diff --git a/src/main/deploy/pathplanner/autos/B-L2.auto b/src/main/deploy/pathplanner/autos/B-L2.auto
new file mode 100644
index 0000000..6d96e83
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/B-L2.auto
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "B_R4"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "L2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AlgaeL3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "R4_P"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/R4_P.path b/src/main/deploy/pathplanner/paths/R4_P.path
new file mode 100644
index 0000000..92dca2c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/R4_P.path
@@ -0,0 +1,59 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.1,
+        "y": 4.05
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.228887668477433,
+        "y": 0.6385793840777492
+      },
+      "isLocked": false,
+      "linkedName": "R4"
+    },
+    {
+      "anchor": {
+        "x": 7.2735,
+        "y": 0.905
+      },
+      "prevControl": {
+        "x": 7.265791075075885,
+        "y": 1.1548811166865443
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ 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 c6cf064..231af7e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -173,6 +173,18 @@ public RobotContainer() {
     NamedCommands.registerCommand("Intake",
         multiSubsystemCommands.loadGamepiece());
 
+    // AutoAlign + Algae Removal
+    NamedCommands.registerCommand("AlgaeL2",
+        multiSubsystemCommands.setOverallSetpoint(OverallPosition.L2)
+        .andThen(multiSubsystemCommands.waitForOverallMechanism())
+        .andThen(multiSubsystemCommands.loadAlgae()));
+
+    // AutoAlign + Algae Removal
+    NamedCommands.registerCommand("AlgaeL3",
+        multiSubsystemCommands.setOverallSetpoint(OverallPosition.L3)
+        .andThen(multiSubsystemCommands.waitForOverallMechanism())
+        .andThen(multiSubsystemCommands.loadAlgae()));
+
     configureBindings();
   }