diff --git a/autonomous/auto_base.py b/autonomous/auto_base.py
index c58f31dc..0037a37a 100644
--- a/autonomous/auto_base.py
+++ b/autonomous/auto_base.py
@@ -182,3 +182,129 @@ def shooting_algae(self) -> None:
 
         if not self.algae_shooter.is_executing:
             self.next_state("tracking_trajectory")
+
+
+class AutoBaseNoBalls(AutonomousStateMachine):
+    chassis: ChassisComponent
+
+    field: wpilib.Field2d
+
+    DISTANCE_TOLERANCE = 0.1  # metres
+    ANGLE_TOLERANCE = math.radians(3)
+    CORAL_DISTANCE_TOLERANCE = 0.2  # metres
+    TRANSLATIONAL_SPEED_TOLERANCE = 0.2
+    ROTATIONAL_SPEED_TOLERANCE = 0.1
+
+    def __init__(self, trajectory_names: list[str]) -> None:
+        # We want to parameterise these by paths and potentially a sequence of events
+        super().__init__()
+
+        self.current_leg = -1
+        self.starting_pose = None
+        self.trajectories: list[SwerveTrajectory] = []
+        for trajectory_name in trajectory_names:
+            try:
+                self.trajectories.append(choreo.load_swerve_trajectory(trajectory_name))
+                if self.starting_pose is None:
+                    self.starting_pose = self.get_starting_pose()
+            except ValueError:
+                # If the trajectory is not found, ChoreoLib already prints to DriverStation
+                pass
+
+    def setup(self) -> None:
+        #  setup path tracking controllers
+
+        # init any other defaults
+        pass
+
+    def on_enable(self) -> None:
+        # configure defaults for pose in sim
+
+        # Setup starting position in the simulator
+        starting_pose = self.get_starting_pose()
+        if RobotBase.isSimulation() and starting_pose is not None:
+            self.chassis.set_pose(starting_pose)
+        # Reset the counter for which leg we are executing
+        self.current_leg = -1
+
+        super().on_enable()
+
+    def get_starting_pose(self) -> Pose2d | None:
+        return self.trajectories[0].get_initial_pose(game.is_red())
+
+    def _get_full_path_poses(self) -> list[Pose2d]:
+        """Get a list of poses for the full path for display."""
+        return [
+            sample.get_pose()
+            for trajectory in self.trajectories
+            for sample in trajectory.get_samples()
+        ]
+
+    def display_trajectory(self) -> None:
+        self.field.getObject("trajectory").setPoses(self._get_full_path_poses())
+
+    def on_disable(self) -> None:
+        super().on_disable()
+        self.field.getObject("trajectory").setPoses([])
+
+    @state(first=True)
+    def initialising(self) -> None:
+        # Add any tasks that need doing first
+        self.chassis.do_smooth = False
+        self.chassis.heading_controller.setPID(Kp=1.0, Ki=0.0, Kd=0.0)
+        self.next_state("tracking_trajectory")
+
+    @state
+    def tracking_trajectory(self, initial_call, state_tm) -> None:
+        if initial_call:
+            self.current_leg += 1
+
+        if self.current_leg == len(self.trajectories):
+            self.done()
+            return
+
+        # get next leg on entry
+        current_pose = self.chassis.get_pose()
+        final_pose = self.trajectories[self.current_leg].get_final_pose(game.is_red())
+        if final_pose is None:
+            self.done()
+            return
+
+        distance = current_pose.translation().distance(final_pose.translation())
+        angle_error = (final_pose.rotation() - current_pose.rotation()).radians()
+        velocity = self.chassis.get_velocity()
+        speed = math.sqrt(math.pow(velocity.vx, 2.0) + math.pow(velocity.vy, 2.0))
+
+        if (
+            distance < self.DISTANCE_TOLERANCE
