diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto15Ball_Back.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto15Ball_Back.java
new file mode 100644
index 0000000..4d2d140
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto15Ball_Back.java
@@ -0,0 +1,357 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+
+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.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto15Ball_Back extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Follower follower;
+    MeasuringLoopTimes loopTimes;
+    Shooter shooter;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    SpindexerTransferIntake spindexer;
+
+    // Wait Times
+    public static double rapidWaitTime = 0.5;
+    public static double rapidShootTime = 0.8;
+    public static double loadPickupTime = 3;
+
+    // Initialize path state machine
+    private enum PathState {
+        WAIT_VELOCITY, WAIT_SHOOT0,
+        PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3,
+        PICKUP_LOAD, DRIVE_SHOOT_LOAD, WAIT_SHOOT_LOAD,
+        INTAKE_GATE, DRIVE_SHOOT_GATE, WAIT_SHOOT_GATE, LEAVE
+    }
+    PathState pathState = PathState.WAIT_VELOCITY;
+
+    // Poses
+    public static double startPoseX = 12, startPoseY = -64, startPoseH = 90;
+    public static double pickup3ControlX = 12, pickup3ControlY = -37;
+    public static double pickup3X = 61, pickup3Y = -37, pickup3H = 0;
+    public static double shoot3X = 16, shoot3Y = -57, shoot3H = 0;
+    public static double pickupLoadControlX = 21.23654066437572, pickupLoadControlY = -62.311626575028637;
+    public static double pickupLoadX = 63, pickupLoadY = -63, pickupLoadH = 0;
+    public static double shootLoadControlX = 21.23654066437572, shootLoadControlY = -62.311626575028637;
+    public static double shootLoadX = 16, shootLoadY = -57, shootLoadH = 0;
+    public static double intakeGateControl1X = 51.9656357388316, intakeGateControl1Y = -65.506277205040073;
+    public static double intakeGateControl2X = 60.13459335624285, intakeGateControl2Y = -67.300458190148911;
+    public static double intakeGateX = 59, intakeGateY = -12, intakeGateH = 90;
+    public static double shootGateControlX = 53.8705612829324, shootGateControlY = -35.14501718213059;
+    public static double shootGateX = 16, shootGateY = -57, shootGateH = 0;
+    public static double leaveX = 40, leaveY = 14, leaveH = 0;
+    double[] xPoses = {startPoseX, pickup3ControlX, pickup3X, shoot3X,
+            pickupLoadControlX, pickupLoadX, shootLoadControlX, shootLoadX,
+            intakeGateControl1X, intakeGateControl2X, intakeGateX, shootGateControlX, shootGateX, leaveX};
+    double[] yPoses = {startPoseY, pickup3ControlY, pickup3Y, shoot3Y,
+            pickupLoadControlY, pickupLoadY, shootLoadControlY, shootLoadY,
+            intakeGateControl1Y, intakeGateControl2Y, intakeGateY, shootGateControlY, shootGateY, leaveY};
+    double[] headings = {startPoseH, 0, pickup3H, shoot3H,
+            0, pickupLoadH, 0, shootLoadH,
+            0, 0, intakeGateH, 0, shootGateH, leaveH};
+    Pose startPose, pickup3Control, pickup3, shoot3,
+            pickupLoadControl, pickupLoad, shootLoadControl, shootLoad,
+            intakeGateControl1, intakeGateControl2, intakeGate, shootGateControl, shootGate, leave;
+    private void initializePoses(){
+        startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
+        pickup3Control = new Pose(xPoses[1], yPoses[1]);
+        pickup3 = new Pose(xPoses[2], yPoses[2], Math.toRadians(headings[2]));
+        shoot3 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
+        pickupLoadControl = new Pose(xPoses[4], yPoses[4]);
+        pickupLoad = new Pose(xPoses[5], yPoses[5], Math.toRadians(headings[5]));
+        shootLoadControl = new Pose(xPoses[6], yPoses[6]);
+        shootLoad = new Pose(xPoses[7], yPoses[7], Math.toRadians(headings[7]));
+        intakeGateControl1 = new Pose(xPoses[8], yPoses[8]);
+        intakeGateControl2 = new Pose(xPoses[9], yPoses[9]);
+        intakeGate = new Pose(xPoses[10], yPoses[10], Math.toRadians(headings[10]));
+        shootGateControl = new Pose(xPoses[11], yPoses[11]);
+        shootGate = new Pose(xPoses[12], yPoses[12], Math.toRadians(headings[12]));
+        leave = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
+    }
+
+    //Building Paths
+    PathChain startPose_pickup3, pickup3_shoot3, shoot3_pickupLoad, pickupLoad_shootLoad,
+            shootLoad_intakeGate, intakeGate_shootGate, shootGate_intakeGate, shootGate_leave;
+    private void buildPaths(){
+        startPose_pickup3 = follower.pathBuilder()
+                .addPath(new BezierCurve(startPose, pickup3Control, pickup3))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        pickup3_shoot3 = follower.pathBuilder()
+                .addPath(new BezierLine(pickup3, shoot3))
+                .setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
+                .build();
+
+        shoot3_pickupLoad = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot3, pickupLoadControl, pickupLoad))
+                .setLinearHeadingInterpolation(shoot3.getHeading(), pickupLoad.getHeading())
+                .build();
+
+        pickupLoad_shootLoad = follower.pathBuilder()
+                .addPath(new BezierCurve(pickupLoad, shootLoadControl, shootLoad))
+                .setLinearHeadingInterpolation(pickupLoad.getHeading(), shootLoad.getHeading())
+                .build();
+
+        shootLoad_intakeGate = follower.pathBuilder()
+                .addPath(new BezierCurve(shootLoad, intakeGateControl1, intakeGateControl2, intakeGate))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        intakeGate_shootGate = follower.pathBuilder()
+                .addPath(new BezierCurve(intakeGate, shootGateControl, shootGate))
+                .setLinearHeadingInterpolation(intakeGate.getHeading(), shootGate.getHeading())
+                .build();
+
+        shootGate_intakeGate = follower.pathBuilder()
+                .addPath(new BezierCurve(shootGate, intakeGateControl1, intakeGateControl2, intakeGate))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        shootGate_leave = follower.pathBuilder()
+                .addPath(new BezierLine(shootGate, leave))
+                .setLinearHeadingInterpolation(shootGate.getHeading(), leave.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private int startAuto = 0;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case WAIT_VELOCITY:
+                spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
