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The timeline and instructions for making course changes, including adds, drops, withdrawals, and pass/no pass (P/NP) elections, can be found at https://www.cmu.edu/hub/registrar/course-changes/. This includes instructions for using vouchers to either drop a course or elect to take a course as pass/no pass after the deadlines.
To see the current add/drop dates, please refer to the the most recent academic calendar on this page: https://www.cmu.edu/hub/calendar.