+            and math.isclose(angle_error, 0.0, abs_tol=self.ANGLE_TOLERANCE)
+            and math.isclose(speed, 0.0, abs_tol=self.TRANSLATIONAL_SPEED_TOLERANCE)
+            and math.isclose(
+                velocity.omega, 0.0, abs_tol=self.ROTATIONAL_SPEED_TOLERANCE
+            )
+            and state_tm > self.trajectories[self.current_leg].get_total_time() / 2.0
+        ):
+            self.done()
+            return
+
+        sample = self.trajectories[self.current_leg].sample_at(state_tm, game.is_red())
+        if sample is not None:
+            self.follow_trajectory(sample)
+
+    def follow_trajectory(self, sample: SwerveSample):
+        # track path
+
+        pose = self.chassis.get_pose()
+
+        # Generate the next speeds for the robot
+        speeds = ChassisSpeeds(
+            sample.vx + x_controller.calculate(pose.X(), sample.x),
+            sample.vy + y_controller.calculate(pose.Y(), sample.y),
+            sample.omega
+            + self.chassis.heading_controller.calculate(
+                pose.rotation().radians(), sample.heading
+            ),
+        )
+
+        # Apply the generated speeds
+        self.chassis.drive_field(speeds.vx, speeds.vy, speeds.omega)
diff --git a/autonomous/multi_algae_auto.py b/autonomous/multi_algae_auto.py
index 27c83a90..df06386d 100644
--- a/autonomous/multi_algae_auto.py
+++ b/autonomous/multi_algae_auto.py
@@ -1,4 +1,4 @@
-from autonomous.auto_base import AutoBase
+from autonomous.auto_base import AutoBase, AutoBaseNoBalls
 
 
 class CentreAuto(AutoBase):
@@ -59,3 +59,47 @@ def __init__(self):
                 "AlgaeKLToShootKL",
             ]
         )
+
+
+class LineRotateTest(AutoBaseNoBalls):
+    MODE_NAME = "TEST LINE rotation"
+
+    def __init__(self) -> None:
+        super().__init__(
+            [
+                "LineRotateTest",
+            ]
+        )
+
+
+class LineRotateJiggleReductionTest(AutoBaseNoBalls):
+    MODE_NAME = "TEST JIGGLE REDUCTION LINE rotation"
+
+    def __init__(self) -> None:
+        super().__init__(
+            [
+                "LineLessJiggleTest",
+            ]
+        )
+
+
+class CurveRotateTest(AutoBaseNoBalls):
+    MODE_NAME = "TEST CURVE rotation"
+
+    def __init__(self) -> None:
+        super().__init__(
+            [
+                "CurveRotateTest",
+            ]
+        )
+
+
+class CurveRotateJiggleReductionTest(AutoBaseNoBalls):
+    MODE_NAME = "TEST JIGGLE REDUCTION CURVE rotation"
+
+    def __init__(self) -> None:
+        super().__init__(
+            [
+                "CurveLessJiggleTest",
+            ]
+        )
diff --git a/deploy/choreo/CurveLessJiggleTest.traj b/deploy/choreo/CurveLessJiggleTest.traj
new file mode 100644
index 00000000..79f00b30
--- /dev/null
+++ b/deploy/choreo/CurveLessJiggleTest.traj
@@ -0,0 +1,398 @@
+{
+ "name":"CurveLessJiggleTest",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.5, "y":4.0, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.84660005569458, "y":4.7060933113098145, "heading":0.0, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":9.639573097229004, "y":3.2634711265563965, "heading":0.0, "intervals":253, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":10.0, "y":4.0, "heading":3.141592653589793, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.639573097229004, "y":3.2634711265563965, "heading":0.0, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.84660005569458, "y":4.7060933113098145, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":7.5, "y":4.0, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.3}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true},
