diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index 46bb8ff..5b6f4fa 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -12,7 +12,8 @@
     "3P",
     "4P",
     "5P",
-    "6P"
+    "6P",
+    "1P"
   ],
   "defaultMaxVel": 4.671,
   "defaultMaxAccel": 5.25,
diff --git a/src/main/deploy/pathplanner/autos/1,leave.auto b/src/main/deploy/pathplanner/autos/1,leave.auto
new file mode 100644
index 0000000..7246476
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/1,leave.auto
@@ -0,0 +1,57 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.78,
+      "y": 4.45
+    },
+    "rotation": 120.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "startShooterAngler"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "shoot"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 11.0
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "1,leave"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": "1P",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/3,leave.auto b/src/main/deploy/pathplanner/autos/3,leave.auto
new file mode 100644
index 0000000..2e9ff36
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/3,leave.auto
@@ -0,0 +1,57 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7952442380734501,
+      "y": 6.652614092348042
+    },
+    "rotation": -120.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "startShooterAngler"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "shoot"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 11.0
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "3,leave"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": "1P",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/1,leave.path b/src/main/deploy/pathplanner/paths/1,leave.path
new file mode 100644
index 0000000..1172c19
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/1,leave.path
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.78,
+        "y": 4.45
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.6201563514238142,
+        "y": 2.5728875624417924
+      },
+      "isLocked": false,
+      "linkedName": "1.0.0"
+    },
+    {
+      "anchor": {
+        "x": 2.529212410276673,
+        "y": 0.5304212645462334
+      },
+      "prevControl": {
+        "x": 1.1424367336939298,
+        "y": 0.5312708483706432
+      },
+      "nextControl": {
+        "x": 3.4985436128279668,
+        "y": 0.5298274207659527
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.796963047629799,
+        "y": 0.5304212645462334
+      },
+      "prevControl": {
+        "x": 6.7320229964534,
+        "y": 0.5503744155636462
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.671,
+    "maxAcceleration": 5.25,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 179.8835453239546,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 120.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/3,leave.path b/src/main/deploy/pathplanner/paths/3,leave.path
new file mode 100644
index 0000000..0c4b1e7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/3,leave.path
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7952442380734501,
+        "y": 6.652614092348042
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.3226406175034573,
+        "y": 7.169357190566233
+      },
+      "isLocked": false,
+      "linkedName": "3.0.0"
+    },
+    {
+      "anchor": {
+        "x": 2.8742950309974695,
+        "y": 7.741941363512357
+      },
+      "prevControl": {
+        "x": 1.9747998570071217,
+        "y": 7.714683933997497
+      },
+      "nextControl": {
+        "x": 3.997967894468232,
+        "y": 7.775992056344805
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.86068248525386,
+        "y": 7.741941363512357
+      },
+      "prevControl": {
+        "x": 6.283908479853999,
+        "y": 7.714980855887638
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.671,
+    "maxAcceleration": 5.25,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -120.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file