diff --git a/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/AutonomousGenerator.java b/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/AutonomousGenerator.java
index 259b745..ec27e5b 100644
--- a/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/AutonomousGenerator.java
+++ b/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/AutonomousGenerator.java
@@ -78,6 +78,7 @@ private static void log() {
         Logger.recordOutput("Autonomous/ShouldStartDrivingToClimb", shouldStartDrivingToClimb());
         Logger.recordOutput("Autonomous/IsRight", SafeAutonomousDriveCommands.isRight());
         Logger.recordOutput("Autonomous/IsInAllianceZone", SafeAutonomousDriveCommands.isInAllianceZone());
+        Logger.recordOutput("Autonomous/IsInTrench", GeneralAutonomousCommands.isInTrench());
     }
 
     private static boolean shouldStartDrivingToClimb() {
diff --git a/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/GeneralAutonomousCommands.java b/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/GeneralAutonomousCommands.java
index fcf52bd..2ea9e54 100644
--- a/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/GeneralAutonomousCommands.java
+++ b/src/main/java/frc/trigon/robot/commands/commandfactories/autonomous/GeneralAutonomousCommands.java
@@ -2,6 +2,7 @@
 
 import com.pathplanner.lib.commands.PathPlannerAuto;
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.*;
@@ -20,6 +21,7 @@
 import frc.trigon.robot.subsystems.climber.ClimberCommands;
 import frc.trigon.robot.subsystems.climber.ClimberConstants;
 import frc.trigon.robot.subsystems.hood.HoodCommands;
+import frc.trigon.robot.subsystems.hood.HoodConstants;
 import frc.trigon.robot.subsystems.intake.IntakeCommands;
 import frc.trigon.robot.subsystems.intake.IntakeConstants;
 import frc.trigon.robot.subsystems.swerve.SwerveCommands;
@@ -128,12 +130,30 @@ private static Command getClimbToL1Command(Supplier<FlippablePose2d> climbPositi
 
     private static Command getShootAtHubWhileDrivingCommand() {
         return GeneralCommands.getContinuousConditionalCommand(
-                ShootingCommands.getShootAtHubCommand(),
-                getPrepareForShootingCommand(),
-                SafeAutonomousDriveCommands::isInAllianceZone
+                getPrepareForShootingWithoutHoodCommand(),
+                GeneralCommands.getContinuousConditionalCommand(
+                        ShootingCommands.getShootAtHubCommand(),
+                        getPrepareForShootingCommand(),
+                        SafeAutonomousDriveCommands::isInAllianceZone
+                ),
+                GeneralAutonomousCommands::isInTrench
         );
     }
 
+    public static boolean isInTrench() {
+        final Pose2d currentRobotPose = RobotContainer.ROBOT_POSE_ESTIMATOR.getEstimatedRobotPose();
+        double entryXFromAllianceZone = isAngleCloserTo180(currentRobotPose.getRotation()) ^ Flippable.isRedAlliance() ? 4.25 : 4.1;
+        double entryXFromNeutralZone = isAngleCloserTo180(currentRobotPose.getRotation()) ^ Flippable.isRedAlliance() ? 5.4 : 5.6;
+        entryXFromAllianceZone = Flippable.isRedAlliance() ? FieldConstants.FIELD_LENGTH_METERS - entryXFromAllianceZone : entryXFromAllianceZone;
+        entryXFromNeutralZone = Flippable.isRedAlliance() ? FieldConstants.FIELD_LENGTH_METERS - entryXFromNeutralZone : entryXFromNeutralZone;
+        return currentRobotPose.getX() > entryXFromAllianceZone && currentRobotPose.getX() < entryXFromNeutralZone
+                || currentRobotPose.getX() < entryXFromAllianceZone && currentRobotPose.getX() > entryXFromNeutralZone;
+    }
+
+    private static boolean isAngleCloserTo180(Rotation2d angle) {
+        return Math.abs(angle.getDegrees()) > 90;
+    }
+
     private static Command getDriveToFuelInNeutralZoneCommand(boolean shootPreload, double timeout, boolean shouldWaitUntilAtPose, FlippablePose2d targetPose, boolean intakeSlowly) {
         return new SequentialCommandGroup(
                 SafeAutonomousDriveCommands.getSafeDriveToPoseCommand(
@@ -164,6 +184,10 @@ private static Command getPrepareForShootingCommand() {
         );
     }
 
+    private static Command getPrepareForShootingWithoutHoodCommand() {
+        return HoodCommands.getRestCommand();
+    }
+
     private static Command getAimWithTargetShootingState(Supplier<ShootingState> targetShootingState) {
         return new ParallelCommandGroup(
                 TurretCommands.getSetTargetFieldRelativeAngleCommand(() -> targetShootingState.get().targetFieldRelativeYaw()),
diff --git a/src/main/java/frc/trigon/robot/constants/AutonomousConstants.java b/src/main/java/frc/trigon/robot/constants/AutonomousConstants.java
index 3daa6c4..12feccd 100644
--- a/src/main/java/frc/trigon/robot/constants/AutonomousConstants.java
+++ b/src/main/java/frc/trigon/robot/constants/AutonomousConstants.java
@@ -41,7 +41,7 @@ public class AutonomousConstants {
             AUTONOMOUS_TIME_SECONDS = 20,
             DEPOT_COLLECTION_TIMEOUT_SECONDS = 4,
             NEUTRAL_ZONE_COLLECTION_TIMEOUT_SECONDS = 1,
-            SCORING_TIMEOUT_SECONDS = 3.5,
+            SCORING_TIMEOUT_SECONDS = 3.7,
             ESTIMATED_CLIMBING_TIME_SECONDS = 3;
     public static final double
             ROBOT_AVERAGE_SPEED_METERS_PER_SECOND = 1,