diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
index 8fa532e..ac2ca8a 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
@@ -13,12 +13,12 @@ import dev.cyberarm.engine.V2.Utilities;
 public class Localizer {
     private final RedCrabMinibot robot;
     private double rawX = 0, rawY = 0, rawR = 0, offsetX = 0, offsetY = 0;
-    private final double trackWidthMM = 365.0, forwardOffsetMM = 140.0, wheelDiameterMM = 90.0;
+    private final double trackWidthMM = 387.35, forwardOffsetMM = 133.35, wheelDiameterMM = 90.0;
     private final int encoderTicksPerRevolution = 8192;
     private final double encoderGearRatio = 1;
     private double lastEncoderXLeftMM, lastEncoderXRightMM, lastEncoderYCenterMM;
 //    private double xDeltaMultiplier = 0.87012987, yDeltaMultiplier = 0.25;
-    private double xDeltaMultiplier = 1, yDeltaMultiplier = 1;
+    private double xPosMultiplier = 0.675956739, yPosMultiplier = 0.941867531;
     private HolonomicOdometry odometry;
     public Localizer(RedCrabMinibot robot) {
         this.robot = robot;
@@ -100,11 +100,11 @@ public class Localizer {
     }
 
     public double xMM() {
-        return odometry.getPose().getX() + offsetX; //rawX;
+        return odometry.getPose().getX() * xPosMultiplier + offsetX; //rawX;
     }
 
     public double yMM() {
-        return odometry.getPose().getY() + offsetY;  //rawY;
+        return odometry.getPose().getY() * xPosMultiplier + offsetY;  //rawY;
     }
 
