diff --git a/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto b/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto
index ae003cf..b83e34c 100644
--- a/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto
+++ b/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
index 7d849f7..2964dc9 100644
--- a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
+++ b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/paths/Middle5thNote.path b/src/main/deploy/pathplanner/paths/Middle5thNote.path
index 3fd72f1..cd26d17 100644
--- a/src/main/deploy/pathplanner/paths/Middle5thNote.path
+++ b/src/main/deploy/pathplanner/paths/Middle5thNote.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 8.0,
-        "y": 0.75
+        "x": 7.96240792481585,
+        "y": 0.5130810261620535
       },
       "prevControl": {
-        "x": 7.0,
-        "y": 0.75
+        "x": 6.96240792481585,
+        "y": 0.5130810261620535
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/MoveOut-Left.path b/src/main/deploy/pathplanner/paths/MoveOut-Left.path
index 014b5a9..2177a8c 100644
--- a/src/main/deploy/pathplanner/paths/MoveOut-Left.path
+++ b/src/main/deploy/pathplanner/paths/MoveOut-Left.path
@@ -16,28 +16,28 @@
     },
     {
       "anchor": {
-        "x": 3.45,
-        "y": 7.5
+        "x": 2.157262600239487,
+        "y": 8.004064008128015
       },
       "prevControl": {
-        "x": 1.9500000000000002,
-        "y": 7.5
+        "x": 0.6572626002394868,
+        "y": 8.004064008128015
       },
       "nextControl": {
-        "x": 4.950000000000003,
-        "y": 7.5
+        "x": 3.6572626002394935,
+        "y": 8.004064008128015
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.0,
-        "y": 7.5
+        "x": 7.1268188250662226,
+        "y": 7.81349105555354
       },
       "prevControl": {
-        "x": 6.0,
-        "y": 7.5
+        "x": 6.1268188250662226,
+        "y": 7.81349105555354
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 750c12d..09e625f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -98,7 +98,7 @@ public static final class DriveConstants {
   public static final class IntakeConstants {
     public static final int kIntakeMotorID = 25;
     public static final int kArmMotorID = 39;
-    public static final int kArmEncoderChannel = 0;
+    public static final int kArmEncoderChannel = 1;
 
     // In degrees
     public static final double kIntakeLoweredAngle = -193;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2a8cd03..52e7e47 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -218,8 +218,11 @@ private void configureBindings() {
         }));
 
     // soft reset, should stop driving
+    // new JoystickButton(m_driverController, Button.kA.value)
+    //     .onTrue(new InstantCommand(() -> m_intakeSubsystem.reset()));
+
     new JoystickButton(m_driverController, Button.kA.value)
-        .onTrue(new InstantCommand(() -> m_intakeSubsystem.reset()));
+        .onTrue(new InstantCommand(() -> m_intakeSubsystem.resetEvenHarder()));
 
     // slightly harder reset
     new JoystickButton(m_driverController, Button.kB.value)
@@ -229,6 +232,9 @@ private void configureBindings() {
     new JoystickButton(m_driverController, Button.kX.value)
         .onTrue(new InstantCommand(() -> m_intakeSubsystem.daveImSorry()));
 
+    new JoystickButton(m_driverController, Button.kBack.value)
+        .onTrue(new InstantCommand(() -> m_intakeSubsystem.heCantKillMeTwice()));
+
     // new JoystickButton(m_driverController, Button.kX.value)
     //     .onTrue(new InstantCommand(() -> {
     //       // m_intakeSubsystem.getCurrentCommand().cancel();
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index ca54034..135bd94 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -71,11 +71,24 @@ public void resetHard() {
     m_armEncoder.reset();
   }
 
+  public void resetEvenHarder() {
+    reset();
+
+    // m_armEncoder.reset();
+    m_armEncoder.setPositionOffset(0.7);
+    // m_armEncoder.reset();
+  }
+
   /** just play some hans zimmer and hope he gets distracted */
   public void daveImSorry() {
     IntakeConstants.kArmEncoderOffset = m_armEncoder.getAbsolutePosition();
   }
 
+  /** i wish i was at the hans zimmer concert rn */
+  public void heCantKillMeTwice() {
+    IntakeConstants.kArmEncoderOffset = m_armEncoder.getAbsolutePosition() - IntakeConstants.kIntakeLoweredAngle;
+  }
+
   public void setArmPosition(ArmPosition position) {
     m_armPosition = position;
     switch (position) {