diff --git a/images/swerve final.mp4 b/images/swerve final.mp4
new file mode 100644
index 0000000..25c8b44
Binary files /dev/null and b/images/swerve final.mp4 differ
diff --git a/src/main/java/frc/robot/commands/AutonPathExample.java b/src/main/java/frc/robot/commands/AutonPathExample.java
index 6a2cd5e..9249050 100644
--- a/src/main/java/frc/robot/commands/AutonPathExample.java
+++ b/src/main/java/frc/robot/commands/AutonPathExample.java
@@ -33,9 +33,10 @@ public AutonPathExample(SwerveDrivetrain drivetrain) {
       new Pose2d(0, 0, new Rotation2d(0)),
       List.of(
         new Translation2d(1, 2),
-        new Translation2d(3, 1)
+        new Translation2d(3, 1),
+        new Translation2d(5,4)
       ), 
-      new Pose2d(4, 2, Rotation2d.fromDegrees(180.0)),
+      new Pose2d(4, 2, Rotation2d.fromDegrees(540.0)),
       swerveDrivetrain.getTrajectoryConfig());
     
     swerveDrivetrain.getField().getObject("traj").setTrajectory(trajectory);
diff --git a/src/main/java/frc/robot/commands/SwerveJoystickCommand.java b/src/main/java/frc/robot/commands/SwerveJoystickCommand.java
index 7bfd742..5e7433a 100644
--- a/src/main/java/frc/robot/commands/SwerveJoystickCommand.java
+++ b/src/main/java/frc/robot/commands/SwerveJoystickCommand.java
@@ -62,7 +62,7 @@ public void execute() {
     ChassisSpeeds chassisSpeeds;
     if (fieldOrientedFunc.get()) {
       chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-        vY, vX, vW, drivetrain.getSimRotation2d());
+        -vY, vX, vW, drivetrain.getSimRotation2d());
     }
     else {
       chassisSpeeds = new ChassisSpeeds(vX, vY, vW);