diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
new file mode 100644
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--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
@@ -0,0 +1,340 @@
+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.limelightUsed;
+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.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+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.MeasuringLoopTimes;
+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 java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto12Ball_Back_Sorted extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    //    Flywheel flywheel;
+//    Targeting targeting;
+//    Targeting.Settings targetingSettings;
+    Follower follower;
+    //    Turret turret;
+//    Spindexer spindexer;
+//    Servos servos;
+    MeasuringLoopTimes loopTimes;
+
+    // Wait Times
+    public static double shootTime = 2;
+
+    // Extra Variables
+    public static double intakePower = 0.3;
+    double shootX, shootY, shootH;
+
+    // Initialize path state machine
+    private enum PathState {
+        PUSHBOT, DRIVE_SHOOT0, WAIT_SHOOT0,
+        PICKUP1, OPENGATE, 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 = 84, startPoseY = 7, startPoseH = 90;
+    public static double pushBotX = 94, pushBotY = 9, pushBotH = 100;
+    public static double shoot0X = 91, shoot0Y = 80, shoot0H = 0;
+    public static double pickup1X = 126, pickup1Y = 82, pickup1H = 0;
+    public static double openGateControlX = 109.184421534937, openGateControlY = 74.24455899198165;
+    public static double openGateX = 129, openGateY = 74, openGateH = 0;
+    public static double shoot1ControlX = 112, shoot1ControlY = 75;
+    public static double shoot1X = 91, shoot1Y = 80, shoot1H = -12;
+    public static double drivePickup2X = 102, drivePickup2Y = 58.5, drivePickup2H = 0;
+    public static double pickup2X = 133, pickup2Y = 57, pickup2H = 0;
+    public static double shoot2ControlX = 102, shoot2ControlY = 63;
+    public static double shoot2X = 91, shoot2Y = 80, shoot2H = -50;
+    public static double drivePickup3X = 102, drivePickup3Y = 34.5, drivePickup3H = 0;
+    public static double pickup3X = 133, pickup3Y = 34.5, pickup3H = 0;
+    public static double shoot3ControlX = 97.62371134020621, shoot3ControlY = 34.813287514318446;
+    public static double shoot3X = 84, shoot3Y = 105, shoot3H = -80;
+    Pose startPose, pushBot, shoot0,
+            pickup1, openGateControl, openGate, shoot1Control, shoot1,
+            drivePickup2, pickup2, shoot2Control, shoot2,
+            drivePickup3, pickup3, shoot3Control, shoot3;
+    private void initializePoses(){
+        startPose = new Pose(startPoseX, startPoseY, Math.toRadians(startPoseH));
+        pushBot = new Pose(pushBotX, pushBotY, Math.toRadians(pushBotH));
+        shoot0 = new Pose(shoot0X, shoot0Y, Math.toRadians(shoot0H));
+        pickup1 = new Pose(pickup1X, pickup1Y, Math.toRadians(pickup1H));
+        openGateControl = new Pose(openGateControlX, openGateControlY);
+        openGate = new Pose(openGateX, openGateY, Math.toRadians(openGateH));
+        shoot1Control = new Pose(shoot1ControlX, shoot1ControlY);
+        shoot1 = new Pose(shoot1X, shoot1Y, Math.toRadians(shoot1H));
+        drivePickup2 = new Pose(drivePickup2X, drivePickup2Y, Math.toRadians(drivePickup2H));
+        pickup2 = new Pose(pickup2X, pickup2Y, Math.toRadians(pickup2H));
+        shoot2Control = new Pose(shoot2ControlX, shoot2ControlY);
+        shoot2 = new Pose(shoot2X, shoot2Y, Math.toRadians(shoot2H));
+        drivePickup3 = new Pose(drivePickup3X, drivePickup3Y, Math.toRadians(drivePickup3H));
+        pickup3 = new Pose(pickup3X, pickup3Y, Math.toRadians(pickup3H));
+        shoot3Control = new Pose(shoot3ControlX, shoot3ControlY);
+        shoot3 = new Pose(shoot3X, shoot3Y, Math.toRadians(shoot3H));
+    }
+
+    //Building Paths
+    PathChain startPose_pushBot, pushBot_shoot0,
+            shoot0_pickup1, pickup1_openGate, openGate_shoot1,
+            shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
+            shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
+    private void buildPaths(){
+        startPose_shoot0 = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, shoot0))
+                .setLinearHeadingInterpolation(startPose.getHeading(), shoot0.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private boolean startAuto = true;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case DRIVE_SHOOT0:
+                if (startAuto){
+                    follower.followPath(startPose_shoot0, true);
+                    startAuto = false;
+                    shootX = shoot0X;
+                    shootY = shoot0Y;
+                    shootH = shoot0H;
+                }
+                driveShoot(PathState.WAIT_SHOOT0, currentTime);
+                break;
+            case WAIT_SHOOT0:
+                waitShoot(PathState.DRIVE_PICKUP1, shoot0_drivePickup1, currentTime);
+                break;
+            case DRIVE_PICKUP1:
+                drivePickup(PathState.PICKUP1, drivePickup1_pickup1);
+                break;
+            case PICKUP1:
+                pickup(PathState.DRIVE_SHOOT1, pickup1_shoot1);
+                shootX = shoot1X;
+                shootY = shoot1Y;
+                shootH = shoot1H;
+                break;
+            case DRIVE_SHOOT1:
+                intakePowerDown(timeStamp, currentTime);
