diff --git a/src/main/deploy/choreo/CollectFuel.traj b/src/main/deploy/choreo/CollectFuel.traj
new file mode 100644
index 0000000..77233bf
--- /dev/null
+++ b/src/main/deploy/choreo/CollectFuel.traj
@@ -0,0 +1,131 @@
+{
+ "name":"CollectFuel",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false},
+    {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.6}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
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+  "constraints":[
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+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
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+  "targetDt":{
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+ },
+ "trajectory":{
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+    "y":0.2794
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+   "inertia":6.0,
+   "gearing":6.5,
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+   "differentialTrackWidth":0.5588
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+  "sampleType":"Swerve",
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+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FaceFuel.traj b/src/main/deploy/choreo/FaceFuel.traj
new file mode 100644
index 0000000..e6d3a8b
--- /dev/null
+++ b/src/main/deploy/choreo/FaceFuel.traj
@@ -0,0 +1,83 @@
+{
+ "name":"FaceFuel",
+ "version":3,
+ "snapshot":{
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+  "constraints":[],
+  "targetDt":0.05
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+ "params":{
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+  "constraints":[],
+  "targetDt":{
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+ "trajectory":{
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+    "y":0.2794
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+    "y":0.2794
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+   "gearing":6.5,
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+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/FuelToShotB.traj b/src/main/deploy/choreo/FuelToShotB.traj
new file mode 100644
index 0000000..b064aa0
--- /dev/null
+++ b/src/main/deploy/choreo/FuelToShotB.traj
@@ -0,0 +1,92 @@
+{
+ "name":"FuelToShotB",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
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+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
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+    "y":0.2794
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+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0497078,
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diff --git a/src/main/deploy/choreo/FuelToShotNB.traj b/src/main/deploy/choreo/FuelToShotNB.traj
new file mode 100644
index 0000000..1e08eb7
--- /dev/null
+++ b/src/main/deploy/choreo/FuelToShotNB.traj
@@ -0,0 +1,146 @@
+{
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+    {"t":2.01695, "x":2.4055, "y":2.3009, "heading":0.09481, "vx":1.08892, "vy":4.52903, "omega":0.40277, "ax":13.47035, "ay":-4.79608, "alpha":1.68297, "fx":[148.31499,142.30524,145.55235,150.39189], "fy":[-47.83076,-63.65531,-56.10121,-41.25744]},
+    {"t":2.04842, "x":2.44644, "y":2.44107, "heading":0.10749, "vx":1.51288, "vy":4.37809, "omega":0.45574, "ax":12.08762, "ay":-7.19993, "alpha":5.16824, "fx":[136.95424,108.96368,131.5554,148.88031], "fy":[-73.05356,-111.13924,-83.66163,-45.66553]},
+    {"t":2.0799, "x":2.50005, "y":2.5753, "heading":0.12183, "vx":1.89331, "vy":4.15148, "omega":0.6184, "ax":8.0969, "ay":-11.14956, "alpha":7.65481, "fx":[70.73063,48.29477,101.35672,132.19627], "fy":[-137.50674,-147.95899,-118.36766,-81.67251]},
+    {"t":2.11137, "x":2.56364, "y":2.70043, "heading":0.1413, "vx":2.14815, "vy":3.80057, "omega":0.85932, "ax":0.89085, "ay":-14.19566, "alpha":3.11877, "fx":[-9.61318,-3.71816,25.64814,26.47494], "fy":[-155.31368,-155.80731,-153.71223,-153.31509]},
