diff --git a/.github/workflows/disable-auto-reopen-after-second-close.yml b/.github/workflows/disable-auto-reopen-after-second-close.yml
new file mode 100644
index 000000000000..13bcb232ded4
--- /dev/null
+++ b/.github/workflows/disable-auto-reopen-after-second-close.yml
@@ -0,0 +1,45 @@
+name: Disable auto-reopen after second close
+
+on:
+  pull_request:
+    types: [closed]
+
+permissions:
+  issues: write
+  pull-requests: write
+
+jobs:
+  disable:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Disable automatic reopen
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const pr = context.payload.pull_request;
+
+            // Ignore merged PRs
+            if (pr.merged) return;
+
+            const labels = pr.labels.map(l => l.name);
+
+            // Only act if it was previously reopened once
+            if (!labels.includes('reopen-used')) return;
+
+            // Mark auto-reopen as permanently disabled
+            await github.rest.issues.addLabels({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: pr.number,
+              labels: ['reopen-locked']
+            });
+
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: pr.number,
+              body:
+                "This PR was reopened once and then closed again.\n\n" +
+                "Automatic reopening via `/not-a-mistake` is now disabled.\n" +
+                "Maintainers may still reopen this PR manually if needed."
+            });
diff --git a/.github/workflows/mistake-pr.yml b/.github/workflows/mistake-pr.yml
new file mode 100644
index 000000000000..b398dd7467c7
--- /dev/null
+++ b/.github/workflows/mistake-pr.yml
@@ -0,0 +1,67 @@
+name: Auto-close mistake PRs
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+permissions:
+  issues: write
+  pull-requests: write
+
+jobs:
+  detect:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Detect mistake PR
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const pr = context.payload.pull_request;
+            const labels = pr.labels.map(l => l.name);
+
+            // Skip if auto-reopen is disabled or already used
+            if (labels.includes('reopen-used') || labels.includes('reopen-locked')) {
+              return;
+            }
+
+            // Get changed files
+            const files = await github.paginate(
+              github.rest.pulls.listFiles,
+              {
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                pull_number: pr.number,
+              }
+            );
+
+            // Detect newly added OR copied files
+            const hasNewFiles = files.some(
+              f => f.status === 'added' || f.status === 'copied'
+            );
+
+            if (!hasNewFiles) return;
+
+            // Label as mistake PR
+            await github.rest.issues.addLabels({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: pr.number,
+              labels: ['mistake-pr']
+            });
+
+            // Explain and close
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: pr.number,
+              body:
+                "This PR was automatically closed because it adds new files.\n\n" +
+                "If this is intentional, comment `/not-a-mistake` **once** to reopen it."
+            });
+
+            await github.rest.pulls.update({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              pull_number: pr.number,
+              state: 'closed'
+            });
diff --git a/.github/workflows/reopen-once.yml b/.github/workflows/reopen-once.yml
new file mode 100644
index 000000000000..637869768784
--- /dev/null
+++ b/.github/workflows/reopen-once.yml
@@ -0,0 +1,84 @@
+name: Reopen mistake PR once
+
+on:
+  issue_comment:
+    types: [created]
+
+permissions:
+  issues: write
+  pull-requests: write
+
+jobs:
+  reopen:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Handle /not-a-mistake
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const comment = context.payload.comment;
+            const issue = context.payload.issue;
+
+            if (!issue.pull_request) return;
+            if (comment.body.trim() !== '/not-a-mistake') return;
+
+            const pr = await github.rest.pulls.get({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              pull_number: issue.number
+            });
+
+            const labels = pr.data.labels.map(l => l.name);
+
+            // Only PR author may use this
+            if (comment.user.login !== pr.data.user.login) {
+              return;
+            }
+
+            // Must be closed and labeled mistake-pr
+            if (pr.data.state !== 'closed') return;
+            if (!labels.includes('mistake-pr')) return;
+
+            // Auto-reopen already disabled
+            if (labels.includes('reopen-used') || labels.includes('reopen-locked')) {
+              await github.rest.issues.createComment({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: issue.number,
+                body:
+                  "Automatic reopening is disabled for this PR.\n\n" +
+                  "A maintainer may still reopen it manually if needed."
+              });
+              return;
+            }
+
+            // Mark reopen as used FIRST (prevents race)
+            await github.rest.issues.addLabels({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: issue.number,
+              labels: ['reopen-used']
+            });
+
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: issue.number,
+              name: 'mistake-pr'
+            });
+
+            await github.rest.pulls.update({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              pull_number: issue.number,
+              state: 'open'
+            });
+
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: issue.number,
+              body:
+                "PR reopened.\n\n" +
+                "If this PR is closed again, automatic reopening will be disabled."
+            });
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
index cfc16aa2ec8f..629d9a14285e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
@@ -22,6 +22,7 @@
 import com.pedropathing.paths.*;
 import com.pedropathing.telemetry.SelectableOpMode;
 import com.pedropathing.util.*;
+import static com.pedropathing.math.MathFunctions.quadraticFit;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -856,7 +857,7 @@ public void loop() {
             }
 
             case DONE: {
-                double[] coeffs = MathFunctions.QuadraticRegression.quadraticFit(data);
+                double[] coeffs = quadraticFit(data);
 
                 telemetryM.debug("Tuning Complete");
                 telemetryM.debug("kFriction (kQ)", coeffs[1]);