diff --git a/src/main/deploy/pathplanner/autos/4 piece 5 auto.auto b/src/main/deploy/pathplanner/autos/4 piece 5 auto.auto
new file mode 100644
index 0000000..775ce44
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/4 piece 5 auto.auto	
@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom leave + go to reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Source"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Post"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Source"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Post"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Source"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Post"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/L+gr,da,cc,sc.auto b/src/main/deploy/pathplanner/autos/L+gr,da,cc,sc.auto
new file mode 100644
index 0000000..5508b14
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/L+gr,da,cc,sc.auto
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "go to reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "go to source + get game piece"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "score coral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Mid 3 Auto.auto b/src/main/deploy/pathplanner/autos/Mid 3 Auto.auto
new file mode 100644
index 0000000..f0e4597
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Mid 3 Auto.auto	
@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Leave Mid"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M. Go to top source"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Go to left 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "From left 1 to source"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Go to left 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "From left 1 to source"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Go to right 1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
index a4e283d..6903c93 100644
--- a/src/main/deploy/pathplanner/autos/New Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto	
@@ -19,7 +19,7 @@
       ]
     }
   },
-  "resetOdom": true,
+  "resetOdom": false,
   "folder": null,
   "choreoAuto": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Back Algae Disturb.path b/src/main/deploy/pathplanner/paths/Back Algae Disturb.path
new file mode 100644
index 0000000..5ed3c94
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Back Algae Disturb.path	
@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.618295454545455,
+        "y": 1.88609375
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.242215909090909,
+        "y": 1.726548295454546
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.101164772727273,
+        "y": 2.43453125
+      },
+      "prevControl": {
+        "x": 4.2080113636363645,
+        "y": 1.5969176136363628
+      },
+      "nextControl": {
+        "x": 2.520221874694658,
+        "y": 2.8741637133760336
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.821960227272727,
+        "y": 4.000071022727272
+      },
+      "prevControl": {
+        "x": 2.7621306818181814,
+        "y": 2.9131676136363627
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Back Algae Disturb",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -179.39049342332487
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Bottom leave + go to reef.path b/src/main/deploy/pathplanner/paths/Bottom leave + go to reef.path
new file mode 100644
index 0000000..841c709
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Bottom leave + go to reef.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.57840909090909,
+        "y": 1.9558948863636352
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.192357954545455,
+        "y": 2.105468749999999
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.929,
+        "y": 2.774
+      },
+      "prevControl": {
+        "x": 4.955880681818181,
+        "y": 2.1852414772727276
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 60.751173663453024
+  },
+  "reversed": false,
+  "folder": "Bottom leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/From left 1 to source.path b/src/main/deploy/pathplanner/paths/From left 1 to source.path
new file mode 100644
index 0000000..9826582
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/From left 1 to source.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.979,
+        "y": 5.286
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.3209098260140921,
+        "y": 7.016140577665384
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.207,
+        "y": 7.081
+      },
+      "prevControl": {
+        "x": 3.869576791798443,
+        "y": 5.342186108471079
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
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+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -52.92646451172692
+  },
+  "reversed": false,
+  "folder": "Mid leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -58.615935245141955
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Go to left 1.path b/src/main/deploy/pathplanner/paths/Go to left 1.path
new file mode 100644
index 0000000..c151fb9
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Go to left 1.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.207,
+        "y": 7.081
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.8913695755217006,
+        "y": 5.357947457245135
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.9786647727272726,
+        "y": 5.28640625
+      },
+      "prevControl": {
+        "x": 1.2883035667641187,
+        "y": 7.011667159855211
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -58.24051991518717
+  },
+  "reversed": false,
+  "folder": "Mid leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -52.92646451172692
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Go to right 1.path b/src/main/deploy/pathplanner/paths/Go to right 1.path
new file mode 100644
index 0000000..977f751
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Go to right 1.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.207,
+        "y": 7.081
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.9028557788337226,
+        "y": 4.9417695458753945
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.6894886363636368,
+        "y": 5.0969460227272725
+      },
+      "prevControl": {
+        "x": 1.3349850026979717,
+        "y": 6.948835880727413
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -60.25511870305781
+  },
+  "reversed": false,
+  "folder": "Mid leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -54.602417650935664
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Leave Mid.path b/src/main/deploy/pathplanner/paths/Leave Mid.path
new file mode 100644
index 0000000..f97643a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Leave Mid.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.5,
+        "y": 4.2
+      },
+      "prevControl": null,
+      "nextControl": {
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+        "y": 4.190035080955222
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+      "isLocked": false,
+      "linkedName": null
+    },
+    {
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+        "x": 5.8,
+        "y": 4.2
+      },
+      "prevControl": {
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+        "y": 4.203090282064886
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+      "isLocked": false,
+      "linkedName": null
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+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Mid leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -179.6222910945819
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Left Post.path b/src/main/deploy/pathplanner/paths/Left Post.path
new file mode 100644
index 0000000..df1b13e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left Post.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.037,
+        "y": 1.098
+      },
+      "prevControl": null,
+      "nextControl": {
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+        "y": 1.7365198863636362
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+      "linkedName": null
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+    {
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+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
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+  "globalConstraints": {
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+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 60.6422464572087
