diff --git a/src/main/deploy/pathplanner/autos/StartMLeft3AutoPickup.auto b/src/main/deploy/pathplanner/autos/(AP)StartMLeft3.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMLeft3AutoPickup.auto
rename to src/main/deploy/pathplanner/autos/(AP)StartMLeft3.auto
diff --git a/src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartAmpScore3Close.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartAmpScore3Close.auto
diff --git a/src/main/deploy/pathplanner/autos/StartAmpScore3FarAmp.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartAmpScore3FarAmp.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartAmpScore3FarAmp.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartAmpScore3FarAmp.auto
diff --git a/src/main/deploy/pathplanner/autos/StartMLeft3.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartMLeft3.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMLeft3.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartMLeft3.auto
diff --git a/src/main/deploy/pathplanner/autos/StartMidScore3Close.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartMidScore3Close.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMidScore3Close.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartMidScore3Close.auto
diff --git a/src/main/deploy/pathplanner/autos/StartMidScore3FarSource.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartMidScore3FarSource.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMidScore3FarSource.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartMidScore3FarSource.auto
diff --git a/src/main/deploy/pathplanner/autos/StartSourceScore3Close.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartSourceScore3Close.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartSourceScore3Close.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartSourceScore3Close.auto
diff --git a/src/main/deploy/pathplanner/autos/StartMid2Close1FarAmpSide.auto b/src/main/deploy/pathplanner/autos/StartMid2Close1FarAmpSide.auto
index 23880845..3dd10f7c 100644
--- a/src/main/deploy/pathplanner/autos/StartMid2Close1FarAmpSide.auto
+++ b/src/main/deploy/pathplanner/autos/StartMid2Close1FarAmpSide.auto
@@ -18,122 +18,63 @@
           }
         },
         {
-          "type": "race",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "CloseMidPickup"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "groundIntake"
-                }
-              }
-            ]
+            "name": "shooterOn"
           }
         },
         {
-          "type": "race",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "groundIntake"
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 2.0
-                }
-              }
-            ]
+            "pathName": "CloseMidPickupAuto"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "autoShootNote"
+            "name": "autoPickup"
           }
         },
         {
-          "type": "race",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "CloseAmpPickupFromMiddle"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "groundIntake"
-                }
-              }
-            ]
+            "name": "autoShootNote"
           }
         },
         {
-          "type": "race",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "groundIntake"
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 2.0
-                }
-              }
-            ]
+            "pathName": "CloseAmpPickupFromMidAuto"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "autoShootNote"
+            "name": "autoPickup"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "autoShootNote"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Blue1Pickup"
+            "pathName": "Blue1AutoPickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoPickup"
           }
         },
         {
-          "type": "race",
+          "type": "path",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "BlueAmpShoot1"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "autoAimAtSpeaker"
-                }
-              }
-            ]
+            "pathName": "BlueAmpShoot1"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/StartMidScoreCloseMid.auto b/src/main/deploy/pathplanner/autos/StartMidScoreCloseMid.auto
index 6be85d1d..ac37be7d 100644
--- a/src/main/deploy/pathplanner/autos/StartMidScoreCloseMid.auto
+++ b/src/main/deploy/pathplanner/autos/StartMidScoreCloseMid.auto
@@ -30,13 +30,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "CloseMidPickup"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "groundIntake"
+                  "pathName": "CloseMidPickupAuto"
                 }
               }
             ]
@@ -45,7 +39,7 @@
         {
           "type": "named",
           "data": {
-            "name": "driveBackwardsToIntake"
+            "name": "autoPickup"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/ShuffleShoot.auto b/src/main/deploy/pathplanner/autos/Unused/ShuffleShoot.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/ShuffleShoot.auto
rename to src/main/deploy/pathplanner/autos/Unused/ShuffleShoot.auto
diff --git a/src/main/deploy/pathplanner/paths/Blue1Pickup.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue1Pickup.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue1Pickup.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue1Pickup.path
diff --git a/src/main/deploy/pathplanner/paths/Blue2Pickup.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue2Pickup.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue2Pickup.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue2Pickup.path
diff --git a/src/main/deploy/pathplanner/paths/Blue3PickupAmpSide.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupAmpSide.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue3PickupAmpSide.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupAmpSide.path
diff --git a/src/main/deploy/pathplanner/paths/CloseAmpPickup.path b/src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickup.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/CloseAmpPickup.path
rename to src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickup.path
diff --git a/src/main/deploy/pathplanner/paths/CloseAmpPickupFromMiddle.path b/src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickupFromMid.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/CloseAmpPickupFromMiddle.path
rename to src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickupFromMid.path
diff --git a/src/main/deploy/pathplanner/paths/CloseMidPickup.path b/src/main/deploy/pathplanner/paths/Obsolete/CloseMidPickup.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/CloseMidPickup.path
rename to src/main/deploy/pathplanner/paths/Obsolete/CloseMidPickup.path
diff --git a/src/main/deploy/pathplanner/paths/CloseMiddlePickupFromSource.path b/src/main/deploy/pathplanner/paths/Obsolete/CloseMiddlePickupFromSource.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/CloseMiddlePickupFromSource.path
rename to src/main/deploy/pathplanner/paths/Obsolete/CloseMiddlePickupFromSource.path
diff --git a/src/main/deploy/pathplanner/paths/CloseSourcePickup.path b/src/main/deploy/pathplanner/paths/Obsolete/CloseSourcePickup.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/CloseSourcePickup.path
rename to src/main/deploy/pathplanner/paths/Obsolete/CloseSourcePickup.path
diff --git a/src/main/deploy/pathplanner/paths/testCollectNotepath1.path b/src/main/deploy/pathplanner/paths/Obsolete/testCollectNotepath1.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/testCollectNotepath1.path
rename to src/main/deploy/pathplanner/paths/Obsolete/testCollectNotepath1.path
diff --git a/src/main/deploy/pathplanner/paths/testCollectNotepath2.path b/src/main/deploy/pathplanner/paths/Obsolete/testCollectNotepath2.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/testCollectNotepath2.path
rename to src/main/deploy/pathplanner/paths/Obsolete/testCollectNotepath2.path
diff --git a/src/main/deploy/pathplanner/paths/Infinity.path b/src/main/deploy/pathplanner/paths/Unused/Infinity.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Infinity.path
rename to src/main/deploy/pathplanner/paths/Unused/Infinity.path
diff --git a/src/main/deploy/pathplanner/paths/SuffleShootPath.path b/src/main/deploy/pathplanner/paths/Unused/SuffleShootPath.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/SuffleShootPath.path
rename to src/main/deploy/pathplanner/paths/Unused/SuffleShootPath.path
diff --git a/src/main/deploy/pathplanner/paths/moveOneMeterPath.path b/src/main/deploy/pathplanner/paths/Unused/moveOneMeterPath.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/moveOneMeterPath.path
rename to src/main/deploy/pathplanner/paths/Unused/moveOneMeterPath.path