diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/configs/AutoConfig.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/configs/AutoConfig.java
index 8d92434..0c6231f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/configs/AutoConfig.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/configs/AutoConfig.java
@@ -5,6 +5,8 @@ import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class AutoConfig {
+    //REMEMBER THAT LEFT IS POS 1, RIGHT IS POS 3
+
     public static int OBJECT_CENTER_Y = 135;
     public static int MIN_H = 100;
     public static int MIN_S = 100;
@@ -16,13 +18,20 @@ public class AutoConfig {
     //carousel values
     public static double CAROUSEL_POWER = 0.2;
     public static int CAROUSEL_WAIT = 6000;
+
     //carousel positions
+    //blue
     public static double BLUE_CAROUSEL_X = -60;
     public static double BLUE_CAROUSEL_Y = 58;
     public static double BLUE_CAROUSEL_ANGLE = 180;
 
+    //red
+    public static double RED_CAROUSEL_X = -60;
+    public static double RED_CAROUSEL_Y = -58;
+    public static double RED_CAROUSEL_ANGLE = 180;
 
-    // arm positions
+
+    //arm positions
     public static int ARM_MAX_DIST = 415;
     public static int SLIGHTLY_OFF_GROUND = 40;
     public static int LAYER_ONE_BACK_ARM_POS = 340;
@@ -38,9 +47,27 @@ public class AutoConfig {
     public static double GRABBER_OPEN = 0.6;
 
     //storage coords
-    public static double BLUE_STORAGE__X = -60;
+    //blue
+    public static double BLUE_STORAGE_X = -60;
     public static double BLUE_STORAGE_Y = 36;
     public static double BLUE_STORAGE_ANGLE = 360;
 
+    //red
+    public static double RED_STORAGE_X = -60;
+    public static double RED_STORAGE_Y = -36;
+    public static double RED_STORAGE_ANGLE = 0;
+
+
+    //warehouse coords
+    //blue
+    public static double BLUE_WAREHOUSE_X = -60;
+    public static double BLUE_WAREHOUSE_Y = 36;
+    public static double BLUE_WAREHOUSE_ANGLE = 360;
+
+    //red
+    public static double RED_WAREHOUSE_X = -60;
+    public static double RED_WAREHOUSE_Y = 36;
+    public static double RED_WAREHOUSE_ANGLE = 360;
+
 
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/ActionObject.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/ActionObject.java
index 75b5ff5..4460acb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/ActionObject.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/ActionObject.java
@@ -12,6 +12,7 @@ public class ActionObject {
         this.y = y;
         this.angle = angle;
     }
+
     public ActionObject(double x, double y, double angle, int methodID){
         this.x = x;
         this.y = y;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/EnhancedDriver.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/EnhancedDriver.java
index f0916db..b32c0b3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/EnhancedDriver.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/EnhancedDriver.java
@@ -10,6 +10,7 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 import com.acmerobotics.roadrunner.geometry.Pose2d;
 import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -81,7 +82,8 @@ public class EnhancedDriver extends SampleMecanumDrive{
             case 3:
                 turnCarouselMethods(subIndex);
                 break;
-
+            case 4:
+                executeAdvancedMovement(subIndex);
         }
 
     }
@@ -171,6 +173,23 @@ public class EnhancedDriver extends SampleMecanumDrive{
         carouselMotor2.setPower(0);
     }
 
+    private void executeAdvancedMovement(int id) throws IndexOutOfBoundsException{
+        switch(id){
+            //moves to the leftmost edge (blue side) and drives into warehouse
+            case 1:
+                Trajectory traj = trajectoryBuilder(getPoseEstimate())
+                    .lineToLinearHeading()
+                    .lineToLinearHeading()
+
+
+            //moves to the rightmost edge (red side) and drives into warehouse
+            case 2:
+
+
+        }
+    }
+
+
 
