diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
new file mode 100644
index 0000000..7f5fea7
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
@@ -0,0 +1,91 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous (name = "Test", group = "Autonomous Pathing Tuning")
+public class AutoTest extends OpMode {
+    private Telemetry telemetryA;
+
+
+    private Follower follower;
+
+    private PathChain test;
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        test = follower.pathBuilder()
+                .addPath(
+        new BezierLine(
+                new Point(8.000, 60.000, Point.CARTESIAN),
+                new Point(18.000, 60.000, Point.CARTESIAN)
+        )
+      )
+
+                .addPath(
+                        // Line 2
+                        new BezierCurve(
+                                new Point(18.000, 60.000, Point.CARTESIAN),
+                                new Point(18.000, 23.000, Point.CARTESIAN),
+                                new Point(48.000, 23.000, Point.CARTESIAN)
+                        )
+                )
+
+                .addPath(
+                        // Line 3
+                        new BezierLine(
+                                new Point(48.000, 23.000, Point.CARTESIAN),
+                                new Point(60.000, 36.000, Point.CARTESIAN)
+                        )
+                )
+
+                .addPath(
+                        // Line 4
+                        new BezierLine(
+                                new Point(60.000, 36.000, Point.CARTESIAN),
+                                new Point(60.000, 49.000, Point.CARTESIAN)
+                        )
+                ).build();
+
+
+        follower.followPath(test);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+
+    @Override
+    public void loop() {
+        follower.update();
+        if (follower.atParametricEnd()) {
+            follower.followPath(test);
+        }
+
+        follower.telemetryDebug(telemetryA);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java
new file mode 100644
index 0000000..ef7ea4f
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java
@@ -0,0 +1,99 @@
+package org.firstinspires.ftc.teamcode;
+
+
+
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+public class RedAuto {
+
+
+    public class GeneratedPath {
+
+        public GeneratedPath() {
+            PathBuilder builder = new PathBuilder();
+
+            builder
+                    .addPath(
+                            // Line 1
+                            new BezierLine(
+                                    new Point(131.499, 58.931, Point.CARTESIAN),
+                                    new Point(131.986, 18.183, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 2
+                            new BezierLine(
+                                    new Point(131.986, 18.183, Point.CARTESIAN),
+                                    new Point(90.264, 40.911, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 3
+                            new BezierLine(
+                                    new Point(90.264, 40.911, Point.CARTESIAN),
+                                    new Point(83.445, 26.300, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 4
+                            new BezierLine(
+                                    new Point(83.445, 26.300, Point.CARTESIAN),
+                                    new Point(136.207, 14.286, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 5
+                            new BezierLine(
+                                    new Point(136.207, 14.286, Point.CARTESIAN),
+                                    new Point(81.497, 24.352, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 6
+                            new BezierLine(
+                                    new Point(81.497, 24.352, Point.CARTESIAN),
+                                    new Point(82.634, 12.988, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 7
+                            new BezierLine(
+                                    new Point(82.634, 12.988, Point.CARTESIAN),
+                                    new Point(133.935, 11.364, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 8
+                            new BezierLine(
+                                    new Point(133.935, 11.364, Point.CARTESIAN),
+                                    new Point(82.309, 11.689, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 9
+                            new BezierLine(
+                                    new Point(82.309, 11.689, Point.CARTESIAN),
+                                    new Point(83.445, 2.598, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation()
+                    .addPath(
+                            // Line 10
+                            new BezierLine(
+                                    new Point(83.445, 2.598, Point.CARTESIAN),
+                                    new Point(132.149, 10.390, Point.CARTESIAN)
+                            )
+                    )
+                    .setTangentHeadingInterpolation();
+        }
+    }
+}