diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e4db502..266e07e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,11 +13,15 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.util.FlippingUtil;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -92,10 +96,19 @@ public class RobotContainer {
         drivetrain.registerTelemetry(logger::telemeterize);
     }
 
-   
+
         public Command getAutonomousCommand() {
-            return new SequentialCommandGroup(autoChooser.getSelected(),
-             new RainBow(bougie));
+            return new SequentialCommandGroup(Commands.runOnce(()->{
+                boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+                if(flip){
+                    drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+                }
+                else{
+                    drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+                }
+            }),autoChooser.getSelected(), new RainBow(bougie));
+          
+             
     }
              
 }