+    {"from":3, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true},
+    {"from":5, "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"CentreStart.x", "val":7.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"7.84660005569458 m", "val":7.84660005569458}, "y":{"exp":"4.7060933113098145 m", "val":4.7060933113098145}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"9.639573097229004 m", "val":9.639573097229004}, "y":{"exp":"3.2634711265563965 m", "val":3.2634711265563965}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":253, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x + 2.5 m", "val":10.0}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"9.639573097229004 m", "val":9.639573097229004}, "y":{"exp":"3.2634711265563965 m", "val":3.2634711265563965}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"7.84660005569458 m", "val":7.84660005569458}, "y":{"exp":"4.7060933113098145 m", "val":4.7060933113098145}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x", "val":7.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.3}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":3.0}}}, "enabled":true},
+    {"from":"first", "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true},
+    {"from":3, "to":5, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true},
+    {"from":5, "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.89269,2.87675,3.79672,4.71534,6.69917,7.59302],
+  "samples":[
+    {"t":0.0, "x":7.5, "y":4.0, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.05912, "ay":2.99733, "alpha":6.67408, "fx":[-20.13633,-22.48237,21.06678,18.59606], "fy":[55.65798,19.48662,19.13202,55.59007]},
+    {"t":0.02976, "x":7.49997, "y":4.00133, "heading":0.0, "vx":-0.00176, "vy":0.08919, "omega":0.1986, "ax":-0.03879, "ay":2.99863, "alpha":5.51607, "fx":[-16.70266,-18.28013,17.3835,15.65981], "fy":[52.52933,22.57021,22.39238,52.43967]},
+    {"t":0.05951, "x":7.4999, "y":4.00531, "heading":0.00591, "vx":-0.00291, "vy":0.17842, "omega":0.36273, "ax":-0.01526, "ay":2.99876, "alpha":4.52837, "fx":[-13.74838,-14.59932,14.46746,13.1174], "fy":[49.75621,25.21668,25.16539,49.79954]},
+    {"t":0.08927, "x":7.49981, "y":4.01195, "heading":0.0167, "vx":-0.00337, "vy":0.26765, "omega":0.49748, "ax":0.01227, "ay":2.99867, "alpha":3.69363, "fx":[-11.15101,-11.39829,12.18008,10.98255], "fy":[47.3715,27.4192,27.54219,47.60051]},
+    {"t":0.11902, "x":7.49972, "y":4.02124, "heading":0.03151, "vx":-0.003, "vy":0.35688, "omega":0.60739, "ax":0.04488, "ay":2.99824, "alpha":2.99295, "fx":[-8.83547,-8.61777,10.42352,9.2737], "fy":[45.34441,29.2708,29.54093,45.75569]},
+    {"t":0.14878, "x":7.49965, "y":4.03318, "heading":0.04958, "vx":-0.00167, "vy":0.44609, "omega":0.69645, "ax":0.08412, "ay":2.99725, "alpha":2.43285, "fx":[-6.72325,-6.19049,9.13062,7.9892], "fy":[44.00833,30.68383,31.04859,44.1216]},
+    {"t":0.17854, "x":7.49963, "y":4.04778, "heading":0.0703, "vx":0.00084, "vy":0.53528, "omega":0.76884, "ax":0.13221, "ay":2.99533, "alpha":1.97465, "fx":[-4.76392,-4.00759,8.27301,7.10913], "fy":[42.50239,31.84567,32.24642,43.17217]},
+    {"t":0.20829, "x":7.49972, "y":4.06504, "heading":0.09318, "vx":0.00477, "vy":0.62441, "omega":0.8276, "ax":0.19247, "ay":2.99184, "alpha":1.58244, "fx":[-2.87648,-1.99245,7.81741,6.67507], "fy":[41.34269,32.89596,33.2827,42.07079]},
+    {"t":0.23805, "x":7.49994, "y":4.08494, "heading":0.11781, "vx":0.0105, "vy":0.71344, "omega":0.87469, "ax":0.27007, "ay":2.98555, "alpha":1.26303, "fx":[-0.96195,-0.02239,7.79592,6.69185], "fy":[40.36578,33.74025,34.05827,41.1133]},
