diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12BallPedroPathing.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12BallPedroPathing.java
new file mode 100644
index 0000000..80d7042
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12BallPedroPathing.java
@@ -0,0 +1,187 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+import com.pedropathing.util.Timer;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV3")
+public class Auto12BallPedroPathing extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Flywheel flywheel;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Follower follower;
+    Turret turret;
+    Spindexer spindexer;
+    Servos servos;
+    Timer pathTimer, opModeTimer;
+
+    // Initialize path state machine
+    enum PathState {
+        DRIVE_SHOOT0,
+        WAIT_SHOOT0,
+        DRIVE_PICKUP1,
+        PICKUP1,
+        DRIVE_SHOOT1,
+        WAIT_SHOOT1,
+        DRIVE_PICKUP2,
+        PICKUP2,
+        DRIVE_SHOOT2,
+        WAIT_SHOOT2,
+        DRIVE_PICKUP3,
+        PICKUP3,
+        DRIVE_SHOOT3,
+        WAIT_SHOOT3
+    }
+    PathState pathState = PathState.DRIVE_SHOOT0;
+
+    // Poses
+    public static double startPoseX = 110, startPoseY = 130, startPoseH = -90;
+    public static double shoot0X = 88, shoot0Y = 82, shoot0H = -45;
+    Pose startPose;
+    Pose shoot0;
+
+    //Building Paths
+    PathChain startPose_shoot0;
+    void buildPaths(){
+        startPose_shoot0 = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, shoot0))
+                .setLinearHeadingInterpolation(startPose.getHeading(), shoot0.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    void pathStateMachine(){
+        switch(pathState){
+            case DRIVE_SHOOT0:
+                follower.followPath(startPose_shoot0);
+                pathState = PathState.WAIT_SHOOT0;
+                break;
+            case WAIT_SHOOT0:
+                boolean shootStart = false;
+                if (!follower.isBusy() && !shootStart){
+                    spindexer.prepareShootAllContinous();
+                    shootStart = true;
+                }
+                if (shootStart && spindexer.shootAllComplete()){
+                    //pathState = PathState.DRIVE_PICKUP1;
+                    TELE.addLine("End Auto");
+                    TELE.update();
+                }
+                break;
+            default:
+                break;
+        }
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        flywheel = new Flywheel(hardwareMap);
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0,0);
+        follower = Constants.createFollower(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        spindexer = new Spindexer(hardwareMap);
+        opModeTimer = new Timer();
+        pathTimer = new Timer();
+        hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
+
+        robot.light.setPosition(Color.LightRed);
+
+        int allianceTicks = 0;
+        while (opModeInInit()){
+            boolean initalizeRobot = false;
+
+            if (gamepad1.crossWasPressed() && !initalizeRobot){
+                allianceTicks++;
+                Color.redAlliance = !Color.redAlliance;
+                if (Color.redAlliance){
+                    robot.light.setPosition(Color.LightRed);
+                } else {
+                    robot.light.setPosition(Color.LightBlue);
+                }
+                startPoseX = 144 - startPoseX;
+                startPoseH = 180 - startPoseH;
+                shoot0X = 144 - shoot0X;
+                shoot0H = 180 - shoot0H;
+
+                while (startPoseH > 180) {startPoseH-=360;}
+                while (startPoseH < -180) {startPoseH+=360;}
+
+                while (shoot0H > 180) {shoot0H-=360;}
+                while (shoot0H < -180) {shoot0H+=360;}
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initalizeRobot = true;
+            }
+
+            if (initalizeRobot){
+                follower.setStartingPose(startPose);
+                buildPaths();
+                sleep(2000);
+                turret.setTurret(turrDefault);
+                servos.setSpinPos(spinStartPos);
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initalizeRobot);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            follower.update();
+            pathStateMachine();
+            Pose currentPose = follower.getPose();
+            teleStartPoseX = currentPose.getX();
+            teleStartPoseY = currentPose.getY();
+            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
+            turret.trackGoal(currentPose);
+            targetingSettings = targeting.calculateSettings(currentPose.getX(), currentPose.getY(), currentPose.getHeading(), 0, turretInterpolate);
+
+            double voltage = robot.voltage.getVoltage();
+            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+            flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+            servos.setHoodPos(targetingSettings.hoodAngle);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
index e8837b9..d76ab5e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
@@ -239,11 +239,11 @@ public class Turret {
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
         double posX;
         if (Color.redAlliance){
-            posX = 144 - deltaPos.getX();
+            posX = 134 - deltaPos.getX();
         } else {
-            posX = deltaPos.getX();
+            posX = deltaPos.getX() - 10;
         }
-        double posY = 144 - deltaPos.getY();
+        double posY = 140 - deltaPos.getY();
         double posH = Math.toDegrees(deltaPos.getHeading());
         while (posH > 180) posH -= 360;
         while (posH < -180) posH += 360;