+    {"t":2.14284, "x":2.63169, "y":2.81302, "heading":0.16834, "vx":2.17618, "vy":3.35379, "omega":0.95748, "ax":-3.62855, "ay":-13.86913, "alpha":-0.18548, "fx":[-38.23777,-39.01716,-40.77148,-39.97844], "fy":[-151.31329,-151.10399,-150.64478,-150.86723]},
+    {"t":2.17432, "x":2.69839, "y":2.9117, "heading":0.19848, "vx":2.06198, "vy":2.91729, "omega":0.95164, "ax":-5.8851, "ay":-13.06048, "alpha":-1.91336, "fx":[-51.14155,-61.80126,-77.12659,-66.19668], "fy":[-147.69176,-143.47577,-135.91873,-141.63046]},
+    {"t":2.20579, "x":2.76037, "y":2.99705, "heading":0.22843, "vx":1.87676, "vy":2.50623, "omega":0.89142, "ax":-7.11879, "ay":-12.39985, "alpha":-2.88396, "fx":[-58.31158,-77.04385,-96.12076,-78.51076], "fy":[-145.15136,-136.03547,-123.40354,-135.35934]},
+    {"t":2.23726, "x":2.81591, "y":3.06979, "heading":0.25648, "vx":1.65271, "vy":2.11597, "omega":0.80066, "ax":-7.87219, "ay":-11.90626, "alpha":-3.48811, "fx":[-62.86367,-87.74577,-106.89612,-85.28779], "fy":[-143.33108,-129.49666,-114.32921,-131.2997]},
+    {"t":2.26873, "x":2.86403, "y":3.13049, "heading":0.28168, "vx":1.40495, "vy":1.74124, "omega":0.69087, "ax":-8.37323, "ay":-11.53437, "alpha":-3.90179, "fx":[-66.02582,-95.57483,-113.56588,-89.4448], "fy":[-141.96753,-123.91505,-107.80462,-128.57555]},
+    {"t":2.30021, "x":2.9041, "y":3.17958, "heading":0.30343, "vx":1.14142, "vy":1.37822, "omega":0.56807, "ax":-8.72796, "ay":-11.24732, "alpha":-4.20585, "fx":[-68.36681,-101.48171,-118.00145,-92.20804], "fy":[-140.90389,-119.19378,-103.00487,-126.66044]},
+    {"t":2.33168, "x":2.9357, "y":3.21738, "heading":0.32131, "vx":0.86672, "vy":1.02424, "omega":0.4357, "ax":-8.99113, "ay":-11.0203, "alpha":-4.44025, "fx":[-70.18104,-106.035,-121.12813,-94.17333], "fy":[-140.047,-115.21795,-99.36714,-125.24539]},
+    {"t":2.36315, "x":2.95853, "y":3.24416, "heading":0.33502, "vx":0.58374, "vy":0.67739, "omega":0.29595, "ax":-9.19354, "ay":-10.8369, "alpha":-4.62646, "fx":[-71.63356,-109.59166,-123.44337,-95.66302], "fy":[-139.34005,-111.88714,-96.52204,-124.14203]},
+    {"t":2.39463, "x":2.97235, "y":3.26011, "heading":0.34433, "vx":0.29439, "vy":0.33632, "omega":0.15034, "ax":-9.35378, "ay":-10.68603, "alpha":-4.77694, "fx":[-72.82298,-112.3854,-125.23438,-96.86631], "fy":[-138.74719,-109.12015,-94.22421,-123.23016]},
+    {"t":2.4261, "x":2.97698, "y":3.26541, "heading":0.34907, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/choreo/StartCollectShoot.chor b/src/main/deploy/choreo/StartCollectShoot.chor
new file mode 100644
index 0000000..7fc9d15
--- /dev/null
+++ b/src/main/deploy/choreo/StartCollectShoot.chor
@@ -0,0 +1,84 @@
+{
+ "name":"StartCollectShoot",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{},
+  "poses":{}
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"96 lbs",
+   "val":43.54486752
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"1.957 in",
+   "val":0.0497078
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "cof":{
+   "exp":"1.5",
+   "val":1.5
+  },
+  "bumper":{
+   "front":{
+    "exp":"21.75 in",
+    "val":0.55245
+   },
+   "side":{
+    "exp":"13 in",
+    "val":0.3302
+   },
+   "back":{
+    "exp":"13.25 in",
+    "val":0.33654999999999996
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c13ce1a..f82025d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,7 +20,9 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
 import frc.robot.commands.DriveCommands;
+import frc.robot.commands.autos.AutoConstants;
 import frc.robot.commands.autos.DriveTesting;
+import frc.robot.commands.autos.StartCollectShoot;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveConstants;
@@ -33,7 +35,10 @@
 import frc.robot.subsystems.feeder.FeederConstants;
 import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncher;
 import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncherConstants;
