diff --git a/src/main/deploy/pathplanner/autos/BLUE_Bottom_4_Piece.auto b/src/main/deploy/pathplanner/autos/BLUE_Bottom_4_Piece.auto
index f232446..b6460d8 100644
--- a/src/main/deploy/pathplanner/autos/BLUE_Bottom_4_Piece.auto
+++ b/src/main/deploy/pathplanner/autos/BLUE_Bottom_4_Piece.auto
@@ -11,6 +11,25 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "SubShoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeDown"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -23,6 +42,12 @@
             "pathName": "BLUE_Path5"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -34,6 +59,12 @@
           "data": {
             "pathName": "BLUE_Path3"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
         }
       ]
     }
diff --git a/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto b/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
index ba11ac0..b19e91b 100644
--- a/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
+++ b/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
@@ -11,12 +11,37 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "SubShoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeDown"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "path",
           "data": {
             "pathName": "BLUE_3_Piece_Path_1"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -29,6 +54,12 @@
             "pathName": "BLUE_3_Piece_Path_3"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -40,6 +71,12 @@
           "data": {
             "pathName": "BLUE_3_Piece_Path_5"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "VisionShoot"
+          }
         }
       ]
     }
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
index 72f808e..87aedc7 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.45,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
index 88f894a..be06b8b 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
@@ -46,7 +46,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.35,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "VisionShoot"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path1.path b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
index db1b669..a349e5b 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path1.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
@@ -46,7 +46,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.95,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path2.path b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
index 0fb87ce..59dc8df 100644
--- a/src/main/deploy/pathplanner/paths/BLUE_Path2.path
+++ b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.25,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,