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+# Pedro Example Auto
+
+To get your PedroPathing journey started with NextFTC, here is an `example` autonomous composed with next ftc, involving `subsystems` as well.
+
+:::tabs key:code
+
+== Kotlin
+
+```kotlin
+@Autonomous(name = "PedroExample")
+class PedroExample: NextFTCOpMode() {
+    init {
+        addComponents(
+            SubsystemComponent(Flywheel, ShooterAngle),
+            BulkReadComponent,
+            PedroComponent(Constants::createFollower)
+        )
+    }
+
+    private val startPose = Pose(56.0, 7.5, Math.toRadians(90.0))
+    private val shootPose = Pose(56.0, 10.5, Math.toRadians(90.0))
+    private val leavePoint = Pose(36.49, 8.20, Math.toRadians(90.0))
+
+    private lateinit var Leave: PathChain
+    private lateinit var shoot: PathChain
+
+    private fun buildPaths() {
+        shoot = follower.pathBuilder()
+            .addPath(BezierLine(startPose,shootPose))
+            .setLinearHeadingInterpolation(startPose.heading, shootPose.heading)
+            .build()
+        Leave = follower.pathBuilder()
+            .addPath(BezierLine(startPose,leavePoint))
+            .setLinearHeadingInterpolation(startPose.heading, leavePoint.heading)
+            .setLinearHeadingInterpolation(shootPose.heading, leavePoint.heading)
+            .build()
+    }
+
+    val autoRoutine: Command
+        get() =
+            SequentialGroup(
+                ParallelGroup(
+                   Flywheel.goTo(3000.0),
+                   ShooterAngle.angle_up,
+                    FollowPath(shoot)
+
+                ),
+                Delay(2.0.seconds),
+                ParallelGroup(
+                    Flywheel.goTo(0.0),
+                    ShooterAngle.angle_down,
+                ),  
+                    FollowPath(Leave)            
+                )
+
+    override fun onInit() {
+        follower.setMaxPower(1.0)
+    }
+
+    override fun onStartButtonPressed() {
+        follower.setStartingPose(startPose)
+        buildPaths()
+        autoRoutine()
+    }
+```
+
+== Java
+
+```java
+@Autonomous(name = "PedroExample")
+public class PedroExample extends NextFTCOpMode {
+    private final Pose2d startPose = new Pose2d(56.0, 7.5, Math.toRadians(90.0));
+    private final Pose2d shootPose = new Pose2d(56.0, 10.5, Math.toRadians(90.0));
+    private final Pose2d leavePoint = new Pose2d(36.49, 8.20, Math.toRadians(90.0));
+
+    private PathChain Leave;
+    private PathChain shoot;
+
+    public PedroExample() {
+        addComponents(
+            new SubsystemComponent(Flywheel, ShooterAngle),
+            BulkReadComponent,
+            new PedroComponent(Constants::createFollower)
+        );
+    }
+
+    private void buildPaths() {
+        shoot = follower.pathBuilder()
+            .addPath(new BezierLine(startPose, shootPose))
+            .setLinearHeadingInterpolation(startPose.getHeading(), shootPose.getHeading())
+            .build();
+
+        Leave = follower.pathBuilder()
+            .addPath(new BezierLine(startPose, leavePoint))
+            .setLinearHeadingInterpolation(startPose.getHeading(), leavePoint.getHeading())
+            .setLinearHeadingInterpolation(shootPose.getHeading(), leavePoint.getHeading())
+            .build();
+    }
+
+    private Command getAutoRoutine() {
+        return new SequentialGroup(
+            new ParallelGroup(
+                Flywheel.goTo(3000.0),
+                ShooterAngle.angle_up,
+                new FollowPath(shoot)
+            ),
+            new Delay(TimeUnit.SECONDS.toMillis(2)),
+            new ParallelGroup(
+                Flywheel.goTo(0.0),
+                ShooterAngle.angle_down
+            ),
+            new FollowPath(Leave)
+        );
+    }
+
+    @Override
+    public void onInit() {
+        follower.setMaxPower(1.0);
+    }
+
+    @Override
+    public void onStartButtonPressed() {
+        follower.setStartingPose(startPose);
+        buildPaths();
+        getAutoRoutine().run();
+    }
+}
+```
+
+:::