+import frc.robot.util.AllianceFlipUtil;
 import frc.robot.util.CANHealthLogger;
+import java.util.Arrays;
+import org.littletonrobotics.junction.Logger;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -130,7 +135,14 @@ public RobotContainer() {
             drive::setPose, // Function that resets the current robot pose to the provided Pose2d
             drive::followTrajectory, // The drive subsystem trajectory follower
             true, // If alliance flipping should be enabled
-            drive // The drive subsystem
+            drive,
+            (sample, isStart) -> {
+              Logger.recordOutput( 
+                  "TrajectoryFollowing/ActiveTrajectory",
+                  Arrays.stream(sample.getPoses())
+                      .map(AllianceFlipUtil::apply)
+                      .toArray(Pose2d[]::new));
+            } // The drive subsystem
             );
 
     // Set up auto routines
@@ -138,7 +150,9 @@ public RobotContainer() {
 
     autoChooser.addRoutine(
         "Drive Straight Test", () -> DriveTesting.getRoutine(autoFactory, drive));
-
+    autoChooser.addRoutine(
+        "Start, Collect, and Shoot",
+        () -> StartCollectShoot.getRoutine(autoFactory, drive, intakeAndShooter, feederAndIndexer));
     RobotModeTriggers.autonomous()
         .whileTrue(
             Commands.sequence(
@@ -168,6 +182,9 @@ public RobotContainer() {
     // Send to elastic
     SmartDashboard.putData("Auto Chooser", autoChooser);
 
+    // Initialize auto tunable numbers so they appear on dashboard
+    AutoConstants.initialize();
+
     // Configure the button bindings
     configureButtonBindings();
   }
diff --git a/src/main/java/frc/robot/commands/autos/AutoConstants.java b/src/main/java/frc/robot/commands/autos/AutoConstants.java
new file mode 100644
index 0000000..39bb6e2
--- /dev/null
+++ b/src/main/java/frc/robot/commands/autos/AutoConstants.java
@@ -0,0 +1,16 @@
+package frc.robot.commands.autos;
+
+import frc.robot.util.LoggedTunableNumber;
+
+public class AutoConstants {
+  public static final LoggedTunableNumber launchDuration =
+      new LoggedTunableNumber("Auto/Launch Length", 10);
+  public static final LoggedTunableNumber autoSpeed =
+      new LoggedTunableNumber("Auto/Auto Speed", 1.0);
+
+  /** Initialize all auto constants by accessing them once so they appear on dashboard */
+  public static void initialize() {
+    autoSpeed.get();
+    launchDuration.get();
+  }
+}
diff --git a/src/main/java/frc/robot/commands/autos/StartCollectShoot.java b/src/main/java/frc/robot/commands/autos/StartCollectShoot.java
new file mode 100644
index 0000000..25540be
--- /dev/null
+++ b/src/main/java/frc/robot/commands/autos/StartCollectShoot.java
@@ -0,0 +1,68 @@
+package frc.robot.commands.autos;
+
+import choreo.auto.AutoFactory;
+import choreo.auto.AutoRoutine;
+import choreo.auto.AutoTrajectory;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.subsystems.drive.Drive;
+import frc.robot.subsystems.feeder.Feeder;
+import frc.robot.subsystems.feeder.FeederConstants;
+import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncher;
+import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncherConstants;
+
+public class StartCollectShoot {
+  public static AutoRoutine getRoutine(
+      AutoFactory factory,
+      Drive driveSubsystem,
+      IntakeAndLauncher intakeAndShooter,
+      Feeder feederAndIndexer) {
+    AutoRoutine routine = factory.newRoutine("Start Collect Shoot");
+
+    AutoTrajectory faceFuel = routine.trajectory("FaceFuel");
+    AutoTrajectory collectFuel = routine.trajectory("CollectFuel");
+    AutoTrajectory fuelToShotB = routine.trajectory("FuelToShotB");
+
+    routine
+        .active()
+        .onTrue(
+            Commands.sequence(
+                Commands.print("Going to fuel"), faceFuel.resetOdometry(), faceFuel.cmd()));
+
+    faceFuel