+    {"t":0.26781, "x":7.50038, "y":4.10749, "heading":0.14383, "vx":0.01853, "vy":0.80228, "omega":0.91227, "ax":0.37349, "ay":2.974, "alpha":1.00303, "fx":[1.11501,2.0568,8.27623,7.22622], "fy":[39.49975,34.38616,34.57863,40.23561]},
+    {"t":0.29756, "x":7.50109, "y":4.13268, "heading":0.17098, "vx":0.02965, "vy":0.89077, "omega":0.94211, "ax":0.51751, "ay":2.95182, "alpha":0.79559, "fx":[3.56418,4.47315,9.41108,8.4269], "fy":[38.666,34.72584,34.83331,39.36571]},
+    {"t":0.32732, "x":7.5022, "y":4.1605, "heading":0.19901, "vx":0.04505, "vy":0.9786, "omega":0.96579, "ax":0.72982, "ay":2.90582, "alpha":0.62407, "fx":[6.75616,7.60435,11.52059,10.6098], "fy":[37.63271,34.72974,34.64682,38.28179]},
+    {"t":0.35707, "x":7.50387, "y":4.1909, "heading":0.22775, "vx":0.06676, "vy":1.06507, "omega":0.98436, "ax":1.06608, "ay":2.79869, "alpha":0.4861, "fx":[11.40836,12.17823,15.27516,14.44239], "fy":[35.93952,33.85966,33.60696,36.52855]},
+    {"t":0.38683, "x":7.50633, "y":4.22383, "heading":0.25704, "vx":0.09849, "vy":1.14835, "omega":0.99882, "ax":1.63736, "ay":2.50526, "alpha":0.38247, "fx":[18.93061,19.61932,22.03157,21.28653], "fy":[32.04009,30.44544,30.20731,32.56994]},
+    {"t":0.41659, "x":7.50998, "y":4.25911, "heading":0.28676, "vx":0.14721, "vy":1.2229, "omega":1.0102, "ax":2.53037, "ay":1.59278, "alpha":0.31213, "fx":[30.43249,31.02642,32.83551,32.22408], "fy":[20.51101,19.01668,19.09036,21.02109]},
+    {"t":0.44634, "x":7.51548, "y":4.29621, "heading":0.31682, "vx":0.2225, "vy":1.27029, "omega":1.01949, "ax":2.97472, "ay":-0.29365, "alpha":0.27911, "fx":[36.25489,36.71074,38.11304,37.6573], "fy":[-3.10414,-4.87562,-4.11344,-2.58937]},
+    {"t":0.4761, "x":7.52342, "y":4.33388, "heading":0.34716, "vx":0.31102, "vy":1.26155, "omega":1.0278, "ax":2.87883, "ay":-0.81232, "alpha":0.22209, "fx":[35.23934,35.6144,36.73363,36.35418], "fy":[-9.74204,-11.1263,-10.46642,-9.28126]},
+    {"t":0.50586, "x":7.53395, "y":4.37106, "heading":0.37774, "vx":0.39668, "vy":1.23738, "omega":1.03441, "ax":2.81648, "ay":-1.0124, "alpha":0.18488, "fx":[34.60382,34.91384,35.81598,35.49025], "fy":[-12.31921,-13.53697,-12.84416,-11.91956]},
+    {"t":0.53561, "x":7.547, "y":4.40743, "heading":0.40852, "vx":0.48049, "vy":1.20726, "omega":1.03991, "ax":2.74012, "ay":-1.20701, "alpha":0.15257, "fx":[33.76025,34.01689,34.75597,34.4729], "fy":[-14.82331,-15.84477,-15.20367,-14.47852]},
+    {"t":0.56537, "x":7.56251, "y":4.44282, "heading":0.43947, "vx":0.56202, "vy":1.17134, "omega":1.04445, "ax":2.61592, "ay":-1.45876, "alpha":0.12924, "fx":[32.28965,32.50787,33.12486,32.87371], "fy":[-18.01744,-18.90693,-18.29437,-17.71905]},
+    {"t":0.59512, "x":7.58039, "y":4.47703, "heading":0.47055, "vx":0.63986, "vy":1.12793, "omega":1.04829, "ax":2.31899, "ay":-1.89689, "alpha":0.11093, "fx":[28.63658,28.83111,29.35557,29.12636], "fy":[-23.53201,-24.30394,-23.73719,-23.27113]},
+    {"t":0.62488, "x":7.60046, "y":4.50975, "heading":0.50174, "vx":0.70887, "vy":1.07149, "omega":1.05159, "ax":2.01758, "ay":-2.21569, "alpha":0.10641, "fx":[24.914,25.08138,25.54922,25.33428], "fy":[-27.50702,-28.33944,-27.66339,-27.27479]},
+    {"t":0.65464, "x":7.62245, "y":4.54065, "heading":0.53303, "vx":0.7689, "vy":1.00556, "omega":1.05476, "ax":1.77223, "ay":-2.41707, "alpha":0.09609, "fx":[21.87286,22.03884,22.45386,22.24577], "fy":[-30.04923,-30.79741,-30.17214,-29.83481]},
+    {"t":0.68439, "x":7.64611, "y":4.5695, "heading":0.56442, "vx":0.82164, "vy":0.93364, "omega":1.05762, "ax":1.57953, "ay":-2.54765, "alpha":0.08889, "fx":[19.47708,19.64932,20.02921,19.82088], "fy":[-31.70353,-32.37914,-31.80276,-31.49682]},
