diff --git a/src/auto/FiveBallRoutine.cpp b/src/auto/FiveBallRoutine.cpp
new file mode 100644
index 0000000..dd6301f
--- /dev/null
+++ b/src/auto/FiveBallRoutine.cpp
@@ -0,0 +1,20 @@
+#include "FiveBallRoutine.h"
+
+FiveBallRoutinePickup::FiveBallRoutinePickup() : COREAuton("Three Ball Routine") {}
+
+void FiveBallRoutinePickup::AddNodes() {
+    delayNode = new Node(5, new DelayAction());
+    launcherOnNode = new Node(5, new LaunchBallsAction(LAUNCHER_ON));
+    intakeOnNode = new Node(5, new IntakePowerCellsAction(INTAKE));
+    driveNode1 = new Node(5, new DriveAction(BACKWARD)); //replace with pathfinder
+    driveNode2 = new Node(5, new DriveAction(FORWARD)); //replace with pathfinder
+    conveyorOnNode = new Node(5, new ConveyorAction(CONVEYOR_ON));
+    AddFirstNode(delayNode);
+    delayNode->AddNext(launcherOnNode);
+    launcherOnNode->AddNext(intakeOnNode);
+    intakeOnNode->AddNext(driveNode1);
+    driveNode1->AddNext(driveNode2);
+    driveNode2->AddNext(conveyorOnNode);
+    conveyorOnNode->AddNext(intakeOnNode);
+    intakeOnNode->AddNext(driveNode1);
+}
diff --git a/src/auto/FiveBallRoutine.h b/src/auto/FiveBallRoutine.h
new file mode 100644
index 0000000..d37d828
--- /dev/null
+++ b/src/auto/FiveBallRoutine.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <string>
+#include <CORERobotLib.h>
+#include "LaunchBallsAction.h"
+#include "ConveyorAction.h"
+#include "DriveAction.h"
+#include "DelayAction.h"
+#include "IntakePowerCellsAction.h"
+// #include "AutonActionTest.h"
+
+using namespace CORE;
+using namespace std;
+
+class FiveBallRoutinePickup: public COREAuton {
+public:
+    FiveBallRoutinePickup();
+    void AddNodes() override;
+private:
+    Node * delayNode;
+    Node * launcherOnNode;
+    Node * conveyorOnNode;
+    Node * intakeOnNode;
+    Node * driveNode1;
+    Node * driveNode2;
+};
diff --git a/src/auto/ThreeBallRoutinePickup.cpp b/src/auto/ThreeBallRoutinePickup.cpp
new file mode 100644
index 0000000..501ae08
--- /dev/null
+++ b/src/auto/ThreeBallRoutinePickup.cpp
@@ -0,0 +1,16 @@
+#include "ThreeBallRoutinePickup.h"
+
+ThreeBallRoutinePickup::ThreeBallRoutinePickup() : COREAuton("Three Ball Routine") {}
+
+void ThreeBallRoutinePickup::AddNodes() {
+    delayNode = new Node(5, new DelayAction());
+    launcherOnNode = new Node(5, new LaunchBallsAction(LAUNCHER_ON));
+    conveyorOnNode = new Node(5, new ConveyorAction(CONVEYOR_ON));
+    intakeOnNode = new Node(5, new IntakePowerCellsAction(INTAKE));
+    driveNode = new Node(5, new DriveAction(FORWARD)); //replace with pathfinder
+    AddFirstNode(delayNode);
+    delayNode->AddNext(launcherOnNode);
+    launcherOnNode->AddNext(conveyorOnNode);
+    conveyorOnNode->AddNext(intakeOnNode);
+    intakeOnNode->AddNext(driveNode);
+}
diff --git a/src/auto/ThreeBallRoutinePickup.h b/src/auto/ThreeBallRoutinePickup.h
new file mode 100644
index 0000000..2ff5b62
--- /dev/null
+++ b/src/auto/ThreeBallRoutinePickup.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <string>
+#include <CORERobotLib.h>
+#include "LaunchBallsAction.h"
+#include "ConveyorAction.h"
+#include "DriveAction.h"
+#include "DelayAction.h"
+#include "IntakePowerCellsAction.h"
+// #include "AutonActionTest.h"
+
+using namespace CORE;
+using namespace std;
+
+class ThreeBallRoutinePickup: public COREAuton {
+public:
+    ThreeBallRoutinePickup();
+    void AddNodes() override;
+private:
+    Node * delayNode;
+    Node * launcherOnNode;
+    Node * conveyorOnNode;
+    Node * intakeOnNode;
+    Node * driveNode;
+};