diff --git a/src/main/deploy/pathplanner/autos/Blue - A123_6.auto b/src/main/deploy/pathplanner/autos/Blue - A123_6.auto
new file mode 100644
index 0000000..099df74
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Blue - A123_6.auto	
@@ -0,0 +1,209 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.39,
+      "y": 7.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 13.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A_Preload - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "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": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "1-2 - Blue"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "2-3 - Blue"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "1-6 - Blue"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "6-2 - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Blue - D_45.auto b/src/main/deploy/pathplanner/autos/Blue - D_45.auto
new file mode 100644
index 0000000..d88c77d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Blue - D_45.auto	
@@ -0,0 +1,154 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_4 - Blue"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4_in - 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": "C_Preload_5 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5_in - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "5_in_driveout - Blue"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Blue - D_5.auto b/src/main/deploy/pathplanner/autos/Blue - D_5.auto
new file mode 100644
index 0000000..d3764c1
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Blue - D_5.auto	
@@ -0,0 +1,111 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_5 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5_in - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "5_in_driveout - Blue"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Blue - D_54.auto b/src/main/deploy/pathplanner/autos/Blue - D_54.auto
new file mode 100644
index 0000000..1d9961c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Blue - D_54.auto	
@@ -0,0 +1,154 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_5 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5_in - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_4 - Blue"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4_in - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "5_in_driveout - Blue"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/D_56.auto b/src/main/deploy/pathplanner/autos/D_56.auto
new file mode 100644
index 0000000..697459c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/D_56.auto
@@ -0,0 +1,135 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_5 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5_in - 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": "New New Path"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "New New New Path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Drive Off.auto b/src/main/deploy/pathplanner/autos/Drive Off.auto
new file mode 100644
index 0000000..912756d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Drive Off.auto	
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.45,
+      "y": 1.57
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Drive Off"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Qaul NT Blue - C_45.auto b/src/main/deploy/pathplanner/autos/Qaul NT Blue - C_45.auto
new file mode 100644
index 0000000..1547789
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Qaul NT Blue - C_45.auto	
@@ -0,0 +1,135 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.38,
+      "y": 1.59
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "C-Preload - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.05
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_4 - Blue"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4_in - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.05
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C_Preload_5 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5_in - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.05
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        }
+      ]
+    }
+  },
+  "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
new file mode 100644
index 0000000..c4d732a
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Red - A123_6.auto	
@@ -0,0 +1,203 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.39,
+      "y": 7.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A_Preload - Red"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_Preload_1 - Red"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "1-2 - Red"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "2-3 - Red"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "1-6 - Red"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "6-2 - Red"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/a1.auto b/src/main/deploy/pathplanner/autos/a1.auto
new file mode 100644
index 0000000..b8a79f2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/a1.auto
@@ -0,0 +1,62 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.39,
+      "y": 7.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A_Preload - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "obrit"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/d_32.auto b/src/main/deploy/pathplanner/autos/d_32.auto
new file mode 100644
index 0000000..268a538
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/d_32.auto
@@ -0,0 +1,228 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.04
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "c-3"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.04
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.04
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "c-62"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.04
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.06
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/disrupt.auto b/src/main/deploy/pathplanner/autos/disrupt.auto
new file mode 100644
index 0000000..41906af
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/disrupt.auto
@@ -0,0 +1,87 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.53,
+      "y": 3.33
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustStop"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "New Path"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ALLSYSTEMSGO"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "STOPALL"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100755