+    {"t":0.71415, "x":7.67126, "y":4.59616, "heading":0.59589, "vx":0.86864, "vy":0.85783, "omega":1.06026, "ax":1.42786, "ay":-2.636, "alpha":0.0864, "fx":[17.58375,17.76645,18.12933,17.91346], "fy":[-32.82007,-33.46635,-32.9016,-32.61179]},
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/deploy/choreo/CurveRotateTest.traj b/deploy/choreo/CurveRotateTest.traj
new file mode 100644
index 00000000..4c74224f
--- /dev/null
+++ b/deploy/choreo/CurveRotateTest.traj
@@ -0,0 +1,279 @@
+{
+ "name":"CurveRotateTest",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
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+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
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+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}],
+  "targetDt":{
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/deploy/choreo/LineLessJiggleTest.traj b/deploy/choreo/LineLessJiggleTest.traj
new file mode 100644
index 00000000..9528303a
--- /dev/null
+++ b/deploy/choreo/LineLessJiggleTest.traj
@@ -0,0 +1,217 @@
+{
+ "name":"LineLessJiggleTest",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.5, "y":4.0, "heading":0.0, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":9.5, "y":4.0, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":10.0, "y":4.0, "heading":3.141592653589793, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":8.0, "y":4.0, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.5, "y":4.0, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.3}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":4.491, "y":4.026, "r":1.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true},
+    {"from":3, "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"CentreStart.x", "val":7.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading", "val":0.0}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x + 2 m", "val":9.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading + 180 deg", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x + 2.5 m", "val":10.0}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading + 180 deg", "val":3.141592653589793}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x + 0.5 m", "val":8.0}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x", "val":7.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.3}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":3.0}}}, "enabled":true},
+    {"from":"first", "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true},
+    {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true},
+    {"from":3, "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.75599,2.35446,4.11369,4.71541],
+  "samples":[
+    {"t":0.0, "x":7.5, "y":4.0, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.99777, "ay":0.0, "alpha":14.15358, "fx":[-0.68121,-1.25895,75.91331,75.9155], "fy":[48.62437,-48.62491,-38.74887,38.74933]},
+    {"t":0.02787, "x":7.50116, "y":4.0, "heading":0.0, "vx":0.08356, "vy":0.0, "omega":0.3945, "ax":2.99881, "ay":0.0, "alpha":12.02302, "fx":[5.41048,4.6104,69.95911,69.96034], "fy":[40.91114,-40.92107,-33.66187,33.67167]},
+    {"t":0.05575, "x":7.50466, "y":4.0, "heading":0.011, "vx":0.16714, "vy":0.0, "omega":0.72962, "ax":2.99871, "ay":0.0, "alpha":10.13921, "fx":[9.83379,9.80126,65.43052,64.87017], "fy":[33.37953,-34.07431,-28.2593,28.95389]},
+    {"t":0.08362, "x":7.51048, "y":4.0, "heading":0.03133, "vx":0.25072, "vy":0.0, "omega":1.01222, "ax":2.99861, "ay":-0.00001, "alpha":8.30593, "fx":[14.28007,15.46732,60.75538,59.4276], "fy":[26.44867,-28.05975,-23.07374,24.68457]},
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+    {"t":4.71541, "x":7.5, "y":4.0, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/deploy/choreo/LineRotateTest.traj b/deploy/choreo/LineRotateTest.traj