     private void moveArms(int encoderVal){
         armOne.setTargetPosition(armOne.getCurrentPosition() - encoderVal);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/MethodRefrences.txt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/MethodRefrences.txt
index d657455..d02319b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/MethodRefrences.txt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/MethodRefrences.txt
@@ -5,6 +5,8 @@
     13: bottom layer from front
     14: max position
 2X: grabber motions
+    20: closes grabber and lifts up a little
+        START WITH THIS ONE!!!!
     21: close grabber
     22: open grabber
 3X: carousel movements
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBase.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBase.java
index 015faaa..31c83a0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBase.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBase.java
@@ -1,18 +1,79 @@
 package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
+import static org.firstinspires.ftc.teamcode.createdcode.configs.AutoConfig.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+@Disabled
 @Autonomous
 @Config
-public class AutoBase extends enhancedAutoMode{
+public class AutoBase extends EnhancedAutoMode {
+    public static double START_POS_X = 0;
+    public static double START_POS_Y = 0;
+    public static double START_POS_ANGLE = 0;
+    public static int START_METHOD = 20;
+
+    public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
+    public static int SHIPPING_ELEMENT_POS_1_X = 0;
+    public static int SHIPPING_ELEMENT_POS_2_X = 0;
+    public static int SHIPPING_ELEMENT_POS_3_X = 0;
+
+
+    FtcDashboard dashboard = FtcDashboard.getInstance();
+    Telemetry dashboardTelemetry = dashboard.getTelemetry();
+
+
     public static double[] xCoordArr = {};
     private static double[] yCoordArr = {};
     private static double[] angleArr = {};
     private static int[] methodIdArr = {};
 
+    public static double[] xCoordArrCase1 = {START_POS_X};
+    private static double[] yCoordArrCase1 = {START_POS_Y};
+    private static double[] angleArrCase1 = {START_POS_ANGLE};
+    private static int[] methodIdArrCase1 = {START_METHOD};
+
+    public static double[] xCoordArrCase2 = {START_POS_X};
+    private static double[] yCoordArrCase2 = {START_POS_Y};
+    private static double[] angleArrCase2 = {START_POS_ANGLE};
+    private static int[] methodIdArrCase2 = {START_METHOD};
+
+    public static double[] xCoordArrCase3 = {START_POS_X};
+    private static double[] yCoordArrCase3 = {START_POS_Y};
+    private static double[] angleArrCase3 = {START_POS_ANGLE};
+    private static int[] methodIdArrCase3 = {START_METHOD};
+
     @Override
     public void runOpMode(){
+        int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
+        dashboardTelemetry.addData("Position Detected is", pos);
+        dashboardTelemetry.update();
+
+        if (pos == 1) {
+            xCoordArr = xCoordArrCase1;
+            yCoordArr = yCoordArrCase1;
+            angleArr = angleArrCase1;
+            methodIdArr = methodIdArrCase1;
+        }
+        else if (pos == 2){
+            xCoordArr = xCoordArrCase2;
+            yCoordArr = yCoordArrCase2;
+            angleArr = angleArrCase2;
+            methodIdArr = methodIdArrCase2;
+        }
+        else if (pos == 3) {
+            xCoordArr = xCoordArrCase3;
+            yCoordArr = yCoordArrCase3;
+            angleArr = angleArrCase3;
+            methodIdArr = methodIdArrCase3;
+        }
+
+
         initThings();
 
         setXCoords(xCoordArr);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueNearParkAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueNearParkAuto.java
index 3f21507..55bca46 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueNearParkAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueNearParkAuto.java
@@ -9,14 +9,16 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 
 
-@Autonomous
+@Autonomous (group = "Blue")
 @Config
-public class BlueNearParkAuto extends enhancedAutoMode{
+public class BlueNearParkAuto extends EnhancedAutoMode {
     public static double START_POS_X = -32;
     public static double START_POS_Y = 66;
     public static double START_POS_ANGLE = 270;
     public static int START_METHOD = 20;
+
     public static int BLOCK_DROP_POINT = -30;
+
     public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 135;
     public static int SHIPPING_ELEMENT_POS_1_X = 30;
     public static int SHIPPING_ELEMENT_POS_2_X = 165;
@@ -32,17 +34,17 @@ public class BlueNearParkAuto extends enhancedAutoMode{
     private static double[] angleArr = {};
     private static int[] methodIdArr = {};
 
