diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 886e746..274f3f5 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -47,50 +47,32 @@ Translation2d backLeftLocation   = new Translation2d(-0.3, +0.3);
 Translation2d backRightLocation  = new Translation2d(-0.3, -0.3);
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
     private void configureAutoBuilder() {
-        RobotConfig config;
-        System.out.println("avant le mode auto est genere");
-        try{
-        config = RobotConfig.fromGUISettings();
-        // Configure AutoBuilder last
-        AutoBuilder.configure(
-                () -> getState().Pose, // Robot pose supplier
-                (pose) -> {
-                  System.out.println("reset Pose " + pose.getX() + " " + pose.getY());
-                  this.resetPose(pose);
-                  this.resetPose(pose);
-                }, // Method to reset odometry (will be called if your auto has a starting pose)
-                () -> getState().Speeds,
+        try {
+            var config = RobotConfig.fromGUISettings();
+            AutoBuilder.configure(
+                () -> getState().Pose,   // Supplier of current robot pose
+                this::resetPose,         // Consumer for seeding pose against auto
+                () -> getState().Speeds, // Supplier of current robot speeds
+                // Consumer of ChassisSpeeds and feedforwards to drive the robot
                 (speeds, feedforwards) -> setControl(
                     m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
                         .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
                         .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
-                ), // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
-                //(speeds, feedforwards) -> this.applyRequest(()-> driveAuto.withSpeeds(speeds)), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
-                new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
-                        new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
-                        new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
                 ),
-                config, // The robot configuration
-                () -> {
-                  // Boolean supplier that controls when the path will be mirrored for the red alliance
-                  // This will flip the path being followed to the red side of the field.
-                  // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
-    
-                  var alliance = DriverStation.getAlliance();
-                  if (alliance.isPresent()) {
-                    return alliance.get() == DriverStation.Alliance.Red;
-                  }
-                  return false;
-                },
-                this // Reference to this subsystem to set requirements
-        );
-                System.out.println("le mode auto est genere");
-            }
-        catch (Exception e) {
-            // Handle exception as needed
-            e.printStackTrace();
-            System.out.println("le mode auto ne marche pas");
-          }
+                new PPHolonomicDriveController(
+                    // PID constants for translation
+                    new PIDConstants(10, 0, 0),
+                    // PID constants for rotation
+                    new PIDConstants(7, 0, 0)
+                ),
+                config,
+                // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+                this // Subsystem for requirements
+            );
+        } catch (Exception ex) {
+            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
+        }
     //     try {
     //         var config = RobotConfig.fromGUISettings();
     //         AutoBuilder.configure(  
diff --git a/vendordeps/PathplannerLib-2025.2.7.json b/vendordeps/PathplannerLib-2025.2.6.json
similarity index 87%
rename from vendordeps/PathplannerLib-2025.2.7.json
rename to vendordeps/PathplannerLib-2025.2.6.json
index d3f84e5..95ba203 100644
--- a/vendordeps/PathplannerLib-2025.2.7.json
+++ b/vendordeps/PathplannerLib-2025.2.6.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "PathplannerLib-2025.2.7.json",
+    "fileName": "PathplannerLib-2025.2.6.json",
     "name": "PathplannerLib",
-    "version": "2025.2.7",
+    "version": "2025.2.6",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.7"
+            "version": "2025.2.6"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.7",
+            "version": "2025.2.6",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,