     public double xIn() {
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
index cc73147..a036019 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
@@ -1 +1 @@
-{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-01-31 09:22:43 -0600","spec_version":2,"revision":1191},"data":{"groups":[{"name":"Autonomous_BLUE_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 270d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx270"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Backstage","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to deposit position","enabled":true,"variables":[{"name":"angle","value":"Dx165.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to deposit position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.508"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to the right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Strafe to the left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move to backboard","enabled":true,"variables":[{"name":"distanceMM","value":"Dx475"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"16-00","comment":"@Move - Move back a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-75"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"17-00","comment":"@Move - Move right the right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx600"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"17-01","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-02","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"17-03","comment":"@ServoMove - Close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix1000"}]}]},{"name":"Autonomous_SpikePath_CENTER","actions":[{"name":"01-00","comment":"@Move - Move forward to spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"02-01","comment":"@ServoMove - Open right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"04-00","comment":"@Move - Move back from spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@ServoMove - Close right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"05-01","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_SpikePath_LEFT","actions":[{"name":"00-00","comment":"@Rotate - Rotate robot to towards left spike mark","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx316"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"01-00","comment":"@Move - Move up a bit","enabled":false,"variables":[{"name":"distanceMM","value":"Dx101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@ServoMove - Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":false,"variables":[{"name":"distanceMM","value":"Dx-101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_SpikePath_RIGHT","actions":[{"name":"00-00","comment":"@Rotate - Rotate robot to towards right spike mark","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx45"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"01-00","comment":"@Move - Move up a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx10"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@ServoMove - Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx2"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":false,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_Z_DEBUG","actions":[{"name":"00-00","comment":"@MoveToCoordinate - Trial run(s)","enabled":false,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx25.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx5"},{"name":"targetPosMM","value":"Sx610.0x0.0"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"01-00","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"minConfidence","value":"Dx0.7"},{"name":"path","value":"Ix-1"},{"name":"timeoutMS","value":"Ix2000000"}]}]},{"name":"Robot","actions":[{"name":"Claw_Tuning","comment":"Claws","enabled":true,"variables":[{"name":"claw_left_closed_position","value":"Dx0.2"},{"name":"claw_left_open_position","value":"Dx0.5"},{"name":"claw_right_closed_position","value":"Dx0.78"},{"name":"claw_right_open_position","value":"Dx0.5"}]},{"name":"ClawArm_Tuning","comment":"Claw Arm","enabled":true,"variables":[{"name":"collect_angle","value":"Dx242"},{"name":"collect_float_angle","value":"Dx237"},{"name":"deposit_angle","value":"Dx165.0"},{"name":"gear_ratio","value":"Dx1"},{"name":"kD","value":"Dx1"},{"name":"kF","value":"Dx0.0"},{"name":"kI","value":"Dx1.5"},{"name":"kP","value":"Dx6"},{"name":"KPosP","value":"Dx1"},{"name":"max_current_milliamps","value":"Dx1588.0"},{"name":"max_speed","value":"Dx0.5"},{"name":"max_velocityDEGREES","value":"Dx60"},{"name":"motor_ticks","value":"Ix8192"},{"name":"stow_angle","value":"Dx0"},{"name":"tolerance","value":"Ix288"},{"name":"warn_overcurrent_after_ms","value":"Lx5000"}]},{"name":"ClawWrist_Tuning","comment":"Claw Wrist","enabled":true,"variables":[{"name":"collect_float_position","value":"Dx0.52"},{"name":"collect_position","value":"Dx0.505"},{"name":"deposit_position","value":"Dx0.508"},{"name":"stow_position","value":"Dx0.74"}]},{"name":"Drivetrain_Tuning","comment":"Drivetrain","enabled":true,"variables":[{"name":"gear_ratio","value":"Dx13.0321"},{"name":"max_speed","value":"Dx0.5"},{"name":"motor_ticks","value":"Ix28"},{"name":"velocity_max_in_mm","value":"Dx610"},{"name":"velocity_slow_in_mm","value":"Dx250"},{"name":"wheel_diameter_mm","value":"Dx90"}]},{"name":"DroneLauncher_Tuning","comment":"Drone Launcher","enabled":true,"variables":[{"name":"initial_position","value":"Dx0.5"},{"name":"launch_confirmation_time_ms","value":"Ix1000"},{"name":"launch_position","value":"Dx0"}]},{"name":"HookArm_Tuning","comment":"Hook Arm","enabled":true,"variables":[{"name":"stow_position","value":"Dx0.35"},{"name":"up_position","value":"Dx0.8"}]},{"name":"Winch_Tuning","comment":"Winch","enabled":true,"variables":[{"name":"max_speed","value":"Dx1.0"}]}]},{"name":"zAutonomous_BLUE_Audience","actions":[]},{"name":"zAutonomous_BLUE_Backstage","actions":[]}],"presets":{"groups":[],"actions":[{"name":"ClawArmMove","comment":"@ClawArmMove - Move claw arm","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"Move","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"MoveToCoordinate","comment":"@MoveToCoordinate - Trial run(s)","enabled":true,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx25.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx5"},{"name":"targetPosMM","value":"Sx610.0x0.0"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"PathEnactor","comment":"@PathEnactor - Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"minConfidence","value":"Dx0.7"},{"name":"path","value":"Ix-1"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}}
\ No newline at end of file