-    public static double[] xCoordArrCase1 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE__X};
+    public static double[] xCoordArrCase1 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE_X};
     private static double[] yCoordArrCase1 = {START_POS_Y, 48, 24, 24, 24, BLUE_CAROUSEL_Y, BLUE_STORAGE_Y};
     private static double[] angleArrCase1 = {START_POS_ANGLE, 180, 90, 0, 0, BLUE_CAROUSEL_ANGLE, BLUE_STORAGE_ANGLE};
     private static int[] methodIdArrCase1 = {START_METHOD, 13, 0, 22, 10, 32, 0};
 
-    public static double[] xCoordArrCase2 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE__X};
+    public static double[] xCoordArrCase2 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE_X};
     private static double[] yCoordArrCase2 = {START_POS_Y, 48, 24, 24, 24, BLUE_CAROUSEL_Y, BLUE_STORAGE_Y};
     private static double[] angleArrCase2 = {START_POS_ANGLE, 180, 90, 0, 0, BLUE_CAROUSEL_ANGLE, BLUE_STORAGE_ANGLE};
     private static int[] methodIdArrCase2 = {START_METHOD, 12 , 0, 22, 10, 32, 0};
 
-    public static double[] xCoordArrCase3 = {START_POS_X, BLOCK_DROP_POINT, BLOCK_DROP_POINT, -56, BLUE_CAROUSEL_X, BLUE_STORAGE__X};
+    public static double[] xCoordArrCase3 = {START_POS_X, BLOCK_DROP_POINT, BLOCK_DROP_POINT, -56, BLUE_CAROUSEL_X, BLUE_STORAGE_X};
     private static double[] yCoordArrCase3 = {START_POS_Y, 48, 24, 24, BLUE_CAROUSEL_Y, BLUE_STORAGE_Y};
     private static double[] angleArrCase3 = {START_POS_ANGLE, 135, 0, 0, BLUE_CAROUSEL_ANGLE, BLUE_STORAGE_ANGLE};
     private static int[] methodIdArrCase3 = {START_METHOD, 11, 22, 10, 32, 0};
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueWarehouseSideAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueWarehouseSideAuto.java
new file mode 100644
index 0000000..bb0f17b
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueWarehouseSideAuto.java
@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+
+@Autonomous (group = "Blue")
+@Config
+public class BlueWarehouseSideAuto extends EnhancedAutoMode {
+    public static double START_POS_X = 16;
+    public static double START_POS_Y = 66;
+    public static double START_POS_ANGLE = -90;
+    public static int START_METHOD = 20;
+
+    //TODO: Get vals
+    public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
+    public static int SHIPPING_ELEMENT_POS_1_X = 0;
+    public static int SHIPPING_ELEMENT_POS_2_X = 0;
+    public static int SHIPPING_ELEMENT_POS_3_X = 0;
+
+
+    FtcDashboard dashboard = FtcDashboard.getInstance();
+    Telemetry dashboardTelemetry = dashboard.getTelemetry();
+
+
+    public static double[] xCoordArr = {};
+    private static double[] yCoordArr = {};
+    private static double[] angleArr = {};
+    private static int[] methodIdArr = {};
+
+    public static double[] xCoordArrCase1 = {START_POS_X, -12. -12, 36};
+    private static double[] yCoordArrCase1 = {START_POS_Y, 64, 36, 68};
+    private static double[] angleArrCase1 = {START_POS_ANGLE, -90, -90, 0};
+    private static int[] methodIdArrCase1 = {START_METHOD, 13, 22, 10, 0};
+
+    public static double[] xCoordArrCase2 = {START_POS_X, -12. -12, 36};
+    private static double[] yCoordArrCase2 = {START_POS_Y, 64, 36, 68};
+    private static double[] angleArrCase2 = {START_POS_ANGLE, -90, -90, 0};
+    private static int[] methodIdArrCase2 = {START_METHOD, 12, 22, 10, 0};
+
+    public static double[] xCoordArrCase3 = {START_POS_X, -12. -12, 36};
+    private static double[] yCoordArrCase3 = {START_POS_Y, 64, 36, 68};
+    private static double[] angleArrCase3 = {START_POS_ANGLE, -90, -90, 0};
+    private static int[] methodIdArrCase3 = {START_METHOD, 11, 22, 10, 0};
+
+    @Override
+    public void runOpMode(){
+        int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
+        dashboardTelemetry.addData("Position Detected is", pos);
+        dashboardTelemetry.update();
+
+        if (pos == 1) {
+            xCoordArr = xCoordArrCase1;
+            yCoordArr = yCoordArrCase1;
+            angleArr = angleArrCase1;
+            methodIdArr = methodIdArrCase1;
+        }
+        else if (pos == 2){
+            xCoordArr = xCoordArrCase2;
+            yCoordArr = yCoordArrCase2;
+            angleArr = angleArrCase2;
+            methodIdArr = methodIdArrCase2;
+        }
+        else if (pos == 3) {
+            xCoordArr = xCoordArrCase3;
+            yCoordArr = yCoordArrCase3;
+            angleArr = angleArrCase3;
+            methodIdArr = methodIdArrCase3;
+        }
+
+
+        initThings();
+
+        setXCoords(xCoordArr);
+        setYCoords(yCoordArr);
+        setAngles(angleArr);
+        setMethodIDS(methodIdArr);
+
+        try {
+            makeActionObjects();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        waitForStart();
