", new AutoLeftSideRamTotes(drivetrain, turret));
+        autoChooser.addOption("RightSideRamTotes", new AutoRightSideRamTotes(drivetrain, turret));
+        autoChooser.addOption("LeftSideRamSinusoid", new AutoLeftSideRamSinusoid(drivetrain, turret));
+        autoChooser.addOption("RightSideRamSinusoid", new AutoRightSideRamSinusoid(drivetrain, turret));
         autoChooser.addOption("TaxiShoot5", new AutoTaxiShoot5(drivetrain, indexer, turret, shooter, limelight));
     }
 
diff --git a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamSinusoid.java b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamSinusoid.java
index 4587728..28ed75b 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamSinusoid.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamSinusoid.java
@@ -3,21 +3,15 @@
 import com.pathplanner.lib.PathConstraints;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.team1540.bunnybotTank2023.commands.auto.utilSequences.AutoAimShoot5;
 import org.team1540.bunnybotTank2023.commands.drivetrain.Drivetrain;
-import org.team1540.bunnybotTank2023.commands.indexer.IndexerIdleCommand;
 import org.team1540.bunnybotTank2023.commands.turret.Turret;
-import org.team1540.bunnybotTank2023.commands.indexer.Indexer;
-import org.team1540.bunnybotTank2023.commands.shooter.Shooter;
-
 import org.team1540.bunnybotTank2023.commands.turret.TurretZeroSequenceCommand;
-import org.team1540.bunnybotTank2023.io.vision.Limelight;
 import org.team1540.bunnybotTank2023.utils.AutoCommand;
 
 import java.util.List;
 
 public class AutoLeftSideRamSinusoid extends AutoCommand {
-    public AutoLeftSideRamSinusoid(Drivetrain drivetrain, Indexer indexer, Turret turret, Shooter shooter, Limelight limelight) {
+    public AutoLeftSideRamSinusoid(Drivetrain drivetrain, Turret turret) {
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(
                 drivetrain,
                 "LeftSideRamSinusoid",
diff --git a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamTotes.java b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamTotes.java
index 70febd1..570f466 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamTotes.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoLeftSideRamTotes.java
@@ -3,19 +3,15 @@
 import com.pathplanner.lib.PathConstraints;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.team1540.bunnybotTank2023.commands.auto.utilSequences.AutoAimShoot5;
 import org.team1540.bunnybotTank2023.commands.drivetrain.Drivetrain;
-import org.team1540.bunnybotTank2023.commands.indexer.Indexer;
-import org.team1540.bunnybotTank2023.commands.shooter.Shooter;
 import org.team1540.bunnybotTank2023.commands.turret.Turret;
 import org.team1540.bunnybotTank2023.commands.turret.TurretZeroSequenceCommand;
-import org.team1540.bunnybotTank2023.io.vision.Limelight;
 import org.team1540.bunnybotTank2023.utils.AutoCommand;
 
 import java.util.List;
 
 public class AutoLeftSideRamTotes extends AutoCommand {
-    public AutoLeftSideRamTotes(Drivetrain drivetrain, Indexer indexer, Turret turret, Shooter shooter, Limelight limelight) {
+    public AutoLeftSideRamTotes(Drivetrain drivetrain, Turret turret) {
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(
                 drivetrain,
                 "LeftSideRamTotes",
diff --git a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamSinusoid.java b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamSinusoid.java
index f497cd6..a0b875b 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamSinusoid.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamSinusoid.java
@@ -3,21 +3,15 @@
 import com.pathplanner.lib.PathConstraints;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.team1540.bunnybotTank2023.commands.auto.utilSequences.AutoAimShoot5;
 import org.team1540.bunnybotTank2023.commands.drivetrain.Drivetrain;
-import org.team1540.bunnybotTank2023.commands.indexer.IndexerIdleCommand;
 import org.team1540.bunnybotTank2023.commands.turret.Turret;
-import org.team1540.bunnybotTank2023.commands.indexer.Indexer;
-import org.team1540.bunnybotTank2023.commands.shooter.Shooter;
-
 import org.team1540.bunnybotTank2023.commands.turret.TurretZeroSequenceCommand;
-import org.team1540.bunnybotTank2023.io.vision.Limelight;
 import org.team1540.bunnybotTank2023.utils.AutoCommand;
 
 import java.util.List;
 
 public class AutoRightSideRamSinusoid extends AutoCommand {
-    public AutoRightSideRamSinusoid(Drivetrain drivetrain, Indexer indexer, Turret turret, Shooter shooter, Limelight limelight) {
+    public AutoRightSideRamSinusoid(Drivetrain drivetrain, Turret turret) {
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(
                 drivetrain,
                 "RightSideRamSinusoid",
diff --git a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamTotes.java b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamTotes.java
index 6760b9c..34111ff 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamTotes.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoRightSideRamTotes.java
@@ -3,19 +3,15 @@
 import com.pathplanner.lib.PathConstraints;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.team1540.bunnybotTank2023.commands.auto.utilSequences.AutoAimShoot5;
 import org.team1540.bunnybotTank2023.commands.drivetrain.Drivetrain;
-import org.team1540.bunnybotTank2023.commands.indexer.Indexer;
-import org.team1540.bunnybotTank2023.commands.shooter.Shooter;
 import org.team1540.bunnybotTank2023.commands.turret.Turret;
 import org.team1540.bunnybotTank2023.commands.turret.TurretZeroSequenceCommand;
-import org.team1540.bunnybotTank2023.io.vision.Limelight;
 import org.team1540.bunnybotTank2023.utils.AutoCommand;
 
 import java.util.List;
 
 public class AutoRightSideRamTotes extends AutoCommand {
-    public AutoRightSideRamTotes(Drivetrain drivetrain, Indexer indexer, Turret turret, Shooter shooter, Limelight limelight) {
+    public AutoRightSideRamTotes(Drivetrain drivetrain, Turret turret) {
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(
                 drivetrain,
                 "RightSideRamTotes",
diff --git a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxi.java b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxi.java
index 488dbc4..0b2d39b 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxi.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxi.java
@@ -19,7 +19,6 @@ public AutoTaxi(Drivetrain drivetrain, Turret turret) {
                 true
         );
 
-        addRequirements(drivetrain);
         addCommands(
                 Commands.parallel(
                         pathCommands.get(0),
diff --git a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxiShoot5.java b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxiShoot5.java
index fcffc73..2379059 100644
--- a/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxiShoot5.java
+++ b/src/main/java/org/team1540/bunnybotTank2023/commands/auto/AutoTaxiShoot5.java
@@ -3,11 +3,9 @@
 import com.pathplanner.lib.PathConstraints;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
 import org.team1540.bunnybotTank2023.commands.auto.utilSequences.AutoAimShoot5;
 import org.team1540.bunnybotTank2023.commands.drivetrain.Drivetrain;
 import org.team1540.bunnybotTank2023.commands.indexer.Indexer;
-import org.team1540.bunnybotTank2023.commands.indexer.IndexerIdleCommand;
 import org.team1540.bunnybotTank2023.commands.shooter.Shooter;
 import org.team1540.bunnybotTank2023.commands.turret.Turret;
 import org.team1540.bunnybotTank2023.commands.turret.TurretZeroSequenceCommand;
@@ -28,7 +26,8 @@ public AutoTaxiShoot5(Drivetrain drivetrain, Indexer indexer, Turret turret, Sho
                 Commands.parallel(
                         pathCommands.get(0),
                         new TurretZeroSequenceCommand(turret).asProxy()
-                )
+                ),
+                new AutoAimShoot5(turret, shooter, indexer, limelight)
         );
     }
 }