my ipad storage is full, how do i set it to go to icloud automatically

iCloud is a syncing service, not a backup service. In other words, if you delete things you sync with iCloud, they will delete on iCloud as well as your iPad. If you are out of space on your iPad, you'll need to delete things you don't need or use or buy a new iPad with more memory.

One of the biggest memory hogs on iPhone/iPad are photos. You can if you want, connect your iPad to your computer and upload your photos to a folder on your computer (not iCloud) and then delete them from your iPad.