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/(AP)StartMid2Close1FarAmpSide.auto b/src/main/deploy/pathplanner/autos/(AP)StartMid2Close1FarAmpSide.auto
new file mode 100644
index 00000000..3dd10f7c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/(AP)StartMid2Close1FarAmpSide.auto
@@ -0,0 +1,91 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3171869760109631,
+      "y": 5.5410316277334815
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shooterOn"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CloseMidPickupAuto"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoPickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoShootNote"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CloseAmpPickupFromMidAuto"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoPickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoShootNote"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Blue1AutoPickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoPickup"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BlueAmpShoot1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoShootNote"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/StartMidScoreCloseMidAutoPickup.auto b/src/main/deploy/pathplanner/autos/(AP)StartMidScoreCloseMid.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMidScoreCloseMidAutoPickup.auto
rename to src/main/deploy/pathplanner/autos/(AP)StartMidScoreCloseMid.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/StartMid2Close1FarAmpSide.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartMid2Close1FarAmpSide.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMid2Close1FarAmpSide.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartMid2Close1FarAmpSide.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/StartMidScoreCloseMid.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartMidScoreCloseMid.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartMidScoreCloseMid.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartMidScoreCloseMid.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/StartSourceScore3FarSource.auto b/src/main/deploy/pathplanner/autos/Obsolete/StartSourceScore3FarSource.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/StartSourceScore3FarSource.auto
rename to src/main/deploy/pathplanner/autos/Obsolete/StartSourceScore3FarSource.auto
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/Blue3PickupFromStart.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupFromStart.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue3PickupFromStart.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupFromStart.path
diff --git a/src/main/deploy/pathplanner/paths/Blue3PickupUnderStageAmp.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageAmp.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue3PickupUnderStageAmp.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageAmp.path
diff --git a/src/main/deploy/pathplanner/paths/Blue3PickupUnderStageSource.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageSource.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue3PickupUnderStageSource.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageSource.path
diff --git a/src/main/deploy/pathplanner/paths/Blue4PickupSourceSide.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupSourceSide.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue4PickupSourceSide.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupSourceSide.path
diff --git a/src/main/deploy/pathplanner/paths/Blue4PickupUnderStage.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupUnderStage.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue4PickupUnderStage.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupUnderStage.path
diff --git a/src/main/deploy/pathplanner/paths/Blue5PickupSourceSide.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue5PickupSourceSide.path
similarity index 100%
rename from src/main/deploy/pathplanner/paths/Blue5PickupSourceSide.path
rename to src/main/deploy/pathplanner/paths/Obsolete/Blue5PickupSourceSide.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
diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
index b3770022..ee5ebafc 100644
--- a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
@@ -290,7 +290,7 @@ public double calculateSpeakerAngle(){
 			deltaX = Math.abs(dtvalues.getX() - Field.RED_SPEAKER_X);
 		}
 		speakerDist = Math.sqrt(Math.pow(deltaX, 2) + Math.pow(deltaY, 2));
-		// SmartDashboard.putNumber("dist to speakre", speakerDist);
+		// SmartDashboard.putNumber("dist to speaker", speakerDist);
 
 		// RobotState.getInstance().ShooterInRange = speakerDist<Field.MAX_SHOOTING_DISTANCE;
 		
@@ -334,7 +334,7 @@ public double calculateSpeakerAngleMoving(){
 		}
 		deltaY = Math.abs(dtvalues.getY() - Field.SPEAKER_Y);
 		speakerDist = Math.sqrt(Math.pow(deltaX, 2) + Math.pow(deltaY, 2));
-		// SmartDashboard.putNumber("dist to speakre", speakerDist);
+		// SmartDashboard.putNumber("dist to speaker", speakerDist);
 		
 		Rotation2d unadjustedAngle = Rotation2d.fromRadians(Math.asin(deltaX/speakerDist));
 		double totalDistToSpeaker = Math.sqrt(Math.pow(Field.SPEAKER_Z-ShooterConstants.SHOOTER_HEIGHT, 2) + Math.pow(speakerDist, 2));