+
+        run();
+    }
+
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/enhancedAutoMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/EnhancedAutoMode.java
similarity index 97%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/enhancedAutoMode.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/EnhancedAutoMode.java
index d4e5539..14bceea 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/enhancedAutoMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/EnhancedAutoMode.java
@@ -15,8 +15,7 @@ import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
-@Config
-public abstract class enhancedAutoMode extends LinearOpMode {
+public abstract class EnhancedAutoMode extends LinearOpMode {
     private static List<Double> xCoords = new ArrayList<>(0);
     private static List<Double> yCoords = new ArrayList<>(0);
     private static List<Double> angles = new ArrayList<>(0);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedNearParkAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedNearParkAuto.java
new file mode 100644
index 0000000..61622dc
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedNearParkAuto.java
@@ -0,0 +1,95 @@
+package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
+
+import static org.firstinspires.ftc.teamcode.createdcode.configs.AutoConfig.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+
+@Autonomous (group = "Red")
+@Config
+public class RedNearParkAuto extends EnhancedAutoMode {
+    public static double START_POS_X = -40;
+    public static double START_POS_Y = -66;
+    public static double START_POS_ANGLE = 90;
+    public static int START_METHOD = 20;
+
+    public static int BLOCK_DROP_POINT = -30;
+
+    //TODO: GET THESE VALUES
+    public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
+    public static int SHIPPING_ELEMENT_POS_1_X = 0;
+    public static int SHIPPING_ELEMENT_POS_2_X = 0;
+    public static int SHIPPING_ELEMENT_POS_3_X = 0;
+
+    public static double[] xCoordArr = {};
+    private static double[] yCoordArr = {};
+    private static double[] angleArr = {};
+    private static int[] methodIdArr = {};
+
+    public static double[] xCoordArrCase1 = {START_POS_X, BLOCK_DROP_POINT, BLOCK_DROP_POINT, -56, RED_CAROUSEL_Y, RED_STORAGE_Y};
+    private static double[] yCoordArrCase1 = {START_POS_Y, -48, -24, -24, RED_CAROUSEL_Y, RED_STORAGE_Y};
+    private static double[] angleArrCase1 = {START_POS_ANGLE, 0, 0, 0, RED_CAROUSEL_ANGLE, RED_STORAGE_ANGLE};
+    private static int[] methodIdArrCase1 = {START_METHOD, 11, 22, 10, 31, 0};
+
+    public static double[] xCoordArrCase2 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, RED_CAROUSEL_X, RED_STORAGE_X};
+    private static double[] yCoordArrCase2 = {START_POS_Y, -48, -24, -24, -24, RED_CAROUSEL_Y, RED_STORAGE_Y};
+    private static double[] angleArrCase2 = {START_POS_ANGLE, 0, 0, 0, 0, RED_CAROUSEL_ANGLE, RED_STORAGE_ANGLE};
+    private static int[] methodIdArrCase2 = {START_METHOD, 12 , 0, 22, 10, 31, 0};
+
+    public static double[] xCoordArrCase3 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, RED_CAROUSEL_X, RED_STORAGE_X};
+    private static double[] yCoordArrCase3 = {START_POS_Y, -48, -24, -24, -24, RED_CAROUSEL_Y, RED_STORAGE_Y};
+    private static double[] angleArrCase3 = {START_POS_ANGLE, 0, 0, 0, 0, RED_CAROUSEL_ANGLE, RED_STORAGE_ANGLE};
+    private static int[] methodIdArrCase3 = {START_METHOD, 13, 0, 22, 10, 31, 0};
+
+    FtcDashboard dashboard = FtcDashboard.getInstance();
+    Telemetry dashboardTelemetry = dashboard.getTelemetry();
+
+    @Override
+    public void runOpMode(){
+        int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
+        dashboardTelemetry.addData("Position Detected is", pos);
+        dashboardTelemetry.update();
+
+        if (pos == 1) {
+            xCoordArr = xCoordArrCase1;
+            yCoordArr = yCoordArrCase1;
+            angleArr = angleArrCase1;
+            methodIdArr = methodIdArrCase1;
+        }
+        else if (pos == 2){
+            xCoordArr = xCoordArrCase2;
+            yCoordArr = yCoordArrCase2;
+            angleArr = angleArrCase2;
+            methodIdArr = methodIdArrCase2;
+        }
+        else if (pos == 3) {
+            xCoordArr = xCoordArrCase3;
+            yCoordArr = yCoordArrCase3;
+            angleArr = angleArrCase3;
+            methodIdArr = methodIdArrCase3;
+        }
+
+
+        initThings();
+
+        setXCoords(xCoordArr);
+        setYCoords(yCoordArr);
+        setAngles(angleArr);
+        setMethodIDS(methodIdArr);
+
+        try {
+            makeActionObjects();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        waitForStart();
