diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
new file mode 100644
index 0000000..9a15b57
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
@@ -0,0 +1,122 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+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.localization.Pose;
+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;
+
+@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
+public class PreLoadedBlueBasketAuto extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(7.875, 89.357);
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.45);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(8.036, 89.196, Point.CARTESIAN),
+                                new Point(10.125, 126.804, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 2
+                        new BezierCurve(
+                                new Point(10.125, 126.804, Point.CARTESIAN),
+                                new Point(37.607, 90.000, Point.CARTESIAN),
+                                new Point(62.357, 119.893, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 3
+                        new BezierCurve(
+                                new Point(62.357, 119.893, Point.CARTESIAN),
+                                new Point(33.750, 112.500, Point.CARTESIAN),
+                                new Point(15.107, 130.661, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 4
+                        new BezierCurve(
+                                new Point(15.107, 130.661, Point.CARTESIAN),
+                                new Point(58.821, 103.018, Point.CARTESIAN),
+                                new Point(59.625, 126.964, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 5
+                        new BezierLine(
+                                new Point(59.625, 126.964, Point.CARTESIAN),
+                                new Point(15.107, 130.339, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 6
+                        new BezierLine(
+                                new Point(15.107, 130.339, Point.CARTESIAN),
+                                new Point(59.625, 126.964, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 7
+                        new BezierLine(
+                                new Point(59.625, 126.964, Point.CARTESIAN),
+                                new Point(57.857, 133.071, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 8
+                        new BezierLine(
+                                new Point(57.857, 133.071, Point.CARTESIAN),
+                                new Point(18.964, 134.679, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 9
+                        new BezierCurve(
+                                new Point(18.964, 134.679, Point.CARTESIAN),
+                                new Point(84.536, 131.786, Point.CARTESIAN),
+                                new Point(80.036, 96.429, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    @Override
+    public void loop() {
+        follower.update();
+        follower.telemetryDebug(telemetryA);
+    }
+}