I am about to add a attached garage with an adjoining workshop. My main pane has no open slots, my question is can I connect to the main wires coming into the panel, and go to a sub panel with a 50amp breaker. If so what size/length wire do I use?

Thanks Joel .
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Connecting to the main incoming lines as you suggest, is allowed by code, but must follow certain restrictions, and must be mechanically sound, and unless you have good knowledge of working with this equipment and materials, best left to a hired electrician. This method is rarely used by electricans due to difficulties typical of this installation.

However, I suggest you look at your panel more closely to find a label the lists the various circuit breakers that will fit. You may find that a half size or tandem breaker is available, these are breakers that allow two breakers into one breaker slot.

The restriction here is if your existing panel already has the maximum allowed amount of 42 breakers in one panel. When confronted with this, still we don't connect to the main. We add a smaller sub panel nearby the main panel , move two breakers from the main to the sub to allow for a new 2 pole breaker to feed the sub, and add the new circuits to the subpanel.

Caution is needed,generally speaking, to be sure the main incoming service and panel can handle the added load of any new circuit.

50 Amp circuit needs #6 copper wire, but long distances may cause voltage drop. If you provide the length of the entire circuit, and an idea of types of load in amps or watts of equipment that may be used, I can give you the correct size of wire.