+        .done()
+        .onTrue(
+            Commands.sequence(
+                Commands.print("Starting intake and collecting fuel"),
+                Commands.parallel(
+                    intakeAndShooter.voltageCmd(IntakeAndLauncherConstants.intakeVoltage.get()),
+                    collectFuel.cmd())));
+    collectFuel
+        .done()
+        .onTrue(
+            Commands.sequence(
+                Commands.print("Moving to shooting position"),
+                intakeAndShooter.voltageCmd(IntakeAndLauncherConstants.intakeVoltage.get()),
+                new InstantCommand(() -> driveSubsystem.stop()),
+                new WaitCommand(2),
+                fuelToShotB.cmd()));
+    fuelToShotB
+        .done()
+        .onTrue(
+            Commands.sequence(
+                Commands.print("Starting launch sequence"),
+                Commands.race(
+                    Commands.parallel(
+                        intakeAndShooter.voltageCmd(IntakeAndLauncherConstants.launchVoltage.get()),
+                        Commands.sequence(
+                            Commands.waitSeconds(IntakeAndLauncherConstants.launchWarmUpTime.get()),
+                            Commands.sequence(
+                                new InstantCommand(
+                                    () -> Commands.print("Feeding fuel to launcher")),
+                                feederAndIndexer.voltageCmd(FeederConstants.launchVoltage.get())))),
+                    Commands.waitSeconds(AutoConstants.launchDuration.get()))));
+
+    return routine;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index 5eff19f..7b6bca7 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -362,11 +362,16 @@ public static Translation2d[] getModuleTranslations() {
   public void followTrajectory(SwerveSample sample) {
     // Get the current pose of the robot
     Pose2d pose = getPose();
-
+    Pose2d samplePose2d =
+        new Pose2d(
+            new Translation2d(sample.x, sample.y), new Rotation2d(Radians.of(sample.heading)));
+    Logger.recordOutput("TrajectoryFollowing/pose2d", samplePose2d);
     Logger.recordOutput("TrajectoryFollowing/posex", pose.getX());
     Logger.recordOutput("TrajectoryFollowing/samplex", sample.x);
+
     Logger.recordOutput("TrajectoryFollowing/posey", pose.getY());
     Logger.recordOutput("TrajectoryFollowing/sampley", sample.y);
+
     Logger.recordOutput(
         "TrajectoryFollowing/heading", pose.getRotation().getRadians() + Math.PI * 2);
     Logger.recordOutput(
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
index 78369c9..13aba9b 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -13,6 +13,7 @@ public final class AutoConstants {
     public static final LoggedTunableGains headingTrajectoryController =
         new LoggedTunableGains("headingTraj", new ControlGains().p(3).d(0.0));
   }
-  public final static LoggedTunableNumber speedScalar =
-    new LoggedTunableNumber("Drive/Drive Speed Scalar", 1);
+
+  public static final LoggedTunableNumber speedScalar =
+      new LoggedTunableNumber("Drive/Drive Speed Scalar", 1);
 }
diff --git a/src/main/java/frc/robot/subsystems/prototypeLauncher/PrototypeLauncher.java b/src/main/java/frc/robot/subsystems/prototypeLauncher/PrototypeLauncher.java
new file mode 100644
index 0000000..3b57c97
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/prototypeLauncher/PrototypeLauncher.java
@@ -0,0 +1,67 @@
+package frc.robot.subsystems.prototypeLauncher;
+
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.MotorAlignmentValue;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.util.LoggedTunableNumber;
+import org.littletonrobotics.junction.Logger;
+
+public class PrototypeLauncher extends SubsystemBase {
+  private TalonFX leftMotor = new TalonFX(2);
+  private TalonFX rightMotor = new TalonFX(1);
+  private double trackedvoltage = 0;