new file mode 100644
index 00000000..dd486b47
--- /dev/null
+++ b/deploy/choreo/LineRotateTest.traj
@@ -0,0 +1,187 @@
+{
+ "name":"LineRotateTest",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":7.5, "y":4.0, "heading":0.0, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":10.0, "y":4.0, "heading":3.141592653589793, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":7.5, "y":4.0, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.3}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":4.491, "y":4.026, "r":1.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"CentreStart.x", "val":7.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading", "val":0.0}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x + 2.5 m", "val":10.0}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading + 180 deg", "val":3.141592653589793}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"CentreStart.x", "val":7.5}, "y":{"exp":"CentreStart.y", "val":4.0}, "heading":{"exp":"CentreStart.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MaxVelocity", "val":1.3}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"MaxAcceleration", "val":3.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"Reef.x", "val":4.491}, "y":{"exp":"Reef.y", "val":4.026}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,2.35741,4.71481],
+  "samples":[
+    {"t":0.0, "x":7.5, "y":4.0, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.99812, "ay":0.00001, "alpha":7.56251, "fx":[17.04565,16.60747,58.12716,58.12552], "fy":[24.53471,-24.54543,-21.92054,21.93188]},
+    {"t":0.03368, "x":7.5017, "y":4.0, "heading":0.0, "vx":0.10097, "vy":0.0, "omega":0.25468, "ax":2.99897, "ay":0.00001, "alpha":6.28995, "fx":[20.48677,20.13162,54.66754,54.66268], "fy":[20.23376,-20.24687,-18.39444,18.40815]},
+    {"t":0.06735, "x":7.5068, "y":4.0, "heading":0.00858, "vx":0.20197, "vy":0.0, "omega":0.46651, "ax":2.99887, "ay":0.00001, "alpha":5.23026, "fx":[23.20383,23.19873,51.87933,51.66159], "fy":[16.57869,-16.84331,-15.28565,15.55084]},
+    {"t":0.10103, "x":7.5153, "y":4.0, "heading":0.02429, "vx":0.30296, "vy":0.0, "omega":0.64265, "ax":2.99874, "ay":0.00001, "alpha":4.35902, "fx":[25.38451,25.78371,49.63383,49.13516], "fy":[13.54369,-14.15018,-12.62664,13.23367]},
+    {"t":0.13471, "x":7.52721, "y":4.0, "heading":0.04593, "vx":0.40395, "vy":0.0, "omega":0.78945, "ax":2.99859, "ay":0.00001, "alpha":3.65216, "fx":[27.13631,27.88775,47.85829,47.04703], "fy":[11.05729,-12.01254,-10.39629,11.35204]},
+    {"t":0.16839, "x":7.54251, "y":4.0, "heading":0.07252, "vx":0.50493, "vy":0.0, "omega":0.91245, "ax":2.99839, "ay":0.00001, "alpha":3.06302, "fx":[28.55866,29.71782,46.36224,45.2806], "fy":[8.99858,-10.25792,-8.52709,9.78691]},
+    {"t":0.20206, "x":7.56122, "y":4.0, "heading":0.10325, "vx":0.60591, "vy":0.0, "omega":1.0156, "ax":2.99812, "ay":0.00001, "alpha":2.57763, "fx":[29.76976,31.16565,45.13447,43.83605], "fy":[7.3002,-8.80397,-6.95747,8.46171]},
+    {"t":0.23574, "x":7.58332, "y":4.0, "heading":0.13745, "vx":0.70688, "vy":0.0, "omega":1.10241, "ax":2.99774, "ay":0.00001, "alpha":2.17345, "fx":[30.81157,32.31447,44.10521,42.65594], "fy":[5.89273,-7.57118,-5.63857,7.31752]},
+    {"t":0.26942, "x":7.60883, "y":4.0, "heading":0.17457, "vx":0.80783, "vy":0.0, "omega":1.17561, "ax":2.99718, "ay":0.00001, "alpha":1.79771, "fx":[31.77761,33.52931,43.05144,41.5008], "fy":[4.67996,-6.4493,-4.50957,6.27954]},
+    {"t":0.3031, "x":7.63773, "y":4.0, "heading":0.21417, "vx":0.90877, "vy":0.0, "omega":1.23615, "ax":2.99625, "ay":0.00002, "alpha":1.52678, "fx":[32.34875,34.3713,42.34554,40.74701], "fy":[3.74193,-5.54958,-3.60988,5.4184]},
