diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAuto.java
new file mode 100644
index 0000000..1cd08eb
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAuto.java
@@ -0,0 +1,72 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+
+@Autonomous(name = "Specimen Auto", group = "Dev")
+
+public class SpecimenAuto extends OpMode {
+    private Follower follower;
+    private int state;
+    private ElapsedTime runtime;
+
+
+     public void init(){
+        state = 0;
+        follower = new Follower(hardwareMap);
+        follower.setMaxPower(.90);
+        runtime = new ElapsedTime();
+
+     }
+
+    @Override
+    public void loop() {
+         switch(state) {
+             case 0:
+                  //path 1
+                 break;
+             case 1:
+                  //specimen drop
+                 break;
+             case 2:
+                  //path 2
+                 break;
+             case 3:
+                 //specimen pick up
+                 break;
+             case 4:
+                 //path 3
+                 break;
+             case 5:
+                 //specimen drop
+                 break;
+             case 6:
+                 //path 4
+                 break;
+             case 7:
+                 //specimen pick up
+                 break;
+             case 8:
+                 //path 5
+                 break;
+             case 9:
+                 //specimen drop
+                 break;
+             case 10:
+                 //path 6
+                 break;
+             case 11:
+                 //specimen pickup
+                 break;
+             case 12:
+                 //path 7
+                 break;
+             case 13:
+                 //specimen drop
+                 break;
+         }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAutoLineTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAutoLineTest.java
new file mode 100644
index 0000000..6fc2181
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAutoLineTest.java
@@ -0,0 +1,170 @@
+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 = "Specimen Test", group = "Competition")
+public class SpecimenAutoLineTest extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(8, 60);
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.35);
+
+        follower.setStartingPose(startPose);
+
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(8.000, 60.000, Point.CARTESIAN),
+                                new Point(39.500, 60.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(39.500, 60.000, Point.CARTESIAN),
+                                new Point(37.000, 60.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 3
+                        new BezierCurve(
+                                new Point(37.000, 60.000, Point.CARTESIAN),
+                                new Point(16.000, 12.000, Point.CARTESIAN),
+                                new Point(80.000, 54.000, Point.CARTESIAN),
+                                new Point(58.000, 23.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 4
+                        new BezierLine(
+                                new Point(58.000, 23.500, Point.CARTESIAN),
+                                new Point(14.000, 23.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 5
+                        new BezierLine(
+                                new Point(14.000, 23.500, Point.CARTESIAN),
+                                new Point(58.000, 23.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 6
+                        new BezierCurve(
+                                new Point(58.000, 23.500, Point.CARTESIAN),
+                                new Point(64.000, 6.000, Point.CARTESIAN),
+                                new Point(14.000, 12.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 7
+                        new BezierCurve(
+                                new Point(14.000, 12.000, Point.CARTESIAN),
+                                new Point(60.000, 14.000, Point.CARTESIAN),
+                                new Point(60.000, 7.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 8
+                        new BezierLine(
+                                new Point(60.000, 7.500, Point.CARTESIAN),
+                                new Point(14.000, 7.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 9
+                        new BezierCurve(
+                                new Point(14.000, 7.500, Point.CARTESIAN),
+                                new Point(34.000, 14.250, Point.CARTESIAN),
+                                new Point(19.000, 24.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 10
+                        new BezierCurve(
+                                new Point(19.000, 24.000, Point.CARTESIAN),
+                                new Point(39.500, 24.000, Point.CARTESIAN),
+                                new Point(19.000, 64.000, Point.CARTESIAN),
+                                new Point(39.500, 64.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 11
+                        new BezierLine(
+                                new Point(39.500, 64.000, Point.CARTESIAN),
+                                new Point(37.000, 64.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 12
+                        new BezierCurve(
+                                new Point(37.000, 64.000, Point.CARTESIAN),
+                                new Point(19.000, 64.000, Point.CARTESIAN),
+                                new Point(37.000, 24.000, Point.CARTESIAN),
+                                new Point(19.000, 24.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 13
+                        new BezierCurve(
+                                new Point(19.000, 24.000, Point.CARTESIAN),
+                                new Point(39.500, 24.000, Point.CARTESIAN),
+                                new Point(19.000, 68.000, Point.CARTESIAN),
+                                new Point(39.500, 68.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .addPath(
+                        // Line 14
+                        new BezierLine(
+                                new Point(39.500, 68.000, Point.CARTESIAN),
+                                new Point(37.000, 68.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(180)).build();
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    @Override
+    public void loop() {
+        follower.update();
+        follower.telemetryDebug(telemetryA);
+    }
+}