diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton_red b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton_red
new file mode 100644
index 000000000000..07baa4c75b20
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton_red
@@ -0,0 +1,303 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorController;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.util.Range;
+
+
+//version 1 of team taro's autonomous code.
+
+@Autonomous(name="auton_red", group="Linear OpMode")
+
+public class auton_red extends LinearOpMode{
+
+   private ElapsedTime runtime = new ElapsedTime();
+
+   private DcMotor fldrive, frdrive, bldrive, brdrive, carousel;
+
+
+   public void runOpMode() throws InterruptedException {
+      telemetry.addData("Status", "Intialized");
+      telemetry.update();
+
+      fldrive  = hardwareMap.get(DcMotor.class, "fldrive");
+      frdrive  = hardwareMap.get(DcMotor.class, "frdrive");
+      brdrive = hardwareMap.get(DcMotor.class, "brdrive");
+      bldrive = hardwareMap.get(DcMotor.class, "bldrive");
+      carousel = hardwareMap.get(DcMotor.class, "carousel");
+
+      fldrive.setDirection(DcMotor.Direction.FORWARD);
+      frdrive.setDirection(DcMotor.Direction.REVERSE);
+      brdrive.setDirection(DcMotor.Direction.REVERSE);
+      bldrive.setDirection(DcMotor.Direction.FORWARD);
+      carousel.setDirection(DcMotor.Direction.REVERSE);
+
+      waitForStart();
+      runtime.reset();
+
+      //write code here using functions
+      //forward(0.1, 2000);
+      //straferight(1, 3000);
+
+      strafelefttime(0.5, 300);
+      lefttime(0.1, 200);
+      carousel(0.5, 2000);
+      forwardtime(0.3, 4000);
+
+   }
+
+   public void carousel(double power, long time) throws InterruptedException
+   {
+      carousel.setPower(power);
+      Thread.sleep(time);
+   }
+
+   public void forwardtime(double power, long time) throws InterruptedException
+   {
+      fldrive.setPower(power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(power);
+      Thread.sleep(time);
+   }
+
+   public void backwardtime(double power, long time) throws InterruptedException
+   {
+      fldrive.setPower(-power);
+      frdrive.setPower(-power);
+      brdrive.setPower(-power);
+      bldrive.setPower(-power);
+      Thread.sleep(time);
+   }
+
+   public void lefttime(double power, long time) throws InterruptedException
+   {
+      fldrive.setPower(-power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(-power);
+      Thread.sleep(time);
+   }
+
+   public void righttime(double power, long time) throws InterruptedException
+   {
+      fldrive.setPower(power);
+      frdrive.setPower(-power);
+      brdrive.setPower(-power);
+      bldrive.setPower(power);
+      Thread.sleep(time);
+   }
+
+   public void strafelefttime(double power, long time) throws InterruptedException
+   {
+      fldrive.setPower(-power);
+      frdrive.setPower(power);
+      brdrive.setPower(-power);
+      bldrive.setPower(power);
+      Thread.sleep(time);
+   }
+
+   public void straferighttime(double power, long time) throws InterruptedException
+   {
+      fldrive.setPower(power);
+      frdrive.setPower(-power);
+      brdrive.setPower(power);
+      bldrive.setPower(-power);
+      Thread.sleep(time);
+   }
+
+   public void forward(double power, int distance) {
+      fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+      fldrive.setTargetPosition(distance);
+      frdrive.setTargetPosition(distance);
+      bldrive.setTargetPosition(distance);
+      brdrive.setTargetPosition(distance);
+
+      fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+      fldrive.setPower(power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(power);
+
+      while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) {
+         //until point reached
+      }
+
+      power = 0.0;
+      fldrive.setPower(power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(power);
+   }
+
+   public void backward(double power, int distance) {
+      fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+      fldrive.setTargetPosition(-distance);
+      frdrive.setTargetPosition(-distance);
+      bldrive.setTargetPosition(-distance);
+      brdrive.setTargetPosition(-distance);
+
+      fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+      fldrive.setPower(-power);
+      frdrive.setPower(-power);
+      brdrive.setPower(-power);
+      bldrive.setPower(-power);
+
+      while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) {
+         //until point reached
+      }
+
+      power = 0.0;
+      fldrive.setPower(-power);
+      frdrive.setPower(-power);
+      brdrive.setPower(-power);
+      bldrive.setPower(-power);
+   }
+
+   public void left(double power, int distance) {
+      fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+      fldrive.setTargetPosition(-distance);
+      frdrive.setTargetPosition(distance);
+      bldrive.setTargetPosition(distance);
+      brdrive.setTargetPosition(-distance);
+
+      fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+      fldrive.setPower(-power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(-power);
+
+      while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) {
+         //until point reached
+      }
+
+      power = 0.0;
+      fldrive.setPower(power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(power);
+   }
+
+   public void right(double power, int distance) {
+      fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+      fldrive.setTargetPosition(distance);
+      frdrive.setTargetPosition(-distance);
+      bldrive.setTargetPosition(-distance);
+      brdrive.setTargetPosition(distance);
+
+      fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+      fldrive.setPower(power);
+      frdrive.setPower(-power);
+      brdrive.setPower(-power);
+      bldrive.setPower(power);
+
+      while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) {
+         //until point reached
+      }
+
+      power = 0.0;
+      fldrive.setPower(-power);
+      frdrive.setPower(-power);
+      brdrive.setPower(-power);
+      bldrive.setPower(-power);
+   }
+   public void strafeleft(double power, int distance) {
+      fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+      fldrive.setTargetPosition(-distance);
+      frdrive.setTargetPosition(distance);
+      bldrive.setTargetPosition(-distance);
+      brdrive.setTargetPosition(distance);
+
+      fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+      fldrive.setPower(-power);
+      frdrive.setPower(power);
+      brdrive.setPower(-power);
+      bldrive.setPower(power);
+
+      while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) {
+         //until point reached
+      }
+
+      power = 0.0;
+      fldrive.setPower(power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(power);
+   }
+   public void straferight(double power, int distance) {
+      fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+      brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+      fldrive.setTargetPosition(distance);
+      frdrive.setTargetPosition(-distance);
+      bldrive.setTargetPosition(distance);
+      brdrive.setTargetPosition(-distance);
+
+      fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+      brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+      fldrive.setPower(power);
+      frdrive.setPower(-power);
+      brdrive.setPower(power);
+      bldrive.setPower(-power);
+
+      while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) {
+         //until point reached
+      }
+
+      power = 0.0;
+      fldrive.setPower(power);
+      frdrive.setPower(power);
+      brdrive.setPower(power);
+      bldrive.setPower(power);
+   }
+}