+                shooter.setFlywheelVelocity(2400);
+                robot.setHoodPos(0.64);
+                if (flywheel.getSteady()){
+                    startAuto++;
+                }
+                if (startAuto > 5){
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT0;
+                }
+                break;
+            case WAIT_SHOOT0:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(startPose_pickup3, false);
+                    pathState = PathState.PICKUP3;
+                }
+                break;
+            case PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup3_shoot3, false);
+                    pathState = PathState.DRIVE_SHOOT3;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT3:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT3;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT3:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shoot3_pickupLoad, false);
+                    pathState = PathState.PICKUP_LOAD;
+                    timeStamp = currentTime;
+                }
+                break;
+            case PICKUP_LOAD:
+                if (currentTime - timeStamp > loadPickupTime){
+                    follower.followPath(pickupLoad_shootLoad, false);
+                    pathState = PathState.DRIVE_SHOOT_LOAD;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT_LOAD:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT_LOAD;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT_LOAD:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shootLoad_intakeGate, false);
+                    pathState = PathState.INTAKE_GATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case INTAKE_GATE:
+                if (!follower.isBusy()){
+                    follower.followPath(intakeGate_shootGate, false);
+                    pathState = PathState.DRIVE_SHOOT_GATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT_GATE:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT_GATE;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT_GATE:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shootGate_intakeGate, false);
+                    pathState = PathState.INTAKE_GATE;
+                    timeStamp = currentTime;
+                    // TODO: add logic for leave
+                }
+                break;
+            case LEAVE:
+                // add line here to say "done auto"
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return -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.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        follower = Constants.createFollower(hardwareMap);
+        sleep(1000);
+        follower.setStartingPose(new Pose(0,0,0));
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+        turret = new Turret(robot);
+        flywheel = new Flywheel(robot);
+        commander = new VelocityCommander();
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        spindexer = new SpindexerTransferIntake(robot, TELE, commander);
+        ParkTilter park = new ParkTilter(robot);
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.squareWasPressed()){
+                robot.setSpinPos(ServoPositions.spindexer_A2);
+                robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
+                robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+            }
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+                shooter.setRedAlliance(Color.redAlliance);
+            }
+
+            if (!initializeRobot){
+                if ((Color.redAlliance && xPoses[0] < 0)
+                        || (!Color.redAlliance && xPoses[0] > 0)){
+                    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.switchPipeline(Turret.PipelineMode.TRACKING);
+                robot.limelight.start();
+                limelightUsed = true;
+                park.unpark();
+            }
+
+            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.addData("Current LL Pipeline", turret.pipeline());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+            shooter.update(robot.voltage.getVoltage());
+
+            if (!isStopRequested()){
+                follower.update();
+            }
+
+            pathStateMachine();
+            TeleopV4.teleStart = follower.getPose();
+
+            spindexer.update();
+
+            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:", TeleopV4.teleStart.getX());
+            TELE.addData("Y:", TeleopV4.teleStart.getY());
+            TELE.addData("H:", TeleopV4.teleStart.getHeading());
+            TELE.update();
+        }
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto21Ball_Front_Gate.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto21Ball_Front_Gate.java
index d3412e7..68b7d3e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto21Ball_Front_Gate.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto21Ball_Front_Gate.java
@@ -216,7 +216,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
                 break;
             case OPENGATE1:
                 if (currentTime - timeStamp > openGate1Time){
-                    follower.followPath(openGate1_shoot1, true);
+                    follower.followPath(openGate1_shoot1, false);
                     pathState = PathState.DRIVE_SHOOT1;
                     timeStamp = currentTime;
                 }
@@ -240,14 +240,14 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
                 break;
             case PICKUP2:
                 if (!follower.isBusy()){
-                    follower.followPath(pickup2_openGate2, true);
+                    follower.followPath(pickup2_openGate2, false);
                     pathState = PathState.DRIVE_SHOOT2;
                     timeStamp = currentTime;
                 }
                 break;
             case OPENGATE2:
                 if (currentTime - timeStamp > openGate2Time){
-                    follower.followPath(openGate2_shoot2, true);
+                    follower.followPath(openGate2_shoot2, false);
                     pathState = PathState.DRIVE_SHOOT2;
                     timeStamp = currentTime;
                 }
@@ -272,7 +272,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
                 break;
             case INTAKE_GATE:
                 if (currentTime - timeStamp > openGateWaitTime){
-                    follower.followPath(openGate1_shoot1, true);
+                    follower.followPath(openGate1_shoot1, false);
                     pathState = PathState.DRIVE_SHOOT1;
                     timeStamp = currentTime;
                 }