diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.1.traj b/src/main/deploy/choreo/AmpLanePABCSprint.1.traj
index 15541071..97899bee 100644
--- a/src/main/deploy/choreo/AmpLanePABCSprint.1.traj
+++ b/src/main/deploy/choreo/AmpLanePABCSprint.1.traj
@@ -89,6 +89,15 @@
             "velocityX": 0.6104210144241932,
             "velocityY": -0.03874143612331081,
             "timestamp": 0.6651392633986909
+        },
+        {
+            "x": 2.59665584564209,
+            "y": 6.861835956573486,
+            "heading": 0.499346976196016,
+            "angularVelocity": 0,
+            "velocityX": 2.166068917875568e-34,
+            "velocityY": -1.0924876316624288e-35,
+            "timestamp": 0
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.2.traj b/src/main/deploy/choreo/AmpLanePABCSprint.2.traj
index 2c1fa834..33d26041 100644
--- a/src/main/deploy/choreo/AmpLanePABCSprint.2.traj
+++ b/src/main/deploy/choreo/AmpLanePABCSprint.2.traj
@@ -98,6 +98,15 @@
             "velocityX": -0.049670298773671635,
             "velocityY": -0.5956898266326979,
             "timestamp": 0.7211120494834121
+        },
+        {
+            "x": 2.489257335662842,
+            "y": 5.573054313659668,
+            "heading": 0,
+            "angularVelocity": -7.406891463392208e-37,
+            "velocityX": 0,
+            "velocityY": -1.9623633387097932e-38,
+            "timestamp": 0
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.3.traj b/src/main/deploy/choreo/AmpLanePABCSprint.3.traj
index 760ee518..b369d31a 100644
--- a/src/main/deploy/choreo/AmpLanePABCSprint.3.traj
+++ b/src/main/deploy/choreo/AmpLanePABCSprint.3.traj
@@ -107,6 +107,15 @@
             "velocityX": 0.030625814625206325,
             "velocityY": -0.5382739261723708,
             "timestamp": 0.7203042277615874
+        },
+        {
+            "x": 2.560856342315674,
+            "y": 4.302172660827637,
+            "heading": -0.6696388746005083,
+            "angularVelocity": 3.3466099182293266e-40,
+            "velocityX": -1.5329788094467477e-40,
+            "velocityY": -2.4298197889709004e-41,
+            "timestamp": 0
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/AmpLanePABCSprint.4.traj b/src/main/deploy/choreo/AmpLanePABCSprint.4.traj
index a98f5740..94283d2c 100644
--- a/src/main/deploy/choreo/AmpLanePABCSprint.4.traj
+++ b/src/main/deploy/choreo/AmpLanePABCSprint.4.traj
@@ -314,6 +314,15 @@
             "velocityX": 0.6467380935432705,
             "velocityY": -0.1749643126016669,
             "timestamp": 2.289462634346943
+        },
+        {
+            "x": 7.896503925323486,
+            "y": 3.1254632472991943,
+            "heading": 0,
+            "angularVelocity": 0,
+            "velocityX": 2.197315800387914e-40,
+            "velocityY": 0,
+            "timestamp": 4.687868099872624
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.1.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.1.traj
index 6477f943..c6336dfd 100644
--- a/src/main/deploy/choreo/SourceLanePHGFSprint.1.traj
+++ b/src/main/deploy/choreo/SourceLanePHGFSprint.1.traj
@@ -323,6 +323,15 @@
             "velocityX": -0.6245486738021084,
             "velocityY": 0.15056155787898376,
             "timestamp": 3.129535870722922
+        },
+        {
+            "x": 5.800710201263428,
+            "y": 1.4382134675979614,
+            "heading": -0.6435017481374367,
+            "angularVelocity": 0,
+            "velocityX": 0,
+            "velocityY": -1.3678756469181992e-30,
+            "timestamp": 0
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.2.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.2.traj
index 3f77a8e3..22b5b56c 100644
--- a/src/main/deploy/choreo/SourceLanePHGFSprint.2.traj
+++ b/src/main/deploy/choreo/SourceLanePHGFSprint.2.traj
@@ -296,6 +296,15 @@
             "velocityX": -0.6307640701566927,
             "velocityY": 0.19074504838259257,
             "timestamp": 2.2599600442952408
+        },
+        {
+            "x": 4.941522121429443,
+            "y": 4.46327018737793,
+            "heading": -0.16514867741462683,
+            "angularVelocity": 0,
+            "velocityX": 0,
+            "velocityY": 0,
+            "timestamp": 0
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.3.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.3.traj
index be0ceb46..5344e952 100644
--- a/src/main/deploy/choreo/SourceLanePHGFSprint.3.traj
+++ b/src/main/deploy/choreo/SourceLanePHGFSprint.3.traj
@@ -251,6 +251,15 @@
             "velocityX": -0.7490809237244538,
             "velocityY": 0.09593023905468932,
             "timestamp": 2.3823851103441687
+        },
+        {
+            "x": 4.941522121429443,
+            "y": 4.46327018737793,
+            "heading": -0.16514867741462683,
+            "angularVelocity": 2.094638185256543e-30,
+            "velocityX": 0,
+            "velocityY": 4.196369620080891e-32,
+            "timestamp": 0
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/deploy/choreo/SourceLanePHGFSprint.4.traj b/src/main/deploy/choreo/SourceLanePHGFSprint.4.traj
index 0c371299..fd94802f 100644
--- a/src/main/deploy/choreo/SourceLanePHGFSprint.4.traj
+++ b/src/main/deploy/choreo/SourceLanePHGFSprint.4.traj
@@ -134,6 +134,15 @@
             "velocityX": 0.6361166658859392,
             "velocityY": -0.38962222963131005,
             "timestamp": 1.2533412071928467
+        },
+        {
+            "x": 7.80548095703125,
+            "y": 2.7090952396392822,
+            "heading": 0,
+            "angularVelocity": -2.0882967897850613e-33,
+            "velocityX": 6.051909834592122e-36,
+            "velocityY": 0,
+            "timestamp": 9.363148771806673
         }
     ]
 }
\ No newline at end of file
diff --git a/src/main/java/org/team1540/robot2024/util/AutoCommand.java b/src/main/java/org/team1540/robot2024/util/AutoCommand.java
index 44772a0e..4f62364d 100644
--- a/src/main/java/org/team1540/robot2024/util/AutoCommand.java
+++ b/src/main/java/org/team1540/robot2024/util/AutoCommand.java
@@ -15,7 +15,7 @@ public class AutoCommand extends SequentialCommandGroup {
 
