diff --git a/src/main/deploy/pathplanner/autos/Center Shoot 3 vision.auto b/src/main/deploy/pathplanner/autos/Center Shoot 3 vision.auto
new file mode 100644
index 0000000..4a4ca57
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Center Shoot 3 vision.auto	
@@ -0,0 +1,233 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.42,
+      "y": 5.527514849608872
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "DeployIntake"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "LiftArmToDeployDemonHorns"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "RampShooterForManualShot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SwerveStraighten"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "SetShootFromSubwoofer"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Feed"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SetArmAndShooterForIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "center get center"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "NoteVisible"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "return center get center"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopSwerves"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SetShootFromSubwoofer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Feed"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SetArmAndShooterForIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "center get podium"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopSwerves"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "HasNote"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "return center get podium"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopSwerves"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SetShootFromSubwoofer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Feed"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "StopShooter"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Center Shoot 4 vision.auto b/src/main/deploy/pathplanner/autos/Center Shoot 4 vision.auto
new file mode 100644
index 0000000..fcac5e9
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Center Shoot 4 vision.auto	
@@ -0,0 +1,202 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4,
+      "y": 5.57
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "InitSequence"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootSubwooferSequence"
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "center get center"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "NoteVisible"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "return center get center"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "StopSwerves"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ShootSubwooferSequence"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "center get podium"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "NoteVisible"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "return center get podium"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "StopSwerves"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ShootSubwooferSequence"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "center get amp"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "NoteVisible"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "return center get amp"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "StopSwerves"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ShootSubwooferSequence"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 401c403..1c2c08f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -40,6 +40,7 @@
 import frc.robot.commands.drive.AutoPickupNote;
 import frc.robot.commands.drive.DriveSwerveWithXbox;
 import frc.robot.commands.intake.SetIntakeState;
+import frc.robot.commands.shooter.NoteVisible;
 import frc.robot.commands.shooter.RampShooter;
 import frc.robot.commands.shooter.SetShooterState;
 import frc.robot.commands.shooter.ShootSpeaker;
@@ -399,7 +400,9 @@ private void registerNamedCommands() {
     NamedCommands.registerCommand("SetArmForScore", new SetArmState(ArmState.kShoot).andThen(new WaitCommand(0.2)));
 
     // Intake + Indexing
+    NamedCommands.registerCommand("AutoIntake", new AutoIntake());
     NamedCommands.registerCommand("AutoPickupNote", new AutoPickupNote());
+    NamedCommands.registerCommand("NoteVisible", new NoteVisible());
     NamedCommands.registerCommand("HasNote", new WaitForNote().withTimeout(4.5));
     NamedCommands.registerCommand("RetractIntake", new SetIntakeState(IntakeState.kUp));
     NamedCommands.registerCommand("DeployIntake", new SetIntakeState(IntakeState.kDown));
diff --git a/src/main/java/frc/robot/commands/shooter/NoteVisible.java b/src/main/java/frc/robot/commands/shooter/NoteVisible.java
new file mode 100644
index 0000000..1ead6d9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/shooter/NoteVisible.java
@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.shooter;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+
+public class NoteVisible extends Command {
+  /** Creates a new NoteVisible. */
+  public NoteVisible() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return RobotContainer.intakeCamera.getNearestNote().isPresent();
+  }
+}