diff --git a/src/main/deploy/pathplanner/autos/Depot. Hub.auto b/src/main/deploy/pathplanner/autos/Depot. Hub.auto
new file mode 100644
index 0000000..134ca13
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot. Hub.auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S. Hub. shoot 8. E-Hub"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M. Depot. "
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Depot. L-Tr..auto b/src/main/deploy/pathplanner/autos/Depot. L-Tr..auto
new file mode 100644
index 0000000..597d68e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot. L-Tr..auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S. L-Tre. Preload."
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M. Depot. "
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Depot. R-Tr.auto b/src/main/deploy/pathplanner/autos/Depot. R-Tr.auto
new file mode 100644
index 0000000..89cb728
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot. R-Tr.auto	
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S. R-Trench. E-Hub"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M. Depot. "
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Relay. L-Tr..auto b/src/main/deploy/pathplanner/autos/Relay. L-Tr..auto
new file mode 100644
index 0000000..527c67d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Relay. L-Tr..auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Relay. L-Tr."
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Relay. R-Tr..auto b/src/main/deploy/pathplanner/autos/Relay. R-Tr..auto
new file mode 100644
index 0000000..aa5298a
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Relay. R-Tr..auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Relay. R-Tr."
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto b/src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto
new file mode 100644
index 0000000..a7380ff
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S. Hub. shoot 8. E-Hub"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto b/src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto
new file mode 100644
index 0000000..997f905
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S. L-Tre. Preload."
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto b/src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto
new file mode 100644
index 0000000..ae61a31
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S. R-Trench. E-Hub"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "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 100644
index 0000000..ac5f521
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.07},"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,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,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,true,true,true,true,true,true,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,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,true,true,true,true,true,true,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,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,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,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,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,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,true,true,true,true,false,false,false,false,false,false,false,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,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,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,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,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,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,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,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,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,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,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,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,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,true,true,t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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/M. Depot. .path b/src/main/deploy/pathplanner/paths/M. Depot. .path
new file mode 100644
index 0000000..990a3af
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/M. Depot. .path	
@@ -0,0 +1,107 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.4727349397590364,
+        "y": 4.013144578313253
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+      "nextControl": {
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+      "linkedName": null
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+    {
+      "anchor": {
+        "x": 0.751734939759036,
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+      "prevControl": {
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+    {
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+    {
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+      "prevControl": {
+        "x": 2.161409638554217,
+        "y": 4.1989156626506015
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+      "nextControl": null,
+      "isLocked": false,
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+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.0308661417322806,
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+    },
+    {
+      "waypointRelativePos": 1.7754330708661374,
+      "rotationDegrees": 90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Shoot 8",
+      "waypointRelativePos": 3.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Shoot preload"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
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+  "goalEndState": {
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+    "rotation": 180.0
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+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
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+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Relay. L-Tr..path b/src/main/deploy/pathplanner/paths/Relay. L-Tr..path
new file mode 100644
index 0000000..ab9b6e2
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Relay. L-Tr..path	
@@ -0,0 +1,193 @@
+{
+  "version": "2025.0",
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+    {
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Relay. R-Tr..path b/src/main/deploy/pathplanner/paths/Relay. R-Tr..path
new file mode 100644
index 0000000..1edcd79
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Relay. R-Tr..path	
@@ -0,0 +1,197 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/S. Hub. shoot 8. E-Hub.path b/src/main/deploy/pathplanner/paths/S. Hub. shoot 8. E-Hub.path
new file mode 100644
index 0000000..8793d07
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/S. Hub. shoot 8. E-Hub.path	
@@ -0,0 +1,87 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path b/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path
new file mode 100644
index 0000000..b680535
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path	
@@ -0,0 +1,87 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path b/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path
new file mode 100644
index 0000000..8fdebe3
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path	
@@ -0,0 +1,87 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Spin.path b/src/main/deploy/pathplanner/paths/Spin.path
new file mode 100644
index 0000000..5ce99cd
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Spin.path
@@ -0,0 +1,91 @@
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\ 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..724a5d1
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,32 @@
+{
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+}
\ No newline at end of file