+
+        run();
+    }
+
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedWarehouseSideAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedWarehouseSideAuto.java
new file mode 100644
index 0000000..e298a27
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedWarehouseSideAuto.java
@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+
+@Autonomous (group = "Red")
+@Config
+public class RedWarehouseSideAuto extends EnhancedAutoMode {
+    public static double START_POS_X = 8;
+    public static double START_POS_Y = -66;
+    public static double START_POS_ANGLE = -90;
+    public static int START_METHOD = 20;
+
+    //TODO: Get vals
+    public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
+    public static int SHIPPING_ELEMENT_POS_1_X = 0;
+    public static int SHIPPING_ELEMENT_POS_2_X = 0;
+    public static int SHIPPING_ELEMENT_POS_3_X = 0;
+
+
+    FtcDashboard dashboard = FtcDashboard.getInstance();
+    Telemetry dashboardTelemetry = dashboard.getTelemetry();
+
+
+    public static double[] xCoordArr = {};
+    private static double[] yCoordArr = {};
+    private static double[] angleArr = {};
+    private static int[] methodIdArr = {};
+
+    public static double[] xCoordArrCase1 = {START_POS_X, -12. -12, 36};
+    private static double[] yCoordArrCase1 = {START_POS_Y, -64, -36, -68};
+    private static double[] angleArrCase1 = {START_POS_ANGLE, -90, -90, 0};
+    private static int[] methodIdArrCase1 = {START_METHOD, 11, 22, 10, 0};
+
+    public static double[] xCoordArrCase2 = {START_POS_X, -12. -12, 36};
+    private static double[] yCoordArrCase2 = {START_POS_Y, -64, -36, -68};
+    private static double[] angleArrCase2 = {START_POS_ANGLE, -90, -90, 0};
+    private static int[] methodIdArrCase2 = {START_METHOD, 12, 22, 10, 0};
+
+    public static double[] xCoordArrCase3 = {START_POS_X, -12. -12, 36};
+    private static double[] yCoordArrCase3 = {START_POS_Y, -64, -36, -68};
+    private static double[] angleArrCase3 = {START_POS_ANGLE, -90, -90, 0};
+    private static int[] methodIdArrCase3 = {START_METHOD, 13, 22, 10, 0};
+
+    @Override
+    public void runOpMode(){
+        int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
+        dashboardTelemetry.addData("Position Detected is", pos);
+        dashboardTelemetry.update();
+
+        if (pos == 1) {
+            xCoordArr = xCoordArrCase1;
+            yCoordArr = yCoordArrCase1;
+            angleArr = angleArrCase1;
+            methodIdArr = methodIdArrCase1;
+        }
+        else if (pos == 2){
+            xCoordArr = xCoordArrCase2;
+            yCoordArr = yCoordArrCase2;
+            angleArr = angleArrCase2;
+            methodIdArr = methodIdArrCase2;
+        }
+        else if (pos == 3) {
+            xCoordArr = xCoordArrCase3;
+            yCoordArr = yCoordArrCase3;
+            angleArr = angleArrCase3;
+            methodIdArr = methodIdArrCase3;
+        }
+
+
+        initThings();
+
+        setXCoords(xCoordArr);
+        setYCoords(yCoordArr);
+        setAngles(angleArr);
+        setMethodIDS(methodIdArr);
+
+        try {
+            makeActionObjects();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        waitForStart();
+
+        run();
+    }
+
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/redAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/redAuto.java
deleted file mode 100644
index 7a7f7c1..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/redAuto.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-@Autonomous
-@Config
-public class redAuto extends enhancedAutoMode{
-    public static double[] xCoordArr = {0, -30, -50};
-    private static double[] yCoordArr = {0, 10, 50};
-    private static double[] angleArr = {0, 90, 90};
-    private static int[] methodIdArr = {0, 0, 0};
-
-    @Override
-    public void runOpMode(){
-        initThings();
-
-        setXCoords(xCoordArr);
-        setYCoords(yCoordArr);
-        setAngles(angleArr);
-        setMethodIDS(methodIdArr);
-        try {
-            makeActionObjects();
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-
-        waitForStart();
-
-        run();
-    }
-
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/oldthings/automodes/AutoConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/oldthings/automodes/AutoConstants.java
index 2295ab2..6a19319 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/oldthings/automodes/AutoConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/oldthings/automodes/AutoConstants.java
@@ -1,8 +1,10 @@
 package org.firstinspires.ftc.teamcode.createdcode.oldthings.automodes;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
-@Config
+@Disabled
+//@Config
 public class AutoConstants {
 
