diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index ef36af2..b561340 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -6,7 +6,7 @@
     "Blue Left",
     "Blue Left Far",
     "Blue Mid "
-  ],
+  ],  
   "autoFolders": [
     "Middle"
   ],
diff --git a/src/main/deploy/pathplanner/autos/L A+B+C.auto b/src/main/deploy/pathplanner/autos/L A+B+C.auto
new file mode 100644
index 0000000..bef25b9
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/L A+B+C.auto	
@@ -0,0 +1,133 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.71,
+      "y": 6.63
+    },
+    "rotation": 60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoPreShoot"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "AutoShoot"
+                      }
+                    },
+                    {
+                      "type": "parallel",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "path",
+                            "data": {
+                              "pathName": "L - NA"
+                            }
+                          },
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Intake"
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "parallel",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "path",
+                            "data": {
+                              "pathName": "NA - SA"
+                            }
+                          },
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Intake"
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "AutoShoot"
+                      }
+                    },
+                    {
+                      "type": "parallel",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "path",
+                            "data": {
+                              "pathName": "SA-NB"
+                            }
+                          },
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Intake"
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "parallel",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "path",
+                            "data": {
+                              "pathName": "NB - SB"
+                            }
+                          },
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "Intake"
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "AutoShoot"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/M 1+3+P.auto b/src/main/deploy/pathplanner/autos/M 1+3+P.auto
index 7af44a5..fbaa4fb 100644
--- a/src/main/deploy/pathplanner/autos/M 1+3+P.auto	
+++ b/src/main/deploy/pathplanner/autos/M 1+3+P.auto	
@@ -143,6 +143,12 @@
                           }
                         ]
                       }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "CP"
+                      }
                     }
                   ]
                 }
diff --git a/src/main/deploy/pathplanner/autos/New New Auto.auto b/src/main/deploy/pathplanner/autos/New New Auto.auto
deleted file mode 100644
index ae1f7a7..0000000
--- a/src/main/deploy/pathplanner/autos/New New Auto.auto	
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 0.71,
-      "y": 6.63
-    },
-    "rotation": 60.0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Test"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/CP.path b/src/main/deploy/pathplanner/paths/CP.path
new file mode 100644
index 0000000..545795e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/CP.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.7,
+        "y": 4.18
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.549177337178205,
+        "y": 4.205053564224776
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.553153796662922,
+        "y": 4.75055731837352
+      },
+      "prevControl": {
+        "x": 5.021396262559622,
+        "y": 4.026909871078624
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 1.1691393279075564,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Blue Mid ",
+  "previewStartingState": {
+    "rotation": 0.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/L - NA.path b/src/main/deploy/pathplanner/paths/L - NA.path
new file mode 100644
index 0000000..00561d6
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/L - NA.path	
@@ -0,0 +1,84 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.71,
+        "y": 6.69
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.2694352292257878,
+        "y": 7.435865310106255
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.967562641007635,
+        "y": 7.7
+      },
+      "prevControl": {
+        "x": 2.474995891168253,
+        "y": 7.663513574085972
+      },
+      "nextControl": {
+        "x": 3.48592288287249,
+        "y": 7.738397054952952
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.7,
+        "y": 7.8
+      },
+      "prevControl": {
+        "x": 8.081008072650242,
+        "y": 7.83751466226362
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.6,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 0.55,
+      "rotationDegrees": 15.0,
+      "rotateFast": true
+    },
+    {
+      "waypointRelativePos": 1.15,
+      "rotationDegrees": 0.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Blue Left",
+  "previewStartingState": {
+    "rotation": 60.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/N1-NB.path b/src/main/deploy/pathplanner/paths/N1-NB.path
index 9a17e5d..08baf6d 100644
--- a/src/main/deploy/pathplanner/paths/N1-NB.path
+++ b/src/main/deploy/pathplanner/paths/N1-NB.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 8.7,
-        "y": 5.9
+        "x": 8.8,
+        "y": 5.98
       },
       "prevControl": {
-        "x": 7.970271481719434,
-        "y": 5.754054296343887
+        "x": 8.070271481719434,
+        "y": 5.834054296343887
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/N1-NC.path b/src/main/deploy/pathplanner/paths/N1-NC.path
index 9e3c845..0da776d 100644
--- a/src/main/deploy/pathplanner/paths/N1-NC.path
+++ b/src/main/deploy/pathplanner/paths/N1-NC.path
@@ -16,28 +16,28 @@
     },
     {
       "anchor": {
-        "x": 5.016883563178892,
-        "y": 4.366134261680289
+        "x": 5.286573172131114,
+        "y": 4.383847630639424
       },
       "prevControl": {
-        "x": 3.454048319861346,
-        "y": 4.81613351461997
+        "x": 3.7237379288135686,
+        "y": 4.833846883579105
       },
       "nextControl": {
-        "x": 5.890309023702349,
-        "y": 4.1146421057319005
+        "x": 6.159998632654571,
+        "y": 4.132355474691035
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 8.288499753470097,
-        "y": 4.11072928028209
+        "x": 8.7,
+        "y": 4.18
       },
       "prevControl": {
-        "x": 7.552690164203858,
-        "y": 4.080323925353733
+        "x": 7.6899999999999995,
+        "y": 4.18
