diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
new file mode 100644
index 0000000..52f5c0c
--- /dev/null
+++ b/.pathplanner/settings.json
@@ -0,0 +1,14 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Geo Autos "
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Geo A1_78.auto b/src/main/deploy/pathplanner/autos/Geo A1_78.auto
new file mode 100644
index 0000000..588f93c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Geo A1_78.auto	
@@ -0,0 +1,210 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.41,
+      "y": 7.29
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Copy_A_Preload - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Copy A_Preload_1 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_1"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.15
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "stopIndexer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A_7"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_8_"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_Shoot"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 2.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "JustShoot"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "STOPALL"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Red - A123_6.auto b/src/main/deploy/pathplanner/autos/Red - A123_6.auto
index c4d732a..b60872a 100644
--- a/src/main/deploy/pathplanner/autos/Red - A123_6.auto	
+++ b/src/main/deploy/pathplanner/autos/Red - A123_6.auto	
@@ -5,7 +5,7 @@
       "x": 1.39,
       "y": 7.33
     },
-    "rotation": 180.0
+    "rotation": -170.53611698914128
   },
   "command": {
     "type": "sequential",
diff --git a/src/main/deploy/pathplanner/paths/4_in - Blue.path b/src/main/deploy/pathplanner/paths/4_in - Blue.path
index 323396b..2364115 100644
--- a/src/main/deploy/pathplanner/paths/4_in - Blue.path	
+++ b/src/main/deploy/pathplanner/paths/4_in - Blue.path	
@@ -12,16 +12,16 @@
         "y": 0.8776055734329787
       },
       "isLocked": false,
-      "linkedName": "C-Preload_4 - Blue"
+      "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.167438767095844,
-        "y": 3.7804537889005365
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
       },
       "prevControl": {
-        "x": 3.6453437205634085,
-        "y": 1.9880649713301088
+        "x": 3.9630082403645748,
+        "y": 1.4515129056110494
       },
       "nextControl": null,
       "isLocked": false,
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "Middle In - Blue",
+  "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A78.path b/src/main/deploy/pathplanner/paths/A78.path
index 9c9574e..b1a556d 100644
--- a/src/main/deploy/pathplanner/paths/A78.path
+++ b/src/main/deploy/pathplanner/paths/A78.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.793745215131274,
-        "y": 7.618991561339931
+        "x": 2.3914165945307624,
+        "y": 6.464381773271393
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.110891792206119,
-        "y": 6.787120053846916
+        "x": 4.471350440497107,
+        "y": 6.648446715392308
       },
       "isLocked": false,
       "linkedName": null
diff --git a/src/main/deploy/pathplanner/paths/A_1.path b/src/main/deploy/pathplanner/paths/A_1.path
new file mode 100644
index 0000000..79cd14b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_1.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.49,
+        "y": 6.46
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.5481609452008165,
+        "y": 6.735622341110154
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.012565621543798,
+        "y": 7.38
+      },
+      "prevControl": {
+        "x": 8.041668844268257,
+        "y": 7.38
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -171.41637851988602,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": -156.77014046793445,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A_7.path b/src/main/deploy/pathplanner/paths/A_7.path
new file mode 100644
index 0000000..bae47ec
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_7.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.01,
+        "y": 7.38
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.898972721712261,
+        "y": 7.2061424840338475
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.49,
+        "y": 6.46
+      },
+      "prevControl": {
+        "x": 4.3975509494466705,
+        "y": 6.753512138190412
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -153.69779832365407,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": -170.61087914558655,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A_8_.path b/src/main/deploy/pathplanner/paths/A_8_.path
new file mode 100644
index 0000000..e03d6c4
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_8_.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.59,
+        "y": 6.46
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.977087582336601,
+        "y": 6.824906765867343
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.04,
+        "y": 5.844061912344147
+      },
+      "prevControl": {
+        "x": 8.109027348043107,
+        "y": 5.856233296210902
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 162.8240963842533,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": -155.1431168730274,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A_Preload_1 - Blue.path b/src/main/deploy/pathplanner/paths/A_Preload_1 - Blue.path
index de505bd..b883fb5 100644
--- a/src/main/deploy/pathplanner/paths/A_Preload_1 - Blue.path	
+++ b/src/main/deploy/pathplanner/paths/A_Preload_1 - Blue.path	
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 2.566709790109721,
-        "y": 6.736803563102432
+        "x": 2.3914165945307624,
+        "y": 6.464381773271393
       },
       "prevControl": {
-        "x": 2.586402782843822,
-        "y": 6.6908450379174935
+        "x": 2.411109587264863,
+        "y": 6.418423248086454
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/A_Shoot.path b/src/main/deploy/pathplanner/paths/A_Shoot.path
new file mode 100644
index 0000000..b69839e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_Shoot.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.04,
+        "y": 5.84
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.82824212285196,
+        "y": 6.902435329534336
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.49,
+        "y": 6.46
+      },
+      "prevControl": {
+        "x": 3.1353050697859244,
+        "y": 6.573784694591217
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -154.32119938139618,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": 144.88671362855428,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C-Preload - Blue.path b/src/main/deploy/pathplanner/paths/C-Preload - Blue.path
index 43ecb1c..1dc6eb9 100644
--- a/src/main/deploy/pathplanner/paths/C-Preload - Blue.path	
+++ b/src/main/deploy/pathplanner/paths/C-Preload - Blue.path	
@@ -1,49 +1,49 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 1.38,
-        "y": 1.59
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 1.420150086637606,
-        "y": 1.6760986094138155
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.17,
-        "y": 3.78
-      },
-      "prevControl": {
-        "x": 2.1730696263864893,
-        "y": 3.7300943150147465