+  private AngularVelocity velocity = RotationsPerSecond.of(0);
+  private TalonFXConfiguration leftMotorConfig = new TalonFXConfiguration();
+  private LoggedTunableNumber prototypeP = new LoggedTunableNumber("prototypeP", 0);
+
+  @Override
+  public void periodic() {
+    if (prototypeP.hasChanged(hashCode())) {
+      this.setPID(prototypeP.get());
+    }
+    Logger.recordOutput("Prototype/voltage", trackedvoltage);
+    Logger.recordOutput("Prototype/desiredVelocity", velocity);
+    Logger.recordOutput("Prototype/velocity", leftMotor.getVelocity().getValue());
+  }
+
+  public PrototypeLauncher() {
+    rightMotor.setControl(new Follower(leftMotor.getDeviceID(), MotorAlignmentValue.Opposed));
+    this.setPID(prototypeP.get());
+  }
+
+  public void setPID(double P) {
+    leftMotorConfig.Slot0.kP = P;
+    leftMotorConfig.Slot0.kV = 0;
+    leftMotor.getConfigurator().apply(leftMotorConfig);
+  }
+
+  public void setVoltagePrototype(double commandedVoltage) {
+    leftMotor.setVoltage(commandedVoltage);
+    trackedvoltage = commandedVoltage;
+  }
+
+  public void setVelocityPrototype(AngularVelocity desiredVelocity) {
+    this.velocity = desiredVelocity;
+    leftMotor.setControl(new VelocityVoltage(desiredVelocity));
+  }
+
+  public Command voltageCmdPrototype(double desiredVoltage) {
+    return Commands.sequence(
+        Commands.print("LaunchPrototype set to: " + desiredVoltage),
+        Commands.runOnce(() -> this.setVoltagePrototype(desiredVoltage), this));
+  }
+
+  public Command velocityCmdPrototype(AngularVelocity velocity) {
+    return Commands.sequence(
+        Commands.print("LaunchPrototypeVelocity set to: " + velocity),
+        Commands.runOnce(() -> this.setVelocityPrototype(velocity), this));
+  }
+}
diff --git a/src/main/java/frc/robot/util/AllianceFlipUtil.java b/src/main/java/frc/robot/util/AllianceFlipUtil.java
new file mode 100644
index 0000000..f01b082
--- /dev/null
+++ b/src/main/java/frc/robot/util/AllianceFlipUtil.java
@@ -0,0 +1,70 @@
+// Copyright (c) 2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot.util;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+
+public class AllianceFlipUtil {
+  public static double fieldWidth = Units.feetToMeters(26.0) + Units.inchesToMeters(5.0);
+  public static double fieldLength = Units.feetToMeters(57.0) + Units.inchesToMeters(6.875);
+
+  public static double applyX(double x) {
+    return shouldFlip() ? fieldLength - x : x;
+  }
+
+  public static double applyY(double y) {
+    return shouldFlip() ? fieldWidth - y : y;
+  }
+
+  public static Translation2d apply(Translation2d translation) {
+    return new Translation2d(applyX(translation.getX()), applyY(translation.getY()));
+  }
+
+  public static Rotation2d apply(Rotation2d rotation) {
+    return shouldFlip() ? rotation.rotateBy(Rotation2d.kPi) : rotation;
+  }
+
+  public static Rotation2d dontApply(Rotation2d rotation) {
+    return rotation;
+  }
+
+  public static Pose2d apply(Pose2d pose) {
+    return shouldFlip()
+        ? new Pose2d(apply(pose.getTranslation()), apply(pose.getRotation()))
+        : pose;
+  }
+
+  public static Pose2d flip(Pose2d pose) {
+    return new Pose2d(
+        new Translation2d(fieldLength - pose.getX(), fieldWidth - pose.getY()),
+        pose.getRotation().rotateBy(Rotation2d.kPi));
+  }
+
+  public static Translation2d flip(Translation2d pose) {
+    return new Translation2d(fieldLength - pose.getX(), fieldWidth - pose.getY());
+  }
+
+  public static Rotation2d flip(Rotation2d pose) {
+    return pose.rotateBy(Rotation2d.kPi);
+  }
+
+  public static boolean shouldFlip() {
+    return DriverStation.getAlliance().isPresent()
+        && DriverStation.getAlliance().get() == DriverStation.Alliance.Red;
+  }
+
+  public static Command apply(Command ifFlip, Command otherwise) {
+    return Commands.either(ifFlip, otherwise, AllianceFlipUtil::shouldFlip);
+  }
+}