index 0000000..bab0da9
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/1-2 - Blue.path b/src/main/deploy/pathplanner/paths/1-2 - Blue.path
new file mode 100644
index 0000000..02aeb42
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/1-2 - Blue.path	
@@ -0,0 +1,65 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.57,
+        "y": 6.74
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.6610478887110833,
+        "y": 5.049319120352518
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0530014207035454,
+        "y": 5.556508368004999
+      },
+      "prevControl": {
+        "x": 3.0043697612269638,
+        "y": 5.568125669608806
+      },
+      "nextControl": {
+        "x": 3.101633080180127,
+        "y": 5.544891066401192
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.8405877197611202,
+        "y": 5.556508368004999
+      },
+      "prevControl": {
+        "x": 2.791668728566135,
+        "y": 5.546167560470528
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/1-2 - Red.path b/src/main/deploy/pathplanner/paths/1-2 - Red.path
new file mode 100644
index 0000000..650641a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/1-2 - Red.path	
@@ -0,0 +1,65 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/1-6 - Blue.path b/src/main/deploy/pathplanner/paths/1-6 - Blue.path
new file mode 100644
index 0000000..8cb3fce
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/1-6 - Blue.path	
@@ -0,0 +1,65 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/1-6 - Red.path b/src/main/deploy/pathplanner/paths/1-6 - Red.path
new file mode 100644
index 0000000..b1592e2
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/1-6 - Red.path	
@@ -0,0 +1,65 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/2-3 - Blue.path b/src/main/deploy/pathplanner/paths/2-3 - Blue.path
new file mode 100644
index 0000000..e1548b4
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/2-3 - Blue.path	
@@ -0,0 +1,65 @@
+{
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/2-3 - Red.path b/src/main/deploy/pathplanner/paths/2-3 - Red.path
new file mode 100644
index 0000000..c389f43
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/2-3 - Red.path	
@@ -0,0 +1,65 @@
+{
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/4_in - Blue.path b/src/main/deploy/pathplanner/paths/4_in - Blue.path
new file mode 100644
index 0000000..323396b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/4_in - Blue.path	
@@ -0,0 +1,49 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/5_in - Blue.path b/src/main/deploy/pathplanner/paths/5_in - Blue.path
new file mode 100644
index 0000000..0571f46
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/5_in - Blue.path	
@@ -0,0 +1,49 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/5_in_driveout - Blue.path b/src/main/deploy/pathplanner/paths/5_in_driveout - Blue.path
new file mode 100644
index 0000000..61a99a6
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/5_in_driveout - Blue.path	
@@ -0,0 +1,52 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/6-2 - Blue.path b/src/main/deploy/pathplanner/paths/6-2 - Blue.path
new file mode 100644
index 0000000..0b61d3e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/6-2 - Blue.path	
@@ -0,0 +1,49 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/6-2 - Red.path b/src/main/deploy/pathplanner/paths/6-2 - Red.path
new file mode 100644
index 0000000..167a614
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/6-2 - Red.path	
@@ -0,0 +1,49 @@
+{
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A_Preload - Blue.path b/src/main/deploy/pathplanner/paths/A_Preload - Blue.path
new file mode 100644
index 0000000..b40df14
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_Preload - Blue.path	
@@ -0,0 +1,52 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A_Preload - Red.path b/src/main/deploy/pathplanner/paths/A_Preload - Red.path
new file mode 100644
index 0000000..cc694b5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_Preload - Red.path	
@@ -0,0 +1,52 @@
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\ 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
new file mode 100644
index 0000000..de505bd
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_Preload_1 - Blue.path	
@@ -0,0 +1,74 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/A_Preload_1 - Red.path b/src/main/deploy/pathplanner/paths/A_Preload_1 - Red.path
new file mode 100644
index 0000000..8826521
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/A_Preload_1 - Red.path	
@@ -0,0 +1,74 @@
+{
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+}
\ 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
new file mode 100644
index 0000000..43ecb1c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C-Preload - Blue.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
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+  "folder": "C - BLUE - 123",
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+}
\ 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
new file mode 100644
index 0000000..75361c0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C_Preload_4 - Blue.path	
@@ -0,0 +1,60 @@
+{
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+    {
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_4 - Red.path b/src/main/deploy/pathplanner/paths/C_Preload_4 - Red.path
new file mode 100644
index 0000000..1a822b3
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C_Preload_4 - Red.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
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+    {
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+}
\ 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
new file mode 100644
index 0000000..ab6cd2a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C_Preload_5 - Blue.path	
@@ -0,0 +1,55 @@
+{
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+    {
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_5 - Red.path b/src/main/deploy/pathplanner/paths/C_Preload_5 - Red.path
new file mode 100644
index 0000000..5773e48
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C_Preload_5 - Red.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path b/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path
new file mode 100644
index 0000000..8c49be2
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C_Preload_6 - Blue.path	
@@ -0,0 +1,49 @@
+{
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/C_Preload_6 - Red.path b/src/main/deploy/pathplanner/paths/C_Preload_6 - Red.path
