diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 794d2e2f..3da62345 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -18,6 +18,7 @@
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.Subsystems.SubsystemConstants;
 import frc.robot.subsystems.SuperStructure;
 import frc.robot.subsystems.auto.AutoBuilderConfig;
@@ -144,8 +145,10 @@ public void disabledExit() {
   @Override
   public void autonomousInit() {
     Shuffleboard.startRecording();
-    if (SubsystemConstants.DRIVEBASE_ENABLED && AutoLogic.getSelectedAuto() != null) {
-      AutoLogic.getSelectedAuto().schedule();
+    if (SubsystemConstants.DRIVEBASE_ENABLED) {
+      Commands.waitSeconds(AutoLogic.autoDelayEntry.get().getDouble())
+          .andThen(AutoLogic.auton)
+          .schedule();
     }
     if (subsystems.climbPivotSubsystem != null) {
       subsystems.climbPivotSubsystem.moveCompleteFalse();
diff --git a/src/main/java/frc/robot/subsystems/auto/AutoLogic.java b/src/main/java/frc/robot/subsystems/auto/AutoLogic.java
index f65e48a9..f948c5e0 100644
--- a/src/main/java/frc/robot/subsystems/auto/AutoLogic.java
+++ b/src/main/java/frc/robot/subsystems/auto/AutoLogic.java
@@ -174,8 +174,8 @@ public static enum StartPosition {
       new DynamicSendableChooser<String>();
   private static SendableChooser<Integer> gameObjects = new SendableChooser<Integer>();
   private static SendableChooser<Boolean> isVision = new SendableChooser<Boolean>();
-
-  private static GenericEntry autoDelayEntry;
+  public static Command auton;
+  public static GenericEntry autoDelayEntry;
 
   /** Registers commands in PathPlanner */
   public static void registerCommands() {
@@ -216,6 +216,7 @@ public static void initShuffleBoard() {
     for (StartPosition startPosition : StartPosition.values()) {
       startPositionChooser.addOption(startPosition.title, startPosition);
     }
+
     isVision.setDefaultOption("Presets", false);
     isVision.addOption("Vision", true);
     gameObjects.setDefaultOption("0", 0);
@@ -234,10 +235,16 @@ public static void initShuffleBoard() {
     tab.addBoolean("Low on time?", () -> AutoAlign.oneSecondLeft());
     tab.addDouble("MATCH TIME(TIMER FOR AUTO)", () -> DriverStation.getMatchTime());
     autoDelayEntry = tab.add("Auto Delay", 0).withPosition(4, 3).withSize(1, 1).getEntry();
-
     isVision.onChange((dummyVar) -> AutoLogic.filterAutos(gameObjects.getSelected()));
     startPositionChooser.onChange((dummyVar) -> AutoLogic.filterAutos(gameObjects.getSelected()));
     gameObjects.onChange((dummyVar) -> AutoLogic.filterAutos(gameObjects.getSelected()));
+    availableAutos.onChange(
+        (dummyVar) ->
+            auton =
+                (availableAutos.getSelected() != defaultPath.getAutoName())
+                    ? AutoBuilder.buildAuto(
+                        namesToAuto.get(availableAutos.getSelected()).getAutoName())
+                    : defaultPath.getAutoCommand());
 
     filterAutos(gameObjects.getSelected());
   }