diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2bdbc81c..a6026980 100755
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -126,42 +126,43 @@ public RobotContainer(RobotRunType runtimeType) {
         for (int i = 0; i < 7; i++) {
             numNoteChooser.addOption(String.valueOf(i), i);
         }
-        cameras =
-            /*
-             * Camera Order: 0 - Front Left 1 - Front RIght 2 - Back Left 3 - Back Right
-             */
-            new PhotonCameraWrapper[] {
-                new PhotonCameraWrapper(
-                    new PhotonReal(Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_NAME,
-                        Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_IP),
-                    Constants.CameraConstants.FrontLeftFacingCamera.KCAMERA_TO_ROBOT),
-                new PhotonCameraWrapper(
-                    new PhotonReal(Constants.CameraConstants.FrontRightFacingCamera.CAMERA_NAME,
-                        Constants.CameraConstants.FrontRightFacingCamera.CAMERA_IP),
-                    Constants.CameraConstants.FrontRightFacingCamera.KCAMERA_TO_ROBOT),
-                new PhotonCameraWrapper(
-                    new PhotonReal(Constants.CameraConstants.BackLeftFacingCamera.CAMERA_NAME,
-                        Constants.CameraConstants.BackLeftFacingCamera.CAMERA_IP),
-                    Constants.CameraConstants.BackLeftFacingCamera.KCAMERA_TO_ROBOT)};
-        // new PhotonCameraWrapper(
-        // new PhotonReal(Constants.CameraConstants.BackRightFacingCamera.CAMERA_NAME),
-        // Constants.CameraConstants.BackRightFacingCamera.KCAMERA_TO_ROBOT)};
 
         switch (runtimeType) {
             case kReal:
+                cameras =
+                    /*
+                     * Camera Order: 0 - Front Left 1 - Front RIght 2 - Back Left 3 - Back Right
+                     */
+                    new PhotonCameraWrapper[] {new PhotonCameraWrapper(
+                        new PhotonReal(Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_NAME,
+                            Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_IP),
+                        Constants.CameraConstants.FrontLeftFacingCamera.KCAMERA_TO_ROBOT),
+                        new PhotonCameraWrapper(
+                            new PhotonReal(
+                                Constants.CameraConstants.FrontRightFacingCamera.CAMERA_NAME,
+                                Constants.CameraConstants.FrontRightFacingCamera.CAMERA_IP),
+                            Constants.CameraConstants.FrontRightFacingCamera.KCAMERA_TO_ROBOT),
+                        new PhotonCameraWrapper(
+                            new PhotonReal(
+                                Constants.CameraConstants.BackLeftFacingCamera.CAMERA_NAME,
+                                Constants.CameraConstants.BackLeftFacingCamera.CAMERA_IP),
+                            Constants.CameraConstants.BackLeftFacingCamera.KCAMERA_TO_ROBOT)};
+                // new PhotonCameraWrapper(
+                // new PhotonReal(Constants.CameraConstants.BackRightFacingCamera.CAMERA_NAME),
+                // Constants.CameraConstants.BackRightFacingCamera.KCAMERA_TO_ROBOT)};
                 shooter = new Shooter(new ShooterVortex());
                 intake = new Intake(new IntakeIOFalcon());
                 s_Swerve = new Swerve(new SwerveReal(), cameras);
                 elevatorWrist = new ElevatorWrist(new ElevatorWristReal(), operator);
                 break;
             case kSimulation:
-                s_Swerve = new Swerve(new SwerveIO() {}, cameras);
+                s_Swerve = new Swerve(new SwerveIO() {}, new PhotonCameraWrapper[] {});
                 shooter = new Shooter(new ShooterIO() {});
                 intake = new Intake(new IntakeIO() {});
                 elevatorWrist = new ElevatorWrist(new ElevatorWristIO() {}, operator);
                 break;
             default:
-                s_Swerve = new Swerve(new SwerveIO() {}, cameras);
+                s_Swerve = new Swerve(new SwerveIO() {}, new PhotonCameraWrapper[] {});
                 shooter = new Shooter(new ShooterIO() {});
                 intake = new Intake(new IntakeIO() {});
                 elevatorWrist = new ElevatorWrist(new ElevatorWristIO() {}, operator);
diff --git a/src/main/java/frc/robot/autos/P8765.java b/src/main/java/frc/robot/autos/P8765.java
index 22195ad1..4b637cca 100644
--- a/src/main/java/frc/robot/autos/P8765.java
+++ b/src/main/java/frc/robot/autos/P8765.java
@@ -3,10 +3,10 @@
 import java.util.function.BooleanSupplier;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.path.PathPlannerTrajectory.State;
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -124,10 +124,9 @@ public P8765(Swerve swerveDrive, ElevatorWrist elevatorWrist, Intake intake, Sho
 
         Command wait = Commands.waitSeconds(.01);
         Command resetPosition = Commands.runOnce(() -> {
-            Pose2d initialState =
-                FieldConstants.allianceFlip(path0.getPreviewStartingHolonomicPose()
-                    .plus(new Transform2d(0, 0, Rotation2d.fromDegrees(180))));
-            swerveDrive.resetOdometry(initialState);
+            State initalState = path0.getTrajectory(null, null).getInitialState();
+            Pose2d initialPose = FieldConstants.allianceFlip(initalState.getTargetHolonomicPose());
+            swerveDrive.resetOdometry(initialPose);
         });
 
         Command followPaths = part0.andThen(Commands.either(