diff --git a/src/main/java/frc/robot/AutoBuilder.java b/src/main/java/frc/robot/AutoBuilder.java
new file mode 100644
index 00000000..6585511c
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+++ b/src/main/java/frc/robot/AutoBuilder.java
@@ -0,0 +1,34 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.commands.AutoAimShootCommand;
+import frc.robot.subsystems.AmpShooterSubsystem;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.TurretSubsystem;
+
+public class AutoBuilder {
+  private final ShooterSubsystem shooterSubsystem;
+  private final TurretSubsystem turretSubsystem;
+  private final IntakeSubsystem intakeSubsystem;
+  private final AmpShooterSubsystem ampShooterSubsystem;
+  private final CommandSwerveDrivetrain commandSwerveDrivetrain;
+  private final ElevatorSubsystem elevatorSubsystem;
+
+  public AutoBuilder(ShooterSubsystem shooterSubsystem, TurretSubsystem turretSubsystem,
+      IntakeSubsystem intakeSubsystem, AmpShooterSubsystem ampShooterSubsystem,
+      CommandSwerveDrivetrain commandSwerveDrivetrain, ElevatorSubsystem elevatorSubsystem) {
+    this.shooterSubsystem = shooterSubsystem;
+    this.turretSubsystem = turretSubsystem;
+    this.intakeSubsystem = intakeSubsystem;
+    this.ampShooterSubsystem = ampShooterSubsystem;
+    this.commandSwerveDrivetrain = commandSwerveDrivetrain;
+    this.elevatorSubsystem = elevatorSubsystem;
+  }
+
+  public Command AutoAimShoot() {
+    return new AutoAimShootCommand(commandSwerveDrivetrain, turretSubsystem, shooterSubsystem);
+  }
+}