     public static double CAROUSEL_POWER = 0.7;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
index 536ff91..26c74a2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
@@ -65,27 +65,7 @@ public class DriveConstants {
      * small and gradually increase them later after everything is working. All distance units are
      * inches.
      */
-    /*
-     * Note from LearnRoadRunner.com:
-     * The velocity and acceleration constraints were calculated based on the following equation:
-     * ((MAX_RPM / 60) * GEAR_RATIO * WHEEL_RADIUS * 2 * Math.PI) * 0.85
-     * Resulting in 41.065033847087705 in/s.
-     * This is only 85% of the theoretical maximum velocity of the bot, following the recommendation above.
-     * This is capped at 85% because there are a number of variables that will prevent your bot from actually
-     * reaching this maximum velocity: voltage dropping over the game, bot weight, general mechanical inefficiencies, etc.
-     * However, you can push this higher yourself if you'd like. Perhaps raise it to 90-95% of the theoretically
-     * max velocity. The theoretically maximum velocity is 48.311804525985536 in/s.
-     * Just make sure that your bot can actually reach this maximum velocity. Path following will be detrimentally
-     * affected if it is aiming for a velocity not actually possible.
-     *
-     * The maximum acceleration is somewhat arbitrary and it is recommended that you tweak this yourself based on
-     * actual testing. Just set it at a reasonable value and keep increasing until your path following starts
-     * to degrade. As of now, it simply mirrors the velocity, resulting in 41.065033847087705 in/s/s
-     *
-     * Maximum Angular Velocity is calculated as: maximum velocity / trackWidth * (180 / Math.PI) but capped at 360°/s.
-     * You are free to raise this on your own if you would like. It is best determined through experimentation.
 
-     */
     public static double MAX_VEL = 41.065033847087705;
     public static double MAX_ACCEL = 41.065033847087705;
     public static double MAX_ANG_VEL = Math.toRadians(200.24281914893615);