+                driveShoot(PathState.WAIT_SHOOT1, currentTime);
+                break;
+            case WAIT_SHOOT1:
+                waitShoot(PathState.DRIVE_PICKUP2, shoot1_drivePickup2, currentTime);
+                break;
+            case DRIVE_PICKUP2:
+                drivePickup(PathState.PICKUP2, drivePickup2_pickup2);
+                break;
+            case PICKUP2:
+                pickup(PathState.DRIVE_SHOOT2, pickup2_shoot2);
+                shootX = shoot2X;
+                shootY = shoot2Y;
+                shootH = shoot2H;
+                break;
+            case DRIVE_SHOOT2:
+                intakePowerDown(timeStamp, currentTime);
+                driveShoot(PathState.WAIT_SHOOT2, currentTime);
+                break;
+            case WAIT_SHOOT2:
+                waitShoot(PathState.DRIVE_PICKUP3, shoot2_drivePickup3, currentTime);
+                break;
+            case DRIVE_PICKUP3:
+                drivePickup(PathState.PICKUP3, drivePickup3_pickup3);
+                break;
+            case PICKUP3:
+                pickup(PathState.DRIVE_SHOOT3, pickup3_shoot3);
+                shootX = shoot3X;
+                shootY = shoot3Y;
+                shootH = shoot3H;
+                break;
+            case DRIVE_SHOOT3:
+                intakePowerDown(timeStamp, currentTime);
+                driveShoot(PathState.WAIT_SHOOT3, currentTime);
+                break;
+            case WAIT_SHOOT3:
+//                if (spindexer.shootAllComplete()){
+//                    spindexer.resetSpindexer();
+//                    TELE.addLine("Done Auto");
+//                }
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Voids for State Machine
+    private void intakePowerDown(double stamp, double currentTime) {
+        double pow = (stamp - currentTime) / 2; // adjust denominator to see how much time to adjust
+        if (pow < -1) {pow = 0;}
+//        spindexer.setIntakePower(pow);
+    }
+    private void driveShoot(PathState nextState, double currentTime){
+        if (!follower.isBusy()){
+            pathState = nextState;
+            timeStamp = currentTime;
+//            spindexer.prepareShootAllContinous();
+        }
+    }
+    private void waitShoot(PathState nextState, PathChain nextPath, double currentTime) {
+        if (currentTime - timeStamp > shootTime) { // spindexer.shootAllComplete() ||
+//            spindexer.resetSpindexer();
+            pathState = nextState;
+            follower.followPath(nextPath, true);
+//            spindexer.setIntakePower(1);
+        }
+    }
+    private void drivePickup(PathState nextState, PathChain nextPath) {
+        if (!follower.isBusy()) {
+            pathState = nextState;
+            follower.followPath(nextPath, intakePower, false);
+        }
+    }
+    private void pickup(PathState nextState, PathChain nextPath) {
+        if (!follower.isBusy()) {
+            pathState = nextState;
+            follower.followPath(nextPath, true);
+        }
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return (144-pose);}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @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);
+        follower.setStartingPose(new Pose(72,72,0));
+//        turret = new Turret(robot, TELE, robot.limelight);
+//        spindexer = new Spindexer(hardwareMap);
+//        servos = new Servos(hardwareMap);
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
+//        robot.light.setPosition(Color.LightRed);
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+//                if (Color.redAlliance){
+//                    robot.light.setPosition(Color.LightRed);
+//                } else {
+//                    robot.light.setPosition(Color.LightBlue);
+//                }
+
+                double[] xPoses = {startPoseX, shoot0X,
+                        drivePickup1X, pickup1X, shoot1X,
+                        drivePickup2ControlX, drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
+                        drivePickup3ControlX, drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
+
+                double[] headings = {startPoseH, shoot0H,
+                        drivePickup1H, pickup1H, shoot1H,
+                        drivePickup2H, pickup2H, shoot2H,
+                        drivePickup3H, pickup3H, shoot3H};
+
+                for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(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)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+//        robot.transfer.setPower(1);
+        limelightUsed = false;
+
+        while (opModeIsActive()){
+            follower.update();
+            pathStateMachine();
+            Pose currentPose = follower.getPose();
+//            teleStartPoseX = currentPose.getX();
+//            teleStartPoseY = currentPose.getY();
+//            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
+//
+//            turret.trackGoal(new Pose(shootX, shootY, Math.toRadians(shootH)));
+//            targetingSettings = targeting.calculateSettings(shootX, shootY, Math.toRadians(shootH), 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);
+//
+//            if (driveToShoot()){servos.setSpinPos(spinStartPos);}
+//            else {spindexer.processIntake();}
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", currentPose.getX());
+            TELE.addData("Y:", currentPose.getY());
+            TELE.addData("H:", currentPose.getHeading());
+            TELE.update();
+        }
+    }
+}
\ No newline at end of file