diff --git a/magicbot/magicrobot.py b/magicbot/magicrobot.py
index 0d1feb6..6a91cd6 100644
--- a/magicbot/magicrobot.py
+++ b/magicbot/magicrobot.py
@@ -498,6 +498,11 @@ def _create_components(self):
             if hasattr(component, 'setup'):
                 component.setup()
 
+        # Call setup functions for autonomous modes
+        for mode in self._automodes.modes.values():
+            if hasattr(mode, 'setup'):
+                mode.setup()
+
     def _create_component(self, name, ctyp):
         # Create instance, set it on self
         component = ctyp()