diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index dfe4926..1ccad70 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -21,7 +21,7 @@ import frc4388.utility.LEDPatterns;
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    public static final int SELECTED_AUTO = 1;
+    public static final int SELECTED_AUTO = 0;
 
     public static final class DriveConstants {
         /* Drive Train IDs */
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index dfe2cae..60b786e 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 import frc4388.robot.Constants.*;
+import frc4388.robot.commands.AutoPath2FromRight;
 import frc4388.robot.commands.CalibrateShooter;
 import frc4388.robot.commands.DrivePositionMPAux;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
@@ -228,6 +229,7 @@ public class RobotContainer {
         RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
         // Run path following command, then stop at the end.
         //return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
+        
         //return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
         //return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
       
@@ -240,7 +242,6 @@ public class RobotContainer {
         }
 
         return new InstantCommand();
-        // return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
     }
     TrajectoryConfig getTrajectoryConfig() {
         return new TrajectoryConfig(
diff --git a/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java b/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
index 43657c3..31ce8a3 100644
--- a/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
+++ b/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
@@ -36,10 +36,17 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
                   new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
                   //Shoot 5 Balls
                   new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
-                  //Start Intake Ball 1 (second round)
+                  //Start Intake Ball 6 (Ball 1 second round)
                   new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
-                  //Start Moving to 4th Ball
-                  new GotoCoordinates(m_drive, m_pneumatics, 60, -50),
+                  //Move to 7th Ball
+                  new GotoCoordinates(m_drive, m_pneumatics, 86.7, -64.11, -180),
+                  //Move to 8th Ball
+                  new GotoCoordinates(m_drive, m_pneumatics, -6.34, 15.31, 90),
+                  //Move to 9th Ball
+                  new GotoCoordinates(m_drive, m_pneumatics, 7.11, 24.41, 0),
+                  //Move to 10th Ball
+                  new GotoCoordinates(m_drive, m_pneumatics, -6.34, 13.30),
+                  //Shoot 5 more Balls (Total 10 Ball Autonomous Path)
                   new Wait(m_drive, 0, 2)
                   );
   }