diff --git a/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto b/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto
new file mode 100644
index 0000000..a304050
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto
@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubLeft-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LShoot-Nu"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarLeft-NeutralZone"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "HubLeft",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/HubLeft-Score-Tower.auto b/src/main/deploy/pathplanner/autos/HubLeft-Score-Tower.auto
new file mode 100644
index 0000000..3c5a2f8
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/HubLeft-Score-Tower.auto
@@ -0,0 +1,43 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubLeft-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LShoot-Tower"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "HubLeft",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower (Matt Idea).auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower (Matt Idea).auto
new file mode 100644
index 0000000..7108713
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower (Matt Idea).auto	
@@ -0,0 +1,62 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "HubRight-PlayerStation"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake Extended"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PlayerStation-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RShoot-Tower (Matt)"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "HubRight",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower.auto
new file mode 100644
index 0000000..9f13034
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower.auto
@@ -0,0 +1,62 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "HubRight-PlayerStation"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake Extended"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PlayerStation-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RShoot-Tower"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "HubRight",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/LShoot-Nu.path b/src/main/deploy/pathplanner/paths/LShoot-Nu.path
new file mode 100644
index 0000000..f936599
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/LShoot-Nu.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.029843081312411,
+        "y": 5.412967189728959
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.439285714285715,
+        "y": 5.363107142857143
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.4
+      },
+      "prevControl": {
+        "x": 2.460880952380954,
+        "y": 7.55502380952381
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 139.399
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/LShoot-Tower.path b/src/main/deploy/pathplanner/paths/LShoot-Tower.path
new file mode 100644
index 0000000..6ea3d76
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/LShoot-Tower.path
@@ -0,0 +1,65 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.029843081312411,
+        "y": 5.412967189728959
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5430833333333345,
+        "y": 5.40629761904762
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.1003809523809533,
+        "y": 4.72604761904762
+      },
+      "prevControl": {
+        "x": -0.15214285714285625,
+        "y": 4.8772142857142855
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 4.0,
+        "y": 5.0
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.10038167938931303,
+      "maxWaypointRelativePos": 0.9064885496183247,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 139.399
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
index 31713a8..66d82d6 100644
--- a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
@@ -33,11 +33,11 @@
     {
       "anchor": {
         "x": 2.298916666666668,
-        "y": 2.5989166666666677
+        "y": 2.599
       },
       "prevControl": {
         "x": 2.138219764245033,
-        "y": 2.407405555886923
+        "y": 2.4074888892202555
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/RShoot-Tower (Matt).path b/src/main/deploy/pathplanner/paths/RShoot-Tower (Matt).path
new file mode 100644
index 0000000..17a9501
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/RShoot-Tower (Matt).path	
@@ -0,0 +1,97 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.299,
+        "y": 2.599
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1477500000000003,
+        "y": 2.836464285714286
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.37,
+        "y": 2.6
+      },
+      "prevControl": {
+        "x": 1.3866297526309428,
+        "y": 2.3505537105358476
+      },
+      "nextControl": {
+        "x": 1.3533702473690576,
+        "y": 2.8494462894641526
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.37,
+        "y": 2.8
+      },
+      "prevControl": {
+        "x": 1.12,
+        "y": 2.8
+      },
+      "nextControl": {
+        "x": 1.62,
+        "y": 2.8
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0522864367238562,
+        "y": 2.8
+      },
+      "prevControl": {
+        "x": 1.3005335052725924,
+        "y": 2.829553222446277
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 2.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 1.7209923664121958,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.1,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 770.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -148.815
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/RShoot-Tower.path b/src/main/deploy/pathplanner/paths/RShoot-Tower.path
new file mode 100644
index 0000000..08f3e22
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/RShoot-Tower.path
@@ -0,0 +1,65 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.299,
+        "y": 2.599
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1477500000000003,
+        "y": 2.836464285714286
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0032023809523818,
+        "y": 2.7824761904761908
+      },
+      "prevControl": {
+        "x": 1.5106904761904771,
+        "y": 2.7716785714285708
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 3.0
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.30343511450381533,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 770.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -148.815
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file