diff --git a/src/deploy/autos/paths/fp_home_2 b/src/deploy/autos/paths/fp_home_2
new file mode 100644
index 0000000..78a70dc
--- /dev/null
+++ b/src/deploy/autos/paths/fp_home_2
@@ -0,0 +1 @@
+P,219.5,54,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_home_3 b/src/deploy/autos/paths/fp_home_3
new file mode 100644
index 0000000..1f4de86
--- /dev/null
+++ b/src/deploy/autos/paths/fp_home_3
@@ -0,0 +1 @@
+P,214.5,58,0,0
\ No newline at end of file
diff --git a/src/y2024/cpp/commands/basic/prepare_auto_shoot_async.cc b/src/y2024/cpp/commands/basic/prepare_auto_shoot_async.cc
new file mode 100644
index 0000000..4c0368c
--- /dev/null
+++ b/src/y2024/cpp/commands/basic/prepare_auto_shoot_async.cc
@@ -0,0 +1,27 @@
+#include "commands/basic/prepare_auto_shoot_async.h"
+
+PrepareAutoShootAsyncCommand::PrepareAutoShootAsyncCommand(
+    RobotContainer& container)
+    : frc846::robot::GenericCommand<RobotContainer,
+                                    PrepareAutoShootAsyncCommand>{
+          container, "prepare_auto_shoot_async_command"} {
+  AddRequirements({&container_.super_structure_, &container_.intake_,
+                   &container_.shooter_});
+}
+
+void PrepareAutoShootAsyncCommand::OnInit() { Periodic(); }
+
+void PrepareAutoShootAsyncCommand::Periodic() {
+  auto defaultShootSetpoint{container_.super_structure_.getAutoShootSetpoint()};
+
+  container_.intake_.SetTarget({IntakeState::kHold});
+  container_.shooter_.SetTarget({ShooterState::kRun});
+
+  defaultShootSetpoint.wrist += defaultShootSetpoint.pivot;
+
+  container_.super_structure_.SetTargetSetpoint(defaultShootSetpoint);
+}
+
+void PrepareAutoShootAsyncCommand::OnEnd(bool interrupted) {}
+
+bool PrepareAutoShootAsyncCommand::IsFinished() { return true; }
\ No newline at end of file
diff --git a/src/y2024/include/commands/basic/prepare_auto_shoot_async.h b/src/y2024/include/commands/basic/prepare_auto_shoot_async.h
new file mode 100644
index 0000000..7004a3c
--- /dev/null
+++ b/src/y2024/include/commands/basic/prepare_auto_shoot_async.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "frc846/robot/GenericCommand.h"
+#include "subsystems/robot_container.h"
+
+class PrepareAutoShootAsyncCommand
+    : public frc846::robot::GenericCommand<RobotContainer,
+                                           PrepareAutoShootAsyncCommand> {
+ public:
+  PrepareAutoShootAsyncCommand(RobotContainer& container);
+
+  void OnInit() override;
+
+  void Periodic() override;
+
+  void OnEnd(bool interrupted) override;
+
+  bool IsFinished() override;
+};