new file mode 100644
index 0000000..aa8ebf9
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/C_Preload_6 - Red.path	
@@ -0,0 +1,49 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Copy of A_Preload_1 - Blue.path b/src/main/deploy/pathplanner/paths/Copy of A_Preload_1 - Blue.path
new file mode 100644
index 0000000..6de7b4d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Copy of A_Preload_1 - Blue.path	
@@ -0,0 +1,74 @@
+{
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/D.path b/src/main/deploy/pathplanner/paths/D.path
new file mode 100644
index 0000000..f4eebf4
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D.path
@@ -0,0 +1,52 @@
+{
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Drive Off.path b/src/main/deploy/pathplanner/paths/Drive Off.path
new file mode 100644
index 0000000..3c929c8
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Drive Off.path	
@@ -0,0 +1,52 @@
+{
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\ 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
new file mode 100644
index 0000000..058baf7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New New New Path.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 9.55,
+        "y": 4.35
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.092165366255615,
+        "y": 4.665144340558634
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.167438767095844,
+        "y": 3.7804537889005365
+      },
+      "prevControl": {
+        "x": 3.927871346059593,
+        "y": 2.211959473801577
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "C-Preload - Blue"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 140.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/New New Path.path
new file mode 100644
index 0000000..63aeb52
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New New Path.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.167438767095844,
+        "y": 3.7804537889005365
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.3181204133828452,
+        "y": 1.7272603772026798
+      },
+      "isLocked": false,
+      "linkedName": "C-Preload - Blue"
+    },
+    {
+      "anchor": {
+        "x": 9.547165464636093,
+        "y": 4.347812983331366
+      },
+      "prevControl": {
+        "x": 4.841720436815287,
+        "y": 4.396119847844156
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.0,
+    "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/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
new file mode 100644
index 0000000..226b449
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -0,0 +1,76 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.17,
+        "y": 3.78
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7807160250470733,
+        "y": 1.842984514167385
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.74612086518774,
+        "y": 1.445268107672366
+      },
+      "prevControl": {
+        "x": 7.610478324655434,
+        "y": 0.5762364510951524
+      },
+      "nextControl": {
+        "x": 9.033611168748159,
+        "y": 1.66526530382873
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.883116706227543,
+        "y": 7.620546177858788
+      },
+      "prevControl": {
+        "x": 8.831397268868482,
+        "y": 7.110707794625684
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.55,
+      "rotationDegrees": -90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 1.0,
+      "rotationDegrees": -111.60676143556037,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": -105.92972725043278,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/c-3.path b/src/main/deploy/pathplanner/paths/c-3.path
new file mode 100644
index 0000000..e3f88aa
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/c-3.path
@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.1170764059116887,
+        "y": 3.7768428303165438
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.199027750656658,
+        "y": 3.4490374513366695
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.62,
+        "y": 4.23
+      },
+      "prevControl": {
+        "x": 2.5814673594665107,
+        "y": 4.220745947685124
+      },
+      "nextControl": {
+        "x": 2.6897211583635134,
+        "y": 4.246744329950318
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.34,
+        "y": 4.37
+      },
+      "prevControl": {
+        "x": 2.3849967032063852,
+        "y": 4.348198699567309
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "c-3"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": -169.28004141612266,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 155.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": "C - BLUE - 123",
+  "previewStartingState": {
+    "rotation": 147.88795365860486,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/c-62.path b/src/main/deploy/pathplanner/paths/c-62.path
new file mode 100644
index 0000000..ce374b2
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/c-62.path
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.3219547677741104,
+        "y": 3.5787937471828704
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9395151589642567,
+        "y": 3.872452732519008
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.9941493887942359,
+        "y": 5.3612354953859365
+      },
+      "prevControl": {
+        "x": 1.7346367971018353,
+        "y": 4.958308050389841
+      },
+      "nextControl": {
+        "x": 2.0491226440167525,
+        "y": 5.446588707441949
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.7863457213289324,
+        "y": 5.559284578519611
+      },
+      "prevControl": {
+        "x": 2.021466503709225,
+        "y": 5.545626021062116
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.5,
+    "maxAcceleration": 4.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -176.9552215558061,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "C - BLUE - 123",
+  "previewStartingState": {
+    "rotation": 157.71441235316723,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/c-6alt.path b/src/main/deploy/pathplanner/paths/c-6alt.path
new file mode 100644
index 0000000..365ae26
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/c-6alt.path
@@ -0,0 +1,111 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.260491259215384,
+        "y": 3.7290378792153125
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.036103728689703,
+        "y": 2.882207316850637
