diff --git a/org/bitbuckets/frc2014/RobotMain.java b/org/bitbuckets/frc2014/RobotMain.java
index d522dd8..5fac9c4 100644
--- a/org/bitbuckets/frc2014/RobotMain.java
+++ b/org/bitbuckets/frc2014/RobotMain.java
@@ -20,6 +20,8 @@
  * @author Default
  */
 public class RobotMain extends IterativeRobot {
+    /** Autonomous command **/
+    private Command autonCommand;
     /** The compressor. */
     private Compressor compressor = new Compressor(RobotMap.PRESSURE_SWITCH, RobotMap.COMPRESSOR_RELAY);
 
@@ -40,12 +42,15 @@ public void robotInit() {
         CommandBase.oi.intakeButton.whenPressed(new IntakeBall());
         CommandBase.oi.intakeButton.whenReleased(new IntakeBallOff());
         //CommandBase.oi.lightsOnOffButton.whenPressed(new SimpleLights());
+        
+        autonCommand = new TwoBallAuto();
     }
 
     /**
      * The method run when autonomous is started.
      */
     public void autonomousInit() {
+        autonCommand.start();
     }
 
     /**
diff --git a/org/bitbuckets/frc2014/commands/TwoBallAuto.java b/org/bitbuckets/frc2014/commands/TwoBallAuto.java
new file mode 100644
index 0000000..21ebea6
--- /dev/null
+++ b/org/bitbuckets/frc2014/commands/TwoBallAuto.java
@@ -0,0 +1,39 @@
+/* FRC 4183 - The Bit Buckets
+ * Tucson, AZ
+ *
+ * FRC 2014 Codebase
+ */
+
+package org.bitbuckets.frc2014.commands;
+
+/**
+ * @author    Cal Miller cal@bpmpc.net
+ * 
+ * <description>
+ */
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ * @author Cal Miller
+ */
+public class TwoBallAuto extends CommandGroup {
+    public TwoBallAuto() {
+        //need to change Fire and ArmCatapult commands.  I'm using them as suggested in issue #25 on Github.
+        addSequential(new ArmCatapult());
+        addSequential(new DriveStraight(24,36));
+        addSequential(new Fire());
+        addSequential(new RollerOn());
+        addSequential(new WaitMillis(1000));
+        addSequential(new RetractIntake());
+        addSequential(new WaitMillis(500));
+        addSequential(new ArmCatapult());
+        addSequential(new Fire());
+        addSequential(new DriveStraight(36,36));
+        addParallel(new RetractIntake());
+        addSequential(new DriveTurn(180,270));
+
+    }
+    
+}