diff --git a/src/main/deploy/pathplanner/autos/Depot-Climb.auto b/src/main/deploy/pathplanner/autos/Depot-Climb.auto
new file mode 100644
index 0000000..a4efee2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot-Climb.auto
@@ -0,0 +1,76 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Alliance-DepotD"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotD-DepotU"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotU-Climb"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Climber.climb"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
new file mode 100644
index 0000000..994150d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
@@ -0,0 +1,100 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Alliance-DepotD"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotD-DepotU"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotU-TrenchUL"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TrenchUL-NeutralU"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "NeutralU-NeutralMU"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NeutralMU-BumpL"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Climb.auto b/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
new file mode 100644
index 0000000..b8b6010
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
@@ -0,0 +1,56 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Alliance-Outpost"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost-Climb"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Climber.climb"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
new file mode 100644
index 0000000..7e3e855
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
@@ -0,0 +1,94 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Alliance-Outpost"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 2.0
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Outpost-TrenchDL"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TrenchDL-NeutralD"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "NeutralD-NeutralMD"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NeutralMD-BumperDL"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        }
+      ]
+    }
+  },
+  "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/Alliance-Climb.path b/src/main/deploy/pathplanner/paths/Alliance-Climb.path
new file mode 100644
index 0000000..a23aa5a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-Climb.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.531310051812067,
+        "y": 3.7744484270396033
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.281310051812067,
+        "y": 3.7744484270396033
+      },
+      "isLocked": false,
+      "linkedName": "AllianceM"
+    },
+    {
+      "anchor": {
+        "x": 1.812909969457193,
+        "y": 3.7744484270396033
+      },
+      "prevControl": {
+        "x": 2.062909969457193,
+        "y": 3.7744484270396033
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Climb"
+    }
+  ],
+  "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": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-DepotD.path b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
new file mode 100644
index 0000000..51d6d85
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
@@ -0,0 +1,79 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.531310051812067,
+        "y": 3.7744484270396033
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.816114611417779,
+        "y": 4.489643867433892
+      },
+      "isLocked": false,
+      "linkedName": "AllianceM"
+    },
+    {
+      "anchor": {
+        "x": 1.7500771306355798,
+        "y": 4.951
+      },
+      "prevControl": {
+        "x": 2.1500771306355797,
+        "y": 4.951
+      },
+      "nextControl": {
+        "x": 1.5000771306355798,
+        "y": 4.951
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.482,
+        "y": 4.951
+      },
+      "prevControl": {
+        "x": 0.732,
+        "y": 4.951
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "DepotD"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.15,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 0.95,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "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": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-Outpost.path b/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
new file mode 100644
index 0000000..12b3acc
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6,
+        "y": 0.6766148524443565
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.5509742132116244,
+        "y": 0.7606059140889831
+      },
+      "isLocked": false,
+      "linkedName": "AllianceD"
+    },
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.6766148524443565
+      },
+      "prevControl": {
+        "x": 1.4940456113409608,
+        "y": 0.834401360414214
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Outpost"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path b/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
new file mode 100644
index 0000000..a891022
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
@@ -0,0 +1,54 @@
+{
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/BumpL-Alliance.path b/src/main/deploy/pathplanner/paths/BumpL-Alliance.path
new file mode 100644
index 0000000..283f937
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/BumpL-Alliance.path
@@ -0,0 +1,54 @@
+{
+  "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/DepotD-DepotU.path b/src/main/deploy/pathplanner/paths/DepotD-DepotU.path
new file mode 100644
index 0000000..2bf2549
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DepotD-DepotU.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
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+    {
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+        "y": 4.951
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/DepotU-Climb.path b/src/main/deploy/pathplanner/paths/DepotU-Climb.path
new file mode 100644
index 0000000..86b8a8d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DepotU-Climb.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
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+        "y": 6.51
+      },
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+    {
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+  ],
+  "rotationTargets": [
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+  ],
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path b/src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path
new file mode 100644
index 0000000..b5c8094
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path
@@ -0,0 +1,54 @@
+{
+  "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/NeutralD-NeutralMD.path b/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
new file mode 100644
index 0000000..94359e4
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
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+    {
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path b/src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path
new file mode 100644
index 0000000..1d2bf0f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
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+    {
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+    {
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralMU-BumpL.path b/src/main/deploy/pathplanner/paths/NeutralMU-BumpL.path
new file mode 100644
index 0000000..ebaa729
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralMU-BumpL.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralU-NeutralMU.path b/src/main/deploy/pathplanner/paths/NeutralU-NeutralMU.path
new file mode 100644
index 0000000..7f5e230
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralU-NeutralMU.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
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+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Outpost-Climb.path b/src/main/deploy/pathplanner/paths/Outpost-Climb.path
new file mode 100644
index 0000000..077b028
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Outpost-Climb.path
@@ -0,0 +1,54 @@
+{
+  "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/Outpost-TrenchDL.path b/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
new file mode 100644
index 0000000..6e76f9f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
@@ -0,0 +1,70 @@
+{
+  "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/TrenchDL-NeutralD.path b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
new file mode 100644
index 0000000..9b32d8d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6,
+        "y": 0.677
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.6,
+        "y": 0.6770000000000003
+      },
+      "isLocked": false,
+      "linkedName": "TrenchDL"
+    },
+    {
+      "anchor": {
+        "x": 6.192,
+        "y": 0.677
+      },
+      "prevControl": {
+        "x": 5.942235388950917,
+        "y": 0.6661538454971255
+      },
+      "nextControl": {
+        "x": 6.87098866780599,
+        "y": 0.7064854261610243
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.293889555754486,
+        "y": 1.5788881722909434
+      },
+      "prevControl": {
+        "x": 7.16190986915871,
+        "y": 1.0372516988118488
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "NeutralD"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7662643877047933,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "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": -110.47222947446987
+  },
+  "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/TrenchUL-NeutralU.path b/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
new file mode 100644
index 0000000..344e92c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.610745262546267,
+        "y": 7.39
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.144993723761676,
+        "y": 7.454912915252541
+      },
+      "isLocked": false,
+      "linkedName": "TrenchL"
+    },
+    {
+      "anchor": {
+        "x": 6.192,
+        "y": 7.39
+      },
+      "prevControl": {
+        "x": 5.952248027478147,
+        "y": 7.460844842239082
+      },
+      "nextControl": {
+        "x": 6.4317519725218535,
+        "y": 7.3191551577609175
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.203352146855107,
+        "y": 6.74392458654333
+      },
+      "prevControl": {
+        "x": 6.957989258942781,
+        "y": 6.9069793178417065
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "NeutralU"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.757914225260417,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 133.91160391206455
+  },
+  "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/settings.json b/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..5bf438c
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "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
diff --git a/src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java b/src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java
new file mode 100644
index 0000000..161953b
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java
@@ -0,0 +1,15 @@
+package frc.robot.subsystems.autonomous;
+
+import static edu.wpi.first.units.Units.Meters;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.units.measure.Distance;
+
+public class AutonomousConstants {
+  public static final PIDController kTranslationPID = new PIDController(5, 0, 0);
+  public static final PIDController kAnglePID = new PIDController(2, 0, 0);
+  public static final Distance kMinDistanceToPathfind = Meters.of(1);
+  public static final Distance kDistanceFromHub = Meters.of(2);
+  public static final String kDefaultAuto = "DefaultAuto";
+  public static Distance kDistanceFromOutpost = Meters.of(0.7);
+}