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.9909257051495315,
+        "y": 3.8947370617745936
+      },
+      "prevControl": {
+        "x": 3.8107887839576358,
+        "y": 3.1018584688313062
+      },
+      "nextControl": {
+        "x": 5.970827039218633,
+        "y": 4.553086764277989
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.39163038141217,
+        "y": 4.13304839887262
+      },
+      "prevControl": {
+        "x": 8.614136222579265,
+        "y": 4.109921594031539
+      },
+      "nextControl": {
+        "x": 4.985373471985589,
+        "y": 4.487087818106271
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.138542909620915,
+        "y": 3.428549615150427
+      },
+      "prevControl": {
+        "x": 5.135617604018033,
+        "y": 4.248063062600113
+      },
+      "nextControl": {
+        "x": 3.796213008341486,
+        "y": 3.1471825730029512
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.260491259215384,
+        "y": 3.7290378792153125
+      },
+      "prevControl": {
+        "x": 3.571712775134882,
+        "y": 2.8139145295631622
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2.9,
+      "rotationDegrees": -131.37944117531887,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.5,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 145.88552705465875,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "C - BLUE - 123",
+  "previewStartingState": {
+    "rotation": 140.9991472989435,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/obrit.path b/src/main/deploy/pathplanner/paths/obrit.path
new file mode 100644
index 0000000..ee43d9c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/obrit.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.1,
+        "y": 7.35
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.9722727871381671,
+        "y": 7.475008584276428
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.765942581915881,
+        "y": 7.35
+      },
+      "prevControl": {
+        "x": 1.2776048512856457,
+        "y": 7.429965213027291
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.25,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 177.59273329413725,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "A - BLUE - 123",
+  "previewStartingState": {
+    "rotation": -135.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
index 55ff33c..4bab4b9 100644
--- a/src/main/java/com/team841/calliope/RobotContainer.java
+++ b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -3,6 +3,8 @@
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 import com.team841.calliope.constants.RC;
 import com.team841.calliope.constants.Swerve;
 import com.team841.calliope.constants.SwerveNike;
@@ -28,6 +30,8 @@
 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.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.*;
 import edu.wpi.first.wpilibj2.command.button.CommandGenericHID;
 import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
@@ -75,6 +79,8 @@ public class RobotContainer {
     private BioDrive bioDrive;
     private Shoot shootCommand;
 
+    private SendableChooser<Command> autoChooser;
+
     private static volatile RobotContainer instance;
 
     public static RobotContainer getInstance() {
@@ -89,6 +95,8 @@ public static RobotContainer getInstance() {
     }
 
     public RobotContainer() {
+        registerNamedCommands();
+
         switch (RC.robotType) {
             default -> {
                 if (RC.robot == RC.Robot.CALLIOPE)
@@ -309,7 +317,55 @@ private void configureDuoStick() {
                 .onFalse(new InstantCommand(shooter::stopShooter));
     }
 
+    private void registerNamedCommands(){
+        // Register Named Commands
+        NamedCommands.registerCommand("IntakeOn", new IntakeAuto(intake, indexer));
+        NamedCommands.registerCommand(
+                "Shoot",
+                new ParallelCommandGroup(
+                        new InstantCommand(shooter::spinUp),
+                        new SequentialCommandGroup(new WaitCommand(1), new InstantCommand(indexer::Pass)))
+                        .withTimeout(3));
+        NamedCommands.registerCommand("SpinUp", new InstantCommand(shooter::spinUp));
+        NamedCommands.registerCommand("JustShoot", new InstantCommand(indexer::Pass).withTimeout(0.5));
+        NamedCommands.registerCommand(
+                "ALLSYSTEMSGO",
+                new ParallelCommandGroup(
+                        new InstantCommand(intake::intake),
+                        new InstantCommand(shooter::disruptshot),
+                        new InstantCommand(indexer::Pass)));
+        NamedCommands.registerCommand(
+                "FunnyInake",
+                new ParallelCommandGroup(
+                        new InstantCommand(intake::intake), new InstantCommand(indexer::Pass))
+                        .withTimeout(0.75));
+        NamedCommands.registerCommand(
+                "JustStop",
+                new ParallelCommandGroup(
+                        new InstantCommand(indexer::stopIndexer), new InstantCommand(shooter::stopShooter)));
+        NamedCommands.registerCommand(
+                "sam",
+                new ParallelCommandGroup(
+                        new InstantCommand(intake::intake),
+                        new InstantCommand(shooter::ampShot),
+                        new InstantCommand(indexer::Pass))
+                        .withTimeout(2.5));
+        NamedCommands.registerCommand("aIntake", new IntakeAuto(intake, indexer));
+        NamedCommands.registerCommand("stopIndexer", new InstantCommand(indexer::stopIndexer));
+        NamedCommands.registerCommand(
+                "CountShot",
+                new ParallelCommandGroup(
+                        new InstantCommand(shooter::spinUp),
+                        new SequentialCommandGroup(new WaitCommand(1), new InstantCommand(indexer::Pass)))
+                        .withTimeout(0.8));
+        NamedCommands.registerCommand("STOPALL", new ParallelCommandGroup(
+                new InstantCommand(indexer::stopIndexer), new InstantCommand(shooter::stopShooter), new InstantCommand(intake::stopIntake)));
+
+        autoChooser = AutoBuilder.buildAutoChooser(); // Default auto will be `Commands.none()`
+        SmartDashboard.putData("Auto Mode", autoChooser);
+    }
+
     public Command getAutonomousCommand() {
-        return Commands.print("No autonomous command configured");
+        return autoChooser.getSelected();
     }
 }