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+    {"t":4.41171, "x":7.63774, "y":4.0, "heading":-0.24801, "vx":-0.9088, "vy":0.00001, "omega":1.20114, "ax":2.99718, "ay":-0.00005, "alpha":-1.80898, "fx":[41.10051,43.44637,33.7957,31.51658], "fy":[-6.57774,4.08368,6.73756,-4.2461]},
+    {"t":4.44539, "x":7.60883, "y":4.0, "heading":-0.20756, "vx":-0.80786, "vy":0.00001, "omega":1.14021, "ax":2.99774, "ay":-0.00005, "alpha":-2.14539, "fx":[42.17505,44.35545,32.81376,30.54293], "fy":[-7.55405,5.08198,7.78515,-5.31544]},
+    {"t":4.47907, "x":7.58333, "y":4.0, "heading":-0.16916, "vx":-0.70691, "vy":0.00001, "omega":1.06796, "ax":2.99812, "ay":-0.00005, "alpha":-2.51909, "fx":[43.21654,45.35259,31.76157,29.57523], "fy":[-8.66871,6.28376,8.98107,-6.59839]},
+    {"t":4.51274, "x":7.56122, "y":4.0, "heading":-0.13319, "vx":-0.60594, "vy":0.00001, "omega":0.98313, "ax":2.99839, "ay":-0.00005, "alpha":-2.96491, "fx":[44.50788,46.55017,30.45165,28.40962], "fy":[-9.91831,7.69888,10.34727,-8.13012]},
+    {"t":4.54642, "x":7.54252, "y":4.0, "heading":-0.10008, "vx":-0.50496, "vy":0.00001, "omega":0.88328, "ax":2.99859, "ay":-0.00005, "alpha":-3.52087, "fx":[46.1636,47.99021,28.80629,26.96929], "fy":[-11.43552,9.45332,12.04024,-10.06036]},
+    {"t":4.5801, "x":7.52721, "y":4.0, "heading":-0.07034, "vx":-0.40398, "vy":0.00001, "omega":0.76471, "ax":2.99874, "ay":-0.00005, "alpha":-4.20221, "fx":[48.16229,49.75157,26.78955,25.23381], "fy":[-13.26731,11.59866,14.11588,-12.44962]},
+    {"t":4.61378, "x":7.51531, "y":4.0, "heading":-0.04459, "vx":-0.30299, "vy":0.00001, "omega":0.62319, "ax":2.99887, "ay":-0.00005, "alpha":-5.05214, "fx":[50.65454,51.9327,24.27754,23.0787], "fy":[-15.51455,14.23698,16.72462,-15.44953]},
+    {"t":4.64745, "x":7.5068, "y":4.0, "heading":-0.0236, "vx":-0.202, "vy":0.0, "omega":0.45305, "ax":2.99897, "ay":-0.00005, "alpha":-6.09815, "fx":[53.69991,54.61667,21.20418,20.42786], "fy":[-18.245,17.41963,19.98868,-19.16587]},
+    {"t":4.68113, "x":7.5017, "y":4.0, "heading":-0.00834, "vx":-0.101, "vy":0.0, "omega":0.24768, "ax":2.99906, "ay":-0.00005, "alpha":-7.35447, "fx":[57.71141,57.96737,17.31994,16.95418], "fy":[-20.99336,20.91842,23.72933,-23.65713]},
+    {"t":4.71481, "x":7.5, "y":4.0, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/robot.py b/robot.py
index 427e6066..ab6f3c47 100644
--- a/robot.py
+++ b/robot.py
@@ -8,7 +8,7 @@
 from phoenix6.configs import Slot0Configs
 from wpimath.geometry import Rotation2d, Translation3d
 
-from autonomous.auto_base import AutoBase
+from autonomous.auto_base import AutoBase, AutoBaseNoBalls
 from components.ballistics import BallisticsComponent
 from components.chassis import ChassisComponent, SwerveConfig
 from components.climber import ClimberComponent
@@ -359,7 +359,7 @@ def disabledPeriodic(self) -> None:
             or self.port_vision.sees_multi_tag_target()
         ):
             selected_auto = self._automodes.chooser.getSelected()
-            if isinstance(selected_auto, AutoBase):
+            if isinstance(selected_auto, (AutoBase | AutoBaseNoBalls)):
                 intended_start_pose = selected_auto.get_starting_pose()
                 current_pose = self.chassis.get_pose()
                 if intended_start_pose is not None:
@@ -388,7 +388,7 @@ def disabledPeriodic(self) -> None:
 
     def _display_auto_trajectory(self) -> None:
         selected_auto = self._automodes.chooser.getSelected()
-        if isinstance(selected_auto, AutoBase):
+        if isinstance(selected_auto, (AutoBase | AutoBaseNoBalls)):
             selected_auto.display_trajectory()
 
     def robotPeriodic(self) -> None: