diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
index 4276815..eb9a3d8 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
@@ -41,17 +41,17 @@ public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
 //        addTask(new ClawArmControlTask(robot));
 
         this.robot.setup();
-        addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-0"));
+//        addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-0"));
 
-        addState(new CameraVisionState(robot));
+//        addState(new CameraVisionState(robot));
 
-        addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-1"));
+//        addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-1"));
 
         // drive to the left, center, or right spike mark
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-0"));
-        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-1"));
-        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
-        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
+//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-1"));
+//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
+//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-02-4"));
 
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java
index f84336a..5a9c504 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java
@@ -12,11 +12,11 @@ import dev.cyberarm.engine.V2.CyberarmState;
 public class DriveToCoordinatesState extends CyberarmState {
 
     CompetitionRobotV1 robot;
-    public double xTarget;
-    public double yTarget;
-    public double hTarget;
-    public double maxVelocityX;
-    public double maxVelocityY;
+    public static double xTarget;
+    public static double yTarget;
+    public static double hTarget;
+    public static double maxVelocityX;
+    public static double maxVelocityY;
     public double maxVelocityH;
     public boolean posAchieved = false;
     public boolean armDrive;
@@ -69,7 +69,7 @@ public class DriveToCoordinatesState extends CyberarmState {
         if (posSpecific) {
             if (objectPos != robot.objectPos) {
                 // enter the ending loop
-                setHasFinished(true);
+//                setHasFinished(true);
             } else {
 
                 if (armDrive) {
@@ -78,7 +78,7 @@ public class DriveToCoordinatesState extends CyberarmState {
 
                 if (Math.abs(robot.positionX - robot.xTarget) < 5
                         && Math.abs(robot.positionY - robot.yTarget) < 5) {
-                    setHasFinished(true);
+//                    setHasFinished(true);
                 }
             }
         } else {
@@ -88,7 +88,7 @@ public class DriveToCoordinatesState extends CyberarmState {
 
                 if (Math.abs(robot.positionX - robot.xTarget) < 5
                         && Math.abs(robot.positionY - robot.yTarget) < 5) {
-                    setHasFinished(true);
+//                    setHasFinished(true);
                 }
             }
         }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java
index f468362..5a4c0fe 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java
@@ -112,7 +112,7 @@ public class CompetitionRobotV1 extends Robot {
 
     public double xVelocity;
     public double yVelocity;
-    public double deltaTime;
+    public double deltaTime = 0;
 
 
     //-------------------------------------------------------------------------------------------------------------- arm sequence variables:
@@ -299,27 +299,6 @@ public class CompetitionRobotV1 extends Robot {
         double output = (error * Hp) + (derivative * Hd) + (headingIntegralSum * Hi);
         return output;
     }
-    public double XVeloPIDControl ( double reference, double current){
-        double error = (reference - current);
-        xVeloIntegralSum += error * xVeloTimer.seconds();
-        double derivative = (error - xVeloLastError) / xVeloTimer.seconds();
-
-        xTimer.reset();
-
-        double output = (error * xvp) + (derivative * xvd) + (xIntegralSum * xvi);
-        return output;
-    }
-
-    public double YVeloPIDControl ( double reference, double current){
-        double error = (reference - current);
-        yVeloIntegralSum += error * yVeloTimer.seconds();
-        double derivative = (error - yVeloLastError) / xTimer.seconds();
-
-        xTimer.reset();
-
-        double output = (error * yvp) + (derivative * yvd) + (yVeloIntegralSum * yvi);
-        return output;
-    }
 
     public double XPIDControl ( double reference, double current){
         double error = (reference - current);
@@ -376,10 +355,6 @@ public class CompetitionRobotV1 extends Robot {
     public void DriveToCoordinates () {
         // determine the powers needed for each direction
         // this uses PID to adjust needed Power for robot to move to target
-        targetVelocityX = XPIDControl(xTarget, positionX);
-        targetVelocityY = YPIDControl(yTarget, positionY);
-        XVeloPIDControl(targetVelocityX, xVelocity);
-        YVeloPIDControl(targetVelocityY, yVelocity);
 
         double heading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
         double rx = HeadingPIDControl(Math.toRadians(hTarget), heading);
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java
index 32998df..a324562 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java
@@ -339,6 +339,7 @@ public class CompetitionTeleOpState extends CyberarmState {
         robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
         lastExecutedTime = System.currentTimeMillis();
 
+
     }
 
     @Override