     private List<PathHelper> paths = new ArrayList<>();
 
-    private int index = 0;
+    private int pathIndex = 0;
 
     public AutoCommand(String name){
         this.name = name;
@@ -52,16 +52,16 @@ public List<PathHelper> getPaths() {
         return paths;
     }
 
-    public PathHelper getPath(int index){
-        return paths.get(index);
+    public PathHelper getPath(int pathIndex){
+        return paths.get(pathIndex);
     }
     public PathHelper getNextPath(){
-        return getPath(index++);
+        return getPath(pathIndex++);
     }
-    public int getIndex(){
-        return index;
+    public int getPathIndex(){
+        return pathIndex;
     }
-    public void setIndex(int index){
-        this.index = index;
+    public void setPathIndex(int index){
+        this.pathIndex = index;
     }
 }
diff --git a/src/main/java/org/team1540/robot2024/util/PathHelper.java b/src/main/java/org/team1540/robot2024/util/PathHelper.java
index 234db91c..18cf6f21 100644
--- a/src/main/java/org/team1540/robot2024/util/PathHelper.java
+++ b/src/main/java/org/team1540/robot2024/util/PathHelper.java
@@ -71,12 +71,12 @@ public PathPlannerPath getPath() {
 
     public Command getCommand(Drivetrain drivetrain, boolean shouldRealign) {
         BooleanSupplier shouldFlip = () -> DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red;
-        Supplier<Pose2d> flippedInitialPose = () -> shouldFlip.getAsBoolean() ? GeometryUtil.flipFieldPose(initialPose) : initialPose;
+        Supplier<Pose2d> startingPose = () -> shouldFlip.getAsBoolean() ? GeometryUtil.flipFieldPose(initialPose) : initialPose;
         Command command = new ConditionalCommand(
                 AutoBuilder.pathfindThenFollowPath(path, constraints),
                 AutoBuilder.followPath(path),
-                () -> drivetrain.getPose().getTranslation().getDistance((flippedInitialPose.get()).getTranslation()) > 1 && shouldRealign); //TODO tune this distance
-        Command resetCommand = new InstantCommand(() -> drivetrain.setPose(flippedInitialPose.get()));
+                () -> drivetrain.getPose().getTranslation().getDistance((startingPose.get()).getTranslation()) > 1 && shouldRealign); //TODO tune this distance
+        Command resetCommand = new InstantCommand(() -> drivetrain.setPose(startingPose.get()));
         return isResetting ? resetCommand.andThen(command) : command;
     }