diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index fa685c09..f7359b43 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -24,8 +24,11 @@
 import frc.robot.commands.DeployUrMom;
 import frc.robot.commands.EnterXMode;
 import frc.robot.commands.RunIntake;
+import frc.robot.commands.auto.MoveAwayFromAmp;
+import frc.robot.commands.auto.OnePieceAuto;
 import frc.robot.commands.auto.TaxiAuto;
 import frc.robot.commands.drive.DriveFieldOriented;
+import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping;
 import frc.robot.commands.drive.DriveRobotOriented;
 import frc.robot.commands.mailbox.DeindexNote;
 import frc.robot.commands.mailbox.DeployMailbox;
@@ -110,6 +113,15 @@ public class RobotContainer {
           scaledControllerLeftXAxisSupplier,
           scaledControllerLeftYAxisSupplier,
           scaledControllerRightXAxisSupplier);
+  private DriveFieldOrientedHeadingSnapping driveFieldOrientedHeadingSnapping =
+      new DriveFieldOrientedHeadingSnapping(
+          scaledControllerRightXAxisSupplier,
+          scaledControllerLeftYAxisSupplier,
+          scaledControllerLeftXAxisSupplier,
+          povUpDirectionSupplier,
+          povDownDirectionSupplier,
+          povLeftDirectionSupplier,
+          povRightDirectionSupplier);
   private EnterXMode enterXMode = new EnterXMode();
   private DeployPneumatics deployPneumatics = new DeployPneumatics();
   private RunBelts runBelts = new RunBelts();
@@ -135,6 +147,8 @@ public class RobotContainer {
   private DeployUrMom deployUrMom = new DeployUrMom();
 
   /* Autos */
+  private MoveAwayFromAmp moveAwayFromAmp = new MoveAwayFromAmp();
+  private OnePieceAuto onePieceAuto = new OnePieceAuto();
   private TaxiAuto taxiAuto = new TaxiAuto();
 
   /*
diff --git a/src/main/java/frc/robot/commands/auto/OnePieceAuto.java b/src/main/java/frc/robot/commands/auto/OnePieceAuto.java
index 4e439a07..406c1b53 100644
--- a/src/main/java/frc/robot/commands/auto/OnePieceAuto.java
+++ b/src/main/java/frc/robot/commands/auto/OnePieceAuto.java
@@ -17,6 +17,7 @@
 import frc.robot.commands.AimAndFireRoutine;
 import frc.robot.commands.SeekTargetWithLimelight;
 
+/* Enter weeb joke here. */
 /**
  * Auto that deposits a preloaded Note into the Amp. Does so by spinning until the Limelight sees an
  * AprilTag for one of the Amps, moving the bot towards the Amp with the Limelight, depositing the