diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 6a13ca6..dfe3032 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -79,7 +79,8 @@ public void autonomousInit() {
     // FIXME: Add -  if the match starts, then get the autonomous command (we already -
     // are running the program through the following statements below
 
-    defaultAutoCommand.schedule();
+      robotContainer.getAutonomousCommand().schedule();
+
   }
 
   /** This function is called periodically during autonomous. */
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cb6a4f8..bf193c6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -13,6 +14,7 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.Mode;
+import frc.robot.commands.DefaultAutoCommand;
 import frc.robot.subsystems.RGBSubsystem;
 import frc.robot.subsystems.flywheels.Flywheels;
 import frc.robot.subsystems.flywheels.FlywheelsIOTalonFX;
@@ -518,5 +520,13 @@ public void containerMatchStarting() {
     CommandScheduler.getInstance().schedule(/*FIXME - Vibrate the controller */ );
   }
 
+    /**
+   * Use this to pass the autonomous command to the main {@link Robot} class.
+   *
+   * @return the command to run in autonomous
+   */
+  public Command getAutonomousCommand() {
+        return new WaitCommand(1).andThen(new DefaultAutoCommand(rollers, swerve, flywheels, superstructure));
+  }
   private void configureAutos() {}
 }
diff --git a/src/main/java/frc/robot/commands/DefaultAutoCommand.java b/src/main/java/frc/robot/commands/DefaultAutoCommand.java
index fc0d59b..fa96bf8 100644
--- a/src/main/java/frc/robot/commands/DefaultAutoCommand.java
+++ b/src/main/java/frc/robot/commands/DefaultAutoCommand.java
@@ -8,6 +8,7 @@
 import frc.robot.subsystems.rollers.Rollers;
 import frc.robot.subsystems.rollers.Rollers.RollerState;
 import frc.robot.subsystems.superstructure.Superstructure;
+import frc.robot.subsystems.superstructure.Superstructure.SuperstructureState;
 import frc.robot.subsystems.swerve.Drive;
 
 public class DefaultAutoCommand extends SequentialCommandGroup {
@@ -22,6 +23,7 @@ public DefaultAutoCommand(
             interrupted -> {
               rollers.setTargetState(RollerState.IDLE);
               flywheels.setVelocityTarget(Flywheels.VelocityTarget.SHOOT);
+              superstructure.setTargetState(SuperstructureState.SUBWOOF_SHOT);
             },
             () -> rollers.acceleratorDetected(),
             rollers,