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+  "reversed": false,
+  "folder": "Bottom leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 55.31892693789735
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+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Left Source.path b/src/main/deploy/pathplanner/paths/Left Source.path
new file mode 100644
index 0000000..9169090
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left Source.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.66,
+        "y": 2.923
+      },
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+        "y": 1.9957812499999998
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+      "linkedName": null
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+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
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+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
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+    "rotation": 56.32696320698373
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+  "reversed": false,
+  "folder": "Bottom leave",
+  "idealStartingState": {
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+    "rotation": 57.392916507122656
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/M. Go to top source.path b/src/main/deploy/pathplanner/paths/M. Go to top source.path
new file mode 100644
index 0000000..772e481
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/M. Go to top source.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.8,
+        "y": 4.1995028409090915
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+    {
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+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
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+  "goalEndState": {
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+  "folder": "Mid leave",
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+    "velocity": 0,
+    "rotation": -179.6222910945819
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+}
\ 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..df67fe5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New New Path.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
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+  "constraintZones": [],
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+  "goalEndState": {
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+  "reversed": false,
+  "folder": "Back Algae Disturb",
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+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ 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..df67fe5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Back Algae Disturb",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Place Coral.path b/src/main/deploy/pathplanner/paths/Place Coral.path
new file mode 100644
index 0000000..46fe139
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Place Coral.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.57840909090909,
+        "y": 0.5399289772727275
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.57840909090909,
+        "y": 0.5399289772727275
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.3348011363636365,
+        "y": 2.8932244318181812
+      },
+      "prevControl": {
+        "x": 4.28778409090909,
+        "y": 2.783536931818181
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 120.06858282186256
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Reef to Station.path b/src/main/deploy/pathplanner/paths/Reef to Station.path
index 46ca07f..f3ee456 100644
--- a/src/main/deploy/pathplanner/paths/Reef to Station.path	
+++ b/src/main/deploy/pathplanner/paths/Reef to Station.path	
@@ -45,7 +45,7 @@
     "rotation": -52.42283294160812
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Top leave",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -61.18920625702699
diff --git a/src/main/deploy/pathplanner/paths/Right Post.path b/src/main/deploy/pathplanner/paths/Right Post.path
new file mode 100644
index 0000000..12ea488
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Right Post.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.037,
+        "y": 1.098
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.9316477272722006,
+        "y": 2.2151562499978734
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.929,
+        "y": 2.774
+      },
+      "prevControl": {
+        "x": 2.8219602272722013,
+        "y": 2.2051846590887827
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 56.38512374255174
+  },
+  "reversed": false,
+  "folder": "Bottom leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 58.840695491655666
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Right Source.path b/src/main/deploy/pathplanner/paths/Right Source.path
new file mode 100644
index 0000000..f9f8b3f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Right Source.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.9288068181818185,
+        "y": 2.77356534090909
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.8019318181818185,
+        "y": 2.0657727272727264
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0370454545454546,
+        "y": 1.0983380681818187
+      },
+      "prevControl": {
+        "x": 2.0641193181818185,
+        "y": 1.7365198863636362
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 56.38512374255174
+  },
+  "reversed": false,
+  "folder": "Bottom leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 58.840695491655666
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Start to Reef.path b/src/main/deploy/pathplanner/paths/Start to Reef.path
index d32473b..d49b375 100644
--- a/src/main/deploy/pathplanner/paths/Start to Reef.path	
+++ b/src/main/deploy/pathplanner/paths/Start to Reef.path	
@@ -45,7 +45,7 @@
     "rotation": -61.927513064147035
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Top leave",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 180.0
diff --git a/src/main/deploy/pathplanner/paths/Station to Reef.path b/src/main/deploy/pathplanner/paths/Station to Reef.path
index f1f15eb..e8e78a6 100644
--- a/src/main/deploy/pathplanner/paths/Station to Reef.path	
+++ b/src/main/deploy/pathplanner/paths/Station to Reef.path	
@@ -45,7 +45,7 @@
     "rotation": -62.60092622292411
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Top leave",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -53.65165382024256
diff --git a/src/main/deploy/pathplanner/paths/from right 1 to source.path b/src/main/deploy/pathplanner/paths/from right 1 to source.path
new file mode 100644
index 0000000..de73f67
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/from right 1 to source.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6891,
+        "y": 5.097
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.136261289284402,
+        "y": 7.140130424490295
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.207,
+        "y": 7.081
+      },
+      "prevControl": {
+        "x": 3.5023800172213164,
+        "y": 5.270830937042176
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -52.141731319671784
+  },
+  "reversed": false,
+  "folder": "Mid leave",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -61.01543540051309
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/take algae.path b/src/main/deploy/pathplanner/paths/take algae.path
new file mode 100644
index 0000000..80be291
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/take algae.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.364715909090909,
+        "y": 2.8932244318181812
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.121554051177137,
+        "y": 2.8351528307043594
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.16528409090909,
+        "y": 2.853338068181819
+      },
+      "prevControl": {
+        "x": 5.432663212179356,
+        "y": 2.9146260669478576
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 118.70595254340091
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 122.27564431457765
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..0eea3d1
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,37 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Back Algae Disturb",
+    "Bottom leave",
+    "Mid leave",
+    "Top leave"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}
\ No newline at end of file