+{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-02-01 20:00:47 -0600","spec_version":2,"revision":1220},"data":{"groups":[{"name":"Autonomous_BLUE_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 270d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx270"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Backstage","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to deposit position","enabled":true,"variables":[{"name":"angle","value":"Dx165.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to deposit position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.508"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to the right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Strafe to the left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move to backboard","enabled":true,"variables":[{"name":"distanceMM","value":"Dx475"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"16-00","comment":"@Move - Move back a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-75"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"17-00","comment":"@Move - Move right the right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx600"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"17-01","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-02","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"17-03","comment":"@ServoMove - Close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix1000"}]}]},{"name":"Autonomous_SpikePath_CENTER","actions":[{"name":"01-00","comment":"@Move - Move forward to spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"02-01","comment":"@ServoMove - Open right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"04-00","comment":"@Move - Move back from spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@ServoMove - Close right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"05-01","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_SpikePath_LEFT","actions":[{"name":"00-00","comment":"@Rotate - Rotate robot to towards left spike mark","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx316"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"01-00","comment":"@Move - Move up a bit","enabled":false,"variables":[{"name":"distanceMM","value":"Dx101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@ServoMove - Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":false,"variables":[{"name":"distanceMM","value":"Dx-101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_SpikePath_RIGHT","actions":[{"name":"00-00","comment":"@Rotate - Rotate robot to towards right spike mark","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx45"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"01-00","comment":"@Move - Move up a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx10"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@ServoMove - Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx2"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":false,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_Z_DEBUG","actions":[{"name":"00-00","comment":"@MoveToCoordinate - Trial run(s)","enabled":true,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx30.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx0"},{"name":"targetPosMM","value":"Sx0x-1220"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"01-00","comment":"@MoveToCoordinate - Trial run(s)","enabled":false,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx30.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx0"},{"name":"targetPosMM","value":"Sx0.0x0.0"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"02-00","comment":"@MoveToCoordinate - Trial run(s)","enabled":false,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx30.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx0"},{"name":"targetPosMM","value":"Sx2420x0"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"03-00","comment":"@MoveToCoordinate - Trial run(s)","enabled":false,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx30.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx0"},{"name":"targetPosMM","value":"Sx0.0x0.0"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"99-00","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"minConfidence","value":"Dx0.7"},{"name":"path","value":"Ix-1"},{"name":"timeoutMS","value":"Ix2000000"}]}]},{"name":"Robot","actions":[{"name":"Claw_Tuning","comment":"Claws","enabled":true,"variables":[{"name":"claw_left_closed_position","value":"Dx0.2"},{"name":"claw_left_open_position","value":"Dx0.5"},{"name":"claw_right_closed_position","value":"Dx0.78"},{"name":"claw_right_open_position","value":"Dx0.5"}]},{"name":"ClawArm_Tuning","comment":"Claw Arm","enabled":true,"variables":[{"name":"collect_angle","value":"Dx242"},{"name":"collect_float_angle","value":"Dx237"},{"name":"deposit_angle","value":"Dx165.0"},{"name":"gear_ratio","value":"Dx1"},{"name":"kD","value":"Dx1"},{"name":"kF","value":"Dx0.0"},{"name":"kI","value":"Dx1.5"},{"name":"kP","value":"Dx6"},{"name":"KPosP","value":"Dx1"},{"name":"max_current_milliamps","value":"Dx1588.0"},{"name":"max_speed","value":"Dx0.5"},{"name":"max_velocityDEGREES","value":"Dx60"},{"name":"motor_ticks","value":"Ix8192"},{"name":"stow_angle","value":"Dx0"},{"name":"tolerance","value":"Ix288"},{"name":"warn_overcurrent_after_ms","value":"Lx5000"}]},{"name":"ClawWrist_Tuning","comment":"Claw Wrist","enabled":true,"variables":[{"name":"collect_float_position","value":"Dx0.52"},{"name":"collect_position","value":"Dx0.505"},{"name":"deposit_position","value":"Dx0.508"},{"name":"stow_position","value":"Dx0.74"}]},{"name":"Drivetrain_Tuning","comment":"Drivetrain","enabled":true,"variables":[{"name":"gear_ratio","value":"Dx13.0321"},{"name":"max_speed","value":"Dx0.5"},{"name":"motor_ticks","value":"Ix28"},{"name":"velocity_max_in_mm","value":"Dx610"},{"name":"velocity_slow_in_mm","value":"Dx250"},{"name":"wheel_diameter_mm","value":"Dx90"}]},{"name":"DroneLauncher_Tuning","comment":"Drone Launcher","enabled":true,"variables":[{"name":"initial_position","value":"Dx0.5"},{"name":"launch_confirmation_time_ms","value":"Ix1000"},{"name":"launch_position","value":"Dx0"}]},{"name":"HookArm_Tuning","comment":"Hook Arm","enabled":true,"variables":[{"name":"stow_position","value":"Dx0.35"},{"name":"up_position","value":"Dx0.8"}]},{"name":"Winch_Tuning","comment":"Winch","enabled":true,"variables":[{"name":"max_speed","value":"Dx1.0"}]}]},{"name":"zAutonomous_BLUE_Audience","actions":[]},{"name":"zAutonomous_BLUE_Backstage","actions":[]}],"presets":{"groups":[],"actions":[{"name":"ClawArmMove","comment":"@ClawArmMove - Move claw arm","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"Move","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"MoveToCoordinate","comment":"@MoveToCoordinate - Trial run(s)","enabled":true,"variables":[{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"lerpMM_DOWN","value":"Dx305"},{"name":"lerpMM_UP","value":"Dx305"},{"name":"maxVelocityMM","value":"Dx610.0"},{"name":"minDistanceMM","value":"Dx25.0"},{"name":"minVelocityMM","value":"Dx125.0"},{"name":"stopDrivetrain","value":"Bxtrue"},{"name":"targetAngleDEGREES","value":"Dx45"},{"name":"targetAngleToleranceDEGREES","value":"Dx5"},{"name":"targetPosMM","value":"Sx610.0x0.0"},{"name":"timeoutMS","value":"Ix15000"}]},{"name":"PathEnactor","comment":"@PathEnactor - Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"minConfidence","value":"Dx0.7"},{"name":"path","value":"Ix-1"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java
index 1cfb46d..7d121a6 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java
@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
 import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 
 @Autonomous(name = "Cyberarm Red Crab BLUE AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
 public class RedCrabAutonomousBlueAudienceEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousBlueAudienceEngine extends RedCrabEngine {
     public void setup() {
         robot = new RedCrabMinibot(true);
         addTask(new ClawArmTask(robot));
+        addTask(new LocalizerTask(robot));
 
