diff --git a/TeamCode/src/main/java/opmodes/RedFrontStage.java b/TeamCode/src/main/java/opmodes/RedFrontStage.java
new file mode 100644
index 0000000..d3c4371
--- /dev/null
+++ b/TeamCode/src/main/java/opmodes/RedFrontStage.java
@@ -0,0 +1,64 @@
+package opmodes;
+
+import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
+import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
+
+@Autonomous(name = "RedFrontStage", preselectTeleOp = "MainTeleOp")
+public class RedFrontStage extends AutoBase {
+    private final Pose2d rendezvous = new Pose2d(-36, -11);
+
+    public RedFrontStage() {
+        super(
+                CenterStageCommon.Alliance.Red,
+                new Pose2d(-36, -63, Math.toRadians(90)),
+                new Pose2d(-12, 62));
+    }
+
+    protected void propLeft() {
+        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
+        builder.lineToLinearHeading(new Pose2d(-54, -17, Math.toRadians(123)));
+        builder.addDisplacementMarker(10, () -> {
+            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
+        });
+        this.robot.getDrive().followTrajectorySequence(builder.build());
+
+        openAndLiftClaw();
+
+        builder = this.robot.getTrajectorySequenceBuilder();
+        builder.lineToLinearHeading(this.rendezvous);
+        this.robot.getDrive().followTrajectorySequence(builder.build());
+    }
+
+    protected void propCenter() {
+        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
+        builder.lineToConstantHeading(rendezvous.vec());
+        builder.addDisplacementMarker(10, () -> {
+            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
+        });
+        this.robot.getDrive().followTrajectorySequence(builder.build());
+
+        openAndLiftClaw();
+
+        builder = this.robot.getTrajectorySequenceBuilder();
+        builder.turn(Math.toRadians(90));
+        this.robot.getDrive().followTrajectorySequence(builder.build());
+    }
+
+    protected void propRight() {
+        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
+        builder.lineToLinearHeading(new Pose2d(-52, -31, Math.toRadians(-180)));
+        builder.lineToConstantHeading(new Vector2d(-42, -31));
+        builder.addTemporalMarker(0.5, () -> {
+            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
+        });
+        this.robot.getDrive().followTrajectorySequence(builder.build());
+
+        openAndLiftClaw();
+    }
+}