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": "C-Preload - Blue"
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 6.0,
-    "maxAcceleration": 4.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 140.0,
-    "rotateFast": true
-  },
-  "reversed": false,
-  "folder": "C - BLUE - 123",
-  "previewStartingState": null,
-  "useDefaultConstraints": false
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.38,
+        "y": 1.59
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.420150086637606,
+        "y": 1.6760986094138155
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
+      },
+      "prevControl": {
+        "x": 2.488172913283504,
+        "y": 3.1939960381962242
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "C-Preload - Blue"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 140.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_4 - Blue.path b/src/main/deploy/pathplanner/paths/C_Preload_4 - Blue.path
index 75361c0..bc85cba 100644
--- a/src/main/deploy/pathplanner/paths/C_Preload_4 - Blue.path	
+++ b/src/main/deploy/pathplanner/paths/C_Preload_4 - Blue.path	
@@ -3,16 +3,16 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.167438767095844,
-        "y": 3.7804537889005365
+        "x": 2.8012958736331153,
+        "y": 2.869154953716469
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.9504189253084125,
-        "y": 2.1267355189414747
+        "x": 4.5842760318456826,
+        "y": 1.215436683757407
       },
       "isLocked": false,
-      "linkedName": "C-Preload - Blue"
+      "linkedName": null
     },
     {
       "anchor": {
@@ -54,7 +54,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "Middle Out - Blue",
+  "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_5 - Blue.path b/src/main/deploy/pathplanner/paths/C_Preload_5 - Blue.path
index 3defc15..33e4084 100644
--- a/src/main/deploy/pathplanner/paths/C_Preload_5 - Blue.path	
+++ b/src/main/deploy/pathplanner/paths/C_Preload_5 - Blue.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.167438767095844,
-        "y": 3.7804537889005365
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.543172982097138,
-        "y": 0.804499458758309
+        "x": 5.860837501898311,
+        "y": 0.26794739303924997
       },
       "isLocked": false,
       "linkedName": "C-Preload - Blue"
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path b/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path
index 8c49be2..e98952e 100644
--- a/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path	
+++ b/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path	
@@ -1,49 +1,49 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 2.17,
-        "y": 3.78
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 3.902561497488018,
-        "y": 1.6896434370979072
-      },
-      "isLocked": false,
-      "linkedName": "C-Preload - Blue"
-    },
-    {
-      "anchor": {
-        "x": 8.39,
-        "y": 4.13
-      },
-      "prevControl": {
-        "x": 4.567738968418078,
-        "y": 4.461889178713804
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 6.0,
-    "maxAcceleration": 4.25,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 180.0,
-    "rotateFast": true
-  },
-  "reversed": false,
-  "folder": "Middle Out - Blue",
-  "previewStartingState": null,
-  "useDefaultConstraints": false
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.217664784385033,
+        "y": 1.1535451602793847
+      },
+      "isLocked": false,
+      "linkedName": "C-Preload - Blue"
+    },
+    {
+      "anchor": {
+        "x": 8.39,
+        "y": 4.13
+      },
+      "prevControl": {
+        "x": 4.567738968418078,
+        "y": 4.461889178713804
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 4.25,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Copy A_Preload_1 - Blue.path b/src/main/deploy/pathplanner/paths/Copy A_Preload_1 - Blue.path
new file mode 100644
index 0000000..1157fd0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Copy A_Preload_1 - Blue.path	
@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.1,
+        "y": 7.35
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.230328019522374,
+        "y": 5.8860712769320465
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.8035277595218875,
+        "y": 6.742298829889139
+      },
+      "prevControl": {
+        "x": 2.7647956588877696,
+        "y": 6.710678830197985
+      },
+      "nextControl": {
+        "x": 2.8422598601560054,
+        "y": 6.773918829580293
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.3914165945307624,
+        "y": 6.464381773271393
+      },
+      "prevControl": {
+        "x": 2.440656982181373,
+        "y": 6.473064182154739
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "the shot 1"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": -150.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.25,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -152.92791976200726,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": -144.25459225364824,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Copy_A_Preload - Blue.path b/src/main/deploy/pathplanner/paths/Copy_A_Preload - Blue.path
new file mode 100644
index 0000000..a322fd4
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Copy_A_Preload - Blue.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.41,
+        "y": 7.29
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.4598388508035915,
+        "y": 7.294011103411448
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.250886555981385,
+        "y": 7.33
+      },
+      "prevControl": {
+        "x": 2.300886555981385,
+        "y": 7.33
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -140.37292077599025,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New New New Path.path b/src/main/deploy/pathplanner/paths/New New New Path.path
index 058baf7..6e82491 100644
--- a/src/main/deploy/pathplanner/paths/New New New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New New New Path.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.167438767095844,
-        "y": 3.7804537889005365
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
       },
       "prevControl": {
-        "x": 3.927871346059593,
-        "y": 2.211959473801577
+        "x": 4.245535865860763,
+        "y": 1.6754074080825179
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/New New Path.path
index 63aeb52..1e6b4e0 100644
--- a/src/main/deploy/pathplanner/paths/New New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New New Path.path	
@@ -3,17 +3,33 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.167438767095844,
-        "y": 3.7804537889005365
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.3181204133828452,
-        "y": 1.7272603772026798
+        "x": 3.6357849331840195,
+        "y": 1.190708311483621
       },
       "isLocked": false,
       "linkedName": "C-Preload - Blue"
     },
+    {
+      "anchor": {
+        "x": 3.760928809043435,
+        "y": 3.8655361431264383
+      },
+      "prevControl": {
+        "x": 2.7761875724657843,
+        "y": 3.349633472369446
+      },
+      "nextControl": {
+        "x": 4.745670045621086,
+        "y": 4.381438813883431
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
     {
       "anchor": {
         "x": 9.547165464636093,