diff --git a/src/main/java/frc/robot/autons/Auton.java b/src/main/java/frc/robot/autons/Auton.java
index 6731b08c..243df2b2 100644
--- a/src/main/java/frc/robot/autons/Auton.java
+++ b/src/main/java/frc/robot/autons/Auton.java
@@ -16,9 +16,11 @@
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DriveConstants;
 import frc.robot.constants.FieldConstants;
+import frc.robot.subsystems.Dashboard;
 import frc.robot.subsystems.DriveTrain;
 
 public abstract class Auton extends SequentialCommandGroup {
@@ -30,6 +32,7 @@ public Auton(Optional<Alliance> alliance) {
         if (alliance.isPresent()) {
             this.alliance = alliance.get();
         }
+        this.addCommands(new WaitCommand(Dashboard.getInstance().getAutoDelay()));
     }
 
     protected void setInitialPose(PathPlannerTrajectory initialTrajectory) {
diff --git a/src/main/java/frc/robot/autons/AutonSelector.java b/src/main/java/frc/robot/autons/AutonSelector.java
index ba2c9cd4..7eb10938 100644
--- a/src/main/java/frc/robot/autons/AutonSelector.java
+++ b/src/main/java/frc/robot/autons/AutonSelector.java
@@ -12,7 +12,6 @@ public class AutonSelector {
     public enum AutonChoices {
         NoAuto,
         AmpAuto,
-        AmpAutoWait,
         AmpAutoAcquire,
         TaxiPos1,
         TaxiPos2,
@@ -38,7 +37,6 @@ private AutonSelector() {
 
         this.autoChooser.setDefaultOption("No Auto", AutonChoices.NoAuto);
         this.autoChooser.addOption("Score 2 In Amp Position 1", AutonChoices.AmpAuto);
-        this.autoChooser.addOption("Wait Score in amp position 1", AutonChoices.AmpAutoWait);
         this.autoChooser.addOption("Score 2 in amp and acquire Pos 1", AutonChoices.AmpAutoAcquire);
         this.autoChooser.addOption("Taxi Position 1", AutonChoices.TaxiPos1);
         this.autoChooser.addOption("Taxi Position 2", AutonChoices.TaxiPos2);
@@ -50,8 +48,6 @@ public Auton chooseAuton() {
         switch (this.autoChooser.getSelected()) {
             case AmpAuto:
                 return new ScoreInAmp(alliance);
-            case AmpAutoWait:
-                return new ScoreInAmpWait(alliance);
             case AmpAutoAcquire:
                 return new ScoreInAmpAcquire(alliance);
             case TaxiPos1:
diff --git a/src/main/java/frc/robot/autons/ScoreInAmpWait.java b/src/main/java/frc/robot/autons/ScoreInAmpWait.java
deleted file mode 100644
index 99663bd0..00000000
--- a/src/main/java/frc/robot/autons/ScoreInAmpWait.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package frc.robot.autons;
-
-import java.util.Optional;
-
-import com.pathplanner.lib.commands.FollowPathCommand;
-
-import frc.robot.subsystems.Acquisition;
-import frc.robot.subsystems.Dashboard;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import frc.robot.commands.AcquisitionRunCommand;
-import frc.robot.commands.ScoreNoteCommand;
-import frc.robot.commands.ScoringElevatorPositionCommand;
-import frc.robot.commands.ScoringElevatorPositionCommand.FinishActions;
-import frc.robot.constants.ScoringConstants.ScoringLocation;
-import frc.robot.subsystems.ScoringElevator.ElevatorSetpoints;
-
-public class ScoreInAmpWait extends Auton {
-
-    private Acquisition acquisition = Acquisition.getInstance();
-
-    public ScoreInAmpWait(Optional<Alliance> alliance) {
-        super(alliance);
-
-        Dashboard.getInstance().setTrajectory(Trajectories.getFromPosition1ToAmpTrajectory());
-        this.setInitialPose(Trajectories.getFromPosition1ToAmpTrajectory());
-        // try .concatenate a return and final trajectory later
-
-        super.addCommands(
-                new WaitCommand(5),
-                followPathCommand(Paths.pathFromPosition1ToAmp),
-                new ScoringElevatorPositionCommand(ElevatorSetpoints.Amp, FinishActions.NoDisable),
-                new ScoreNoteCommand(ScoringLocation.Amp, 1.5),
-                new ScoringElevatorPositionCommand(ElevatorSetpoints.Ground),
-                followPathCommand(Paths.pathFromAmpToMidline));
-    }
-}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Dashboard.java b/src/main/java/frc/robot/subsystems/Dashboard.java
index 3cab7bcd..2aa80231 100644
--- a/src/main/java/frc/robot/subsystems/Dashboard.java
+++ b/src/main/java/frc/robot/subsystems/Dashboard.java
@@ -7,6 +7,7 @@
 
 import edu.wpi.first.cscore.HttpCamera;
 import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
@@ -51,6 +52,10 @@ public enum Cameras {
             .getEntry();
 
     // Drivers Tab Inputs
+    private GenericEntry autonDelay = driversTab.add("Auton Delay", 0)
+            .withPosition(0, 1)
+            .withSize(2, 1)
+            .getEntry();
     private GenericEntry feedAmpSpeed = driversTab.add("Feed Amp Speed", ScoringConstants.feedAmpSpeed)
             .withPosition(0, 2)
             .getEntry();
@@ -178,4 +183,13 @@ public void clearTrajectory() {
     public SendableChooser<AutonChoices> getAutoChooser() {
         return autoChooser;
     }
+
+    /**
+     * Gets the number of seconds to delay the start of auton
+     *
+     * @return delay in seconds clamped between 0 and 10 seconds
+     */
+    public double getAutoDelay() {
+        return MathUtil.clamp(autonDelay.getDouble(0), 0, 10);
+    }
 }