diff --git a/src/main/deploy/pathplanner/autos/NolansAuto.auto b/src/main/deploy/pathplanner/autos/NolansAuto.auto
new file mode 100644
index 0000000..04d636b
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/NolansAuto.auto
@@ -0,0 +1,73 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Nolan.0"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "troughScoreCommand"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Nolan.1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Nolan.2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "troughScoreCommand"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Nolan.3"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Nolan.4"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "troughScoreCommand"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Nolan.0.path b/src/main/deploy/pathplanner/paths/Nolan.0.path
new file mode 100644
index 0000000..59216d8
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Nolan.0.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.516290983606557,
+        "y": 3.87515368852459
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.600204918032786,
+        "y": 2.652407786885245
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.1786885245901635,
+        "y": 2.8561987704918033
+      },
+      "prevControl": {
+        "x": 6.533299180327869,
+        "y": 1.3697233606557369
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Nolan.0"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 121.60750224624897
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Nolan.1.path b/src/main/deploy/pathplanner/paths/Nolan.1.path
new file mode 100644
index 0000000..200cd0a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Nolan.1.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.1786885245901635,
+        "y": 2.8561987704918033
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.5603483606557376,
+        "y": 1.417674180327868
+      },
+      "isLocked": false,
+      "linkedName": "Nolan.0"
+    },
+    {
+      "anchor": {
+        "x": 1.234733606557377,
+        "y": 1.0340676229508199
+      },
+      "prevControl": {
+        "x": 2.0259221311475404,
+        "y": 1.9451331967213106
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Nolan.1"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 54.130176482278664
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 121.60750224624897
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Nolan.2.path b/src/main/deploy/pathplanner/paths/Nolan.2.path
new file mode 100644
index 0000000..23adf47
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Nolan.2.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.234733606557377,
+        "y": 1.0340676229508199
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.6543032786885243,
+        "y": 2.3647028688524587
+      },
+      "isLocked": false,
+      "linkedName": "Nolan.1"
+    },
+    {
+      "anchor": {
+        "x": 3.1168032786885242,
+        "y": 4.066956967213113
+      },
+      "prevControl": {
+        "x": 1.7861680327868852,
+        "y": 4.1748463114754095
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Nolan.2"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 54.130176482278664
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Nolan.3.path b/src/main/deploy/pathplanner/paths/Nolan.3.path
new file mode 100644
index 0000000..16e4467
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Nolan.3.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.1168032786885242,
+        "y": 4.066956967213113
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9180327868852458,
+        "y": 4.990010245901639
+      },
+      "isLocked": false,
+      "linkedName": "Nolan.2"
+    },
+    {
+      "anchor": {
+        "x": 1.282684426229508,
+        "y": 7.027920081967213
+      },
+      "prevControl": {
+        "x": 2.2057377049180324,
+        "y": 6.440522540983607
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Nolan.3"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -51.581944655178035
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Nolan.4.path b/src/main/deploy/pathplanner/paths/Nolan.4.path
new file mode 100644
index 0000000..690197a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Nolan.4.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.282684426229508,
+        "y": 7.027920081967213
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1098360655737705,
+        "y": 6.63232581967213
+      },
+      "isLocked": false,
+      "linkedName": "Nolan.3"
+    },
+    {
+      "anchor": {
+        "x": 3.788114754098361,
+        "y": 5.205788934426229
+      },
+      "prevControl": {
+        "x": 2.8530737704918034,
+        "y": 5.697284836065574
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -56.97613244420319
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -51.581944655178035
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file