diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 3fcac20..7635cf3 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -36,7 +36,9 @@ import frc4388.robot.commands.auto.Bounce;
 import frc4388.robot.commands.auto.DriveOffLineBackward;
 import frc4388.robot.commands.auto.DriveOffLineForward;
 import frc4388.robot.commands.auto.EightBallAutoMiddle;
+import frc4388.robot.commands.auto.EightBallMid;
 import frc4388.robot.commands.auto.FiveBallAutoMiddle;
+import frc4388.robot.commands.auto.FiveBallBottom;
 import frc4388.robot.commands.auto.GalacticSearch;
 import frc4388.robot.commands.auto.IdentifyPath;
 import frc4388.robot.commands.auto.SequentialTest;
diff --git a/src/main/java/frc4388/robot/commands/auto/EightBallMid.java b/src/main/java/frc4388/robot/commands/auto/EightBallMid.java
index 68d89f3..c34ed81 100644
--- a/src/main/java/frc4388/robot/commands/auto/EightBallMid.java
+++ b/src/main/java/frc4388/robot/commands/auto/EightBallMid.java
@@ -35,20 +35,29 @@ public class EightBallMid extends SequentialCommandGroup {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     addCommands(
-      //TODO REWRITE
       //Shoot and Extend Intake
-      new CalibrateShooter(shooter, shooterAim, shooterHood),
-      new ParallelDeadlineGroup(
-        new Wait(drive,5),
-        new TrackTarget(shooterAim),
-        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
+      new ParallelCommandGroup(
+        new CalibrateShooter(shooter, shooterAim, shooterHood),
         new RunExtenderOutIn(intake)
       ),
-      //Intake and Path
+      //Intake and Path0 then shoot
       new ParallelDeadlineGroup(
         paths[0],
         new RunIntake(intake)
       ),
+      new ParallelDeadlineGroup(
+        new Wait(drive,5),
+        new TrackTarget(shooterAim),
+        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
+      ),
+
+      //Path1 and Intake, then path two
+      new ParallelDeadlineGroup(
+        paths[1],
+        new RunIntake(intake)
+      ),
+      paths[2],
+      
       //Shoot
       new ParallelDeadlineGroup(
         new Wait(drive,5),
diff --git a/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java b/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java
index 27ba3b8..4cfabc3 100644
--- a/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java
+++ b/src/main/java/frc4388/robot/commands/auto/FiveBallBottom.java
@@ -34,19 +34,19 @@ public class FiveBallBottom extends SequentialCommandGroup {
   public FiveBallBottom(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
-    //TODO Rewrite
     addCommands(
-      //Shoot and Extend Intake
-      new CalibrateShooter(shooter, shooterAim, shooterHood),
-      new ParallelDeadlineGroup(
-        new Wait(drive,5),
-        new TrackTarget(shooterAim),
-        new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
+      //Extend Intake and calibrate
+      new ParallelCommandGroup(
+        new CalibrateShooter(shooter, shooterAim, shooterHood),
         new RunExtenderOutIn(intake)
       ),
-      //Intake and Path
+      //Intake and Paths
       new ParallelDeadlineGroup(
-        paths[0],
+        new SequentialCommandGroup(
+          paths[0],
+          paths[1],
+          paths[2]
+        ),
         new RunIntake(intake)
       ),
       //Shoot