diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java
new file mode 100644
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+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java
@@ -0,0 +1,81 @@
+package org.firstinspires.ftc.teamcode.opmode.autonomous;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.hardware.Camera;
+import org.firstinspires.ftc.teamcode.hardware.Drive;
+import org.firstinspires.ftc.teamcode.hardware.Robot;
+import org.firstinspires.ftc.teamcode.roadrunner.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.util.CameraPosition;
+
+@Autonomous(name = "Blue Left", group = "Left Start", preselectTeleOp = "Khang Main")
+public class blueLeftAuto {
+    public SampleMecanumDrive drive;
+    public Robot robot;
+    public Camera camera;
+    private boolean camEnabled = true;
+    public CameraPosition cameraPosition;
+    public Trajectory start;
+
+    public void Robot(HardwareMap hardwareMap) {
+        //set to new Drive to revert
+        drive = new SampleMecanumDrive(hardwareMap);
+        camera = new Camera(hardwareMap);
+        camera.initTargetingCamera();
+        camEnabled = true;
+    }
+
+    @Override
+    public void makeTrajectories() {
+
+        // positions
+        Pose2d start = new Pose2d(-65.125,6,Math.toRadians(180));
+//        Pose2d scoreSpikeLeft = new Pose2d(-36,6,Math.toRadians(-90));
+//        Pose2d scoreSpikeCenter = new Pose2d(-36,6,Math.toRadians(180));
+//        Pose2d scoreSpikeRight = new Pose2d(-36,6,Math.toRadians(90));
+//        Pose2d scoreBoardLeft = new Pose2d(-42,48,Math.toRadians(-90));
+//        Pose2d scoreBoardCenter = new Pose2d(-36,48,Math.toRadians(-90));
+//        Pose2d scoreBoardRight = new Pose2d(-30,48,Math.toRadians(-90));
+//        Pose2d park1 = new Pose2d(-60,48,Math.toRadians(-90));
+//        Pose2d park2 = new Pose2d(-60,60,Math.toRadians(-90));
+
+//        this.start = robot.drive.trajectoryBuilder(start)
+//                .lineToLinearHeading(scoreSpikeCenter)
+//                .build();
+//        this.start = robot.drive.trajectoryBuilder(scoreSpikeCenter)
+//                .lineToLinearHeading(scoreBoardCenter)
+//                .build();
+//        this.start = robot.drive.trajectoryBuilder(scoreBoardCenter)
+//                .lineToLinearHeading(park1)
+//                .build();
+//        this.start = robot.drive.trajectoryBuilder(park1)
+//                .lineToLinearHeading(park2)
+//                .build();
+
+        drive.setPoseEstimate(start);
+
+        Trajectory scoreSpikeCenter = drive.trajectoryBuilder(start)
+                .splineTo(new Vector2d(-36,6), Math.toRadians(180))
+                .build();
+
+        Trajectory scoreBoardCenter = drive.trajectoryBuilder(scoreSpikeCenter.end())
+                .splineTo(new Vector2d(-36,48), Math.toRadians(-90))
+                .build();
+        Trajectory park1 = drive.trajectoryBuilder(scoreBoardCenter.end())
+                .splineTo(new Vector2d(-60,48), Math.toRadians(-90))
+                .build();
+        Trajectory park2 = drive.trajectoryBuilder(park1.end())
+                .splineTo(new Vector2d(-60,60), Math.toRadians(180))
+                .build();
+
+        drive.followTrajectory(scoreSpikeCenter);
+        drive.followTrajectory(scoreBoardCenter);
+        drive.followTrajectory(park1);
+        drive.followTrajectory(park2);
+    }
+}
+