After champs code

src/main/deploy/pathplanner/autos/1L4 + Algae Center.auto

@@ -45,6 +45,25 @@
           "data": {
             "name": "Shoot Algae"
           }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "HP Pickup"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Post-Barge Backup"
+                }
+              }
+            ]
+          }
         }
       ]
     }

src/main/deploy/pathplanner/paths/30 Right to HP.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.2587090163934425,
-        "y": 7.08186475409836
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": {
-        "x": 2.4191352739726026,
-        "y": 6.654494863013699
+        "x": 2.287270519874242,
+        "y": 6.774371912194027
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/HP to 330 Right.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2587090163934425,
-        "y": 7.08186475409836
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.550917920503032,
-        "y": 6.856479480125757
+        "x": 2.0019467213114757,
+        "y": 6.434528688524591
       },
       "isLocked": false,
       "linkedName": "HP Left Position"

src/main/deploy/pathplanner/paths/HP to K.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2587090163934425,
-        "y": 7.08186475409836
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.058518835616438,
-        "y": 6.624443493150685
+        "x": 1.9266540815180775,
+        "y": 6.744320542331013
       },
       "isLocked": false,
       "linkedName": "HP Left Position"

src/main/deploy/pathplanner/paths/L Backup.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.2587090163934425,
-        "y": 7.08186475409836
+        "x": 1.1268442622950818,
+        "y": 7.201741803278688
       },
       "prevControl": {
-        "x": 1.4625000000000001,
-        "y": 6.8061475409836065
+        "x": 1.3306352459016395,
+        "y": 6.926024590163935
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Post-Barge Backup.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.032020547945206,
+        "y": 4.761258561643835
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.71311475409836,
+        "y": 4.9480532786885245
+      },
+      "isLocked": false,
+      "linkedName": "Pre-Barge"
+    },
+    {
+      "anchor": {
+        "x": 5.933913934426228,
+        "y": 5.247745901639345
+      },
+      "prevControl": {
+        "x": 6.641188524590164,
+        "y": 5.043954918032786
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Center",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}