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,7 +55,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 0.0,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/NA - SA.path b/src/main/deploy/pathplanner/paths/NA - SA.path
new file mode 100644
index 0000000..c1760e8
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NA - SA.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.7,
+        "y": 7.8
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.975032265800573,
+        "y": 7.783331377830269
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.2689118319413115,
+        "y": 6.892475267184037
+      },
+      "prevControl": {
+        "x": 4.457532593452396,
+        "y": 7.269716790206207
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 23.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Blue Left",
+  "previewStartingState": {
+    "rotation": 0.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NB - SB.path b/src/main/deploy/pathplanner/paths/NB - SB.path
new file mode 100644
index 0000000..cc4de75
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NB - SB.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.278590851597945,
+        "y": 5.784011892896883
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.451596014939648,
+        "y": 5.644279072007375
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.2689118319413115,
+        "y": 6.892475267184037
+      },
+      "prevControl": {
+        "x": 4.951842806883888,
+        "y": 6.830390633098349
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 27.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Blue Left",
+  "previewStartingState": {
+    "rotation": 0.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NB-SB.path b/src/main/deploy/pathplanner/paths/NB-SB.path
index 44a7b7b..28db8ca 100644
--- a/src/main/deploy/pathplanner/paths/NB-SB.path
+++ b/src/main/deploy/pathplanner/paths/NB-SB.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.7,
-        "y": 5.9
+        "x": 8.8,
+        "y": 5.98
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.768095892662374,
-        "y": 6.085455930911862
+        "x": 7.868095892662375,
+        "y": 6.165455930911862
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 6.184374486396032
       },
       "prevControl": {
-        "x": 6.652691658324494,
-        "y": 6.093158421610961
+        "x": 6.620062945709647,
+        "y": 6.16739020280071
       },
       "nextControl": {
-        "x": 5.084895614748312,
-        "y": 6.278331182663266
+        "x": 5.079577298373053,
+        "y": 6.202762923776941
       },
       "isLocked": false,
       "linkedName": null
diff --git a/src/main/deploy/pathplanner/paths/NC-SC.path b/src/main/deploy/pathplanner/paths/NC-SC.path
index 0b53d54..50ab820 100644
--- a/src/main/deploy/pathplanner/paths/NC-SC.path
+++ b/src/main/deploy/pathplanner/paths/NC-SC.path
@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.29,
-        "y": 4.11
+        "x": 8.7,
+        "y": 4.18
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.139177337178205,
-        "y": 4.135053564224776
+        "x": 7.549177337178205,
+        "y": 4.205053564224776
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.126342840920976,
-        "y": 4.353972119708945
+        "x": 5.144889883688397,
+        "y": 4.558868163421606
       },
       "prevControl": {
-        "x": 5.894557971546646,
-        "y": 4.088416272085255
+        "x": 5.913105014314067,
+        "y": 4.293312315797917
       },
       "nextControl": {
-        "x": 4.141209341242213,
-        "y": 4.694512094906543
+        "x": 4.1597563840096345,
+        "y": 4.899408138619204
       },
       "isLocked": false,
       "linkedName": null
@@ -61,7 +61,7 @@
   "reversed": false,
   "folder": "Blue Mid ",
   "previewStartingState": {
-    "rotation": 0,
+    "rotation": 0.0,
     "velocity": 0
   },
   "useDefaultConstraints": true
diff --git a/src/main/deploy/pathplanner/paths/SA-NB.path b/src/main/deploy/pathplanner/paths/SA-NB.path
new file mode 100644
index 0000000..7bfdda1
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/SA-NB.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.2689118319413115,
+        "y": 6.892475267184037
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.903194862227287,
+        "y": 6.450756779686148
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.278590851597945,
+        "y": 5.784011892896883
+      },
+      "prevControl": {
+        "x": 7.878543919524387,
+        "y": 5.600657049029834
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 6.0,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 1.0416266760100934,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Blue Left",
+  "previewStartingState": {
+    "rotation": 27.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/test.path b/src/main/deploy/pathplanner/paths/test.path
deleted file mode 100644
index d93b0ef..0000000
--- a/src/main/deploy/pathplanner/paths/test.path
+++ /dev/null
@@ -1,179 +0,0 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 0.71,
-        "y": 6.69
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 1.2694352292257878,
-        "y": 7.435865310106255
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.967562641007635,
-        "y": 7.7
-      },
-      "prevControl": {
-        "x": 2.474995891168253,
-        "y": 7.663513574085972
-      },
-      "nextControl": {
-        "x": 3.48592288287249,
-        "y": 7.738397054952952
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.278590851597945,
-        "y": 7.442539798785181
-      },
-      "prevControl": {
-        "x": 7.659598924248188,
-        "y": 7.480054461048801
-      },
-      "nextControl": {
-        "x": 8.55362311739852,
-        "y": 7.42587117661545
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.2689118319413115,
-        "y": 6.892475267184037
-      },
-      "prevControl": {
-        "x": 4.457532593452396,
-        "y": 7.269716790206207
-      },
-      "nextControl": {
-        "x": 4.11055992132886,
-        "y": 6.575771445959135
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.278590851597945,
-        "y": 5.784011892896883
-      },
-      "prevControl": {
-        "x": 8.166878333756669,
-        "y": 5.874239866126791
-      },
-      "nextControl": {
-        "x": 8.451596014939648,
-        "y": 5.644279072007375
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.2689118319413115,
-        "y": 6.892475267184037
-      },
-      "prevControl": {
-        "x": 4.951842806883888,
-        "y": 6.830390633098349
-      },
-      "nextControl": {
-        "x": 3.9938795661407385,
-        "y": 6.917478200438634
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
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\ No newline at end of file