diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d48e1ca3..b690c880 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,6 +4,7 @@
 
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -11,6 +12,7 @@
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.CircleAutoCmd;
 import frc.robot.commands.CommandFactory;
+import frc.robot.commands.CustomTestCmd;
 import frc.robot.commands.StraightAutoCmd;
 import frc.robot.commands.SwerveJoystickCmd;
 import frc.robot.subsystems.SwerveSubsystem;
@@ -31,7 +33,9 @@ public class RobotContainer {
 
     private final Command m_circleAuto = new CircleAutoCmd(m_swerveSubsystem);
 
-    SendableChooser<Command> m_chooser = new SendableChooser<>();
+    private final Command m_customAuto = new CustomTestCmd(m_swerveSubsystem);
+
+    public SendableChooser<Command> m_chooser = new SendableChooser<>();
 
     public RobotContainer() {
         commandFactory = new CommandFactory(m_swerveSubsystem);
@@ -58,8 +62,10 @@ public RobotContainer() {
 
         m_chooser.addOption("Circle Auto", m_circleAuto);
 
+        m_chooser.addOption("Custom Auto", m_customAuto);
+
         // Put the chooser on the dashboard
-        Shuffleboard.getTab("Auto Options").add(m_chooser);
+        SmartDashboard.putData("Auto Options", m_chooser);
     }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/commands/CustomTestCmd.java b/src/main/java/frc/robot/commands/CustomTestCmd.java
new file mode 100644
index 00000000..ea84b392
--- /dev/null
+++ b/src/main/java/frc/robot/commands/CustomTestCmd.java
@@ -0,0 +1,20 @@
+package frc.robot.commands;
+
+import frc.robot.commands.DriveStraightCmd;
+import frc.robot.commands.RotateDegreesCmd;
+import frc.robot.subsystems.SwerveSubsystem;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+public class CustomTestCmd extends SequentialCommandGroup{
+
+    public CustomTestCmd(SwerveSubsystem swerveSubsystem) {
+        addCommands(
+            new DriveStraightCmd(0.0, 2.0, swerveSubsystem),
+            new RotateDegreesCmd(180.0, true, swerveSubsystem),
+            new DriveStraightCmd(0.0, 2.0, swerveSubsystem)
+        );
+    }
+
+
+
+}