         setupFromConfig(
                 new TimeCraftersConfiguration("cyberarm_RedCrab"),
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java
index 8f8e0df..e43523e 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java
@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
 import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 
 @Autonomous(name = "Cyberarm Red Crab BLUE BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
 public class RedCrabAutonomousBlueBackstageEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousBlueBackstageEngine extends RedCrabEngine {
     public void setup() {
         robot = new RedCrabMinibot(true);
         addTask(new ClawArmTask(robot));
+        addTask(new LocalizerTask(robot));
 
         setupFromConfig(
                 new TimeCraftersConfiguration("cyberarm_RedCrab"),
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousDebuggingOnlyEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousDebuggingOnlyEngine.java
index 01f2127..c137332 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousDebuggingOnlyEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousDebuggingOnlyEngine.java
@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
 import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 
 @Autonomous(name = "Cyberarm Red Crab Auto DEBUGGING", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
 public class RedCrabAutonomousDebuggingOnlyEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousDebuggingOnlyEngine extends RedCrabEngine {
     public void setup() {
         robot = new RedCrabMinibot(true);
         addTask(new ClawArmTask(robot));
+        addTask(new LocalizerTask(robot));
 
         setupFromConfig(
                 new TimeCraftersConfiguration("cyberarm_RedCrab"),
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java
index d9ab7df..6e0b0f8 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java
@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
 import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 
 @Autonomous(name = "Cyberarm Red Crab RED AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
 public class RedCrabAutonomousRedAudienceEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousRedAudienceEngine extends RedCrabEngine {
     public void setup() {
         robot = new RedCrabMinibot(true);
         addTask(new ClawArmTask(robot));
+        addTask(new LocalizerTask(robot));
 
         setupFromConfig(
                 new TimeCraftersConfiguration("cyberarm_RedCrab"),
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java
index d741470..ffe38b6 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java
@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
 import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 
 @Autonomous(name = "Cyberarm Red Crab RED BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
 public class RedCrabAutonomousRedBackstageEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousRedBackstageEngine extends RedCrabEngine {
     public void setup() {
         robot = new RedCrabMinibot(true);
         addTask(new ClawArmTask(robot));
+        addTask(new LocalizerTask(robot));
 
         setupFromConfig(
                 new TimeCraftersConfiguration("cyberarm_RedCrab"),
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
index 5aa0db1..a995574 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
@@ -10,9 +10,6 @@ public abstract class RedCrabEngine extends CyberarmEngine {
     @Override
     public void loop() {
         Utilities.hubsClearBulkReadCache(hardwareMap);
-        if (RedCrabMinibot.localizer != null) {
-            RedCrabMinibot.localizer.integrate();
-        }
 
         super.loop();
 
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
index 18f9943..116c726 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
@@ -8,6 +8,7 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 import dev.cyberarm.engine.V2.CyberarmState;
 import dev.cyberarm.engine.V2.Utilities;
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 
 @TeleOp(name = "Cyberarm Red Crab TeleOp DEBUGGING", group = "MINIBOT")
 public class RedCrabTeleOpDebuggingOnlyEngine extends RedCrabEngine {
@@ -17,6 +18,8 @@ public class RedCrabTeleOpDebuggingOnlyEngine extends RedCrabEngine {
 
         robot = new RedCrabMinibot(false);
 
+        addTask(new LocalizerTask(robot));
+
         addState(new CyberarmState() {
 
             @Override
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
index c734196..05eebda 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
@@ -6,6 +6,7 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 import dev.cyberarm.engine.V2.Utilities;
 import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
 import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
+import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
 import dev.cyberarm.minibots.red_crab.states.Pilot;
 
 @TeleOp(name = "Cyberarm Red Crab TeleOp", group = "MINIBOT")
@@ -15,6 +16,7 @@ public class RedCrabTeleOpEngine extends RedCrabEngine {
         robot = new RedCrabMinibot(false);
 
         addTask(new ClawArmTask(robot));
+        addTask(new LocalizerTask(robot));
 
         addState(new Pilot(robot));
     }
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/LocalizerTask.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/LocalizerTask.java
new file mode 100644
index 0000000..7d513f0
--- /dev/null
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/LocalizerTask.java
@@ -0,0 +1,21 @@
+package dev.cyberarm.minibots.red_crab.states;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+import dev.cyberarm.engine.V2.Utilities;
+import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
+
+public class LocalizerTask extends CyberarmState {
+    private final RedCrabMinibot robot;
+
+    public LocalizerTask(RedCrabMinibot robot) {
+        this.robot = robot;
+    }
+    @Override
+    public void exec() {
+        Utilities.hubsClearBulkReadCache(engine.hardwareMap);
+
+        if (RedCrabMinibot.localizer != null) {
+            RedCrabMinibot.localizer.integrate();
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java
index f585571..c851f55 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java
@@ -98,7 +98,7 @@ public class MoveToCoordinate extends CyberarmState {
 
         double y = direction.x(); // robot forward is in the X axis
         double x = direction.y(); // robot side to side is on the Y axis
-        double rx = rotationStrength; //engine.gamepad1.right_stick_x;
+        double rx = 0; // -rotationStrength; //engine.gamepad1.right_stick_x;
 
         double botHeading = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);