diff --git a/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java b/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
index 09cfa0f..9b64dc8 100644
--- a/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
@@ -41,6 +41,8 @@ public abstract class CyberarmEngine extends OpMode {
   private GamepadChecker gamepadCheckerGamepad1, gamepadCheckerGamepad2;
   private boolean useThreads = true;
 
+  private long startTime;
+
   /**
    * Called when INIT button on Driver Station is pushed
    * ENSURE to call super.init() if you override this method
@@ -84,6 +86,8 @@ public abstract class CyberarmEngine extends OpMode {
    * ENSURE to call super.start() if you override this method
    */
   public void start() {
+    startTime = System.currentTimeMillis();
+
     if (cyberarmStates.size() > 0) {
       runState(cyberarmStates.get(0));
     }
@@ -534,4 +538,12 @@ public abstract class CyberarmEngine extends OpMode {
   public void threadless() {
     useThreads = false;
   }
+
+  /**
+   * Time in milliseconds since START button was pushed
+   * @return runTime
+   */
+  public double runTime() {
+    return (System.currentTimeMillis() - startTime);
+  }
 }
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
index be0efb4..7bb1b33 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
@@ -91,6 +91,7 @@ public class RedCrabMinibot {
     public final boolean LED_OFF = true, LED_ON = false;
 
     final CyberarmEngine engine;
+    public final boolean autonomous;
 
     public TimeCraftersConfiguration config;
     private final PIDFController clawArmPIDFController;
@@ -125,6 +126,7 @@ public class RedCrabMinibot {
 
     public RedCrabMinibot(boolean autonomous) {
         engine = CyberarmEngine.instance;
+        this.autonomous = autonomous;
 
         config = new TimeCraftersConfiguration("cyberarm_RedCrab");
         loadConstants();
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
index 8988cb0..cc73147 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
@@ -1 +1 @@
-{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-01-31 08:59:33 -0600","spec_version":2,"revision":1180},"data":{"groups":[{"name":"Autonomous_BLUE_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 270d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx270"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Backstage","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix-1"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to deposit position","enabled":true,"variables":[{"name":"angle","value":"Dx165.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to deposit position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.508"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to the right","enabled":true,"variables":[{"name":"distanceMM","value":"Dx610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - 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Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"minConfidence","value":"Dx0.7"},{"name":"path","value":"Ix-1"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
index 80f6268..5aa0db1 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
@@ -16,8 +16,31 @@ public abstract class RedCrabEngine extends CyberarmEngine {
 
         super.loop();
 
-        if (robot != null)
-            robot.standardTelemetry();
+        robot.standardTelemetry();
+
+        if (robot.autonomous) {
+            if (runTime() < 20_000.0) { // KEEP CALM and CARRY ON
+                robot.redLED.setState(robot.LED_OFF);
+                robot.greenLED.setState(robot.LED_ON);
+            } else if (runTime() < 25_000.0) { // RUNNING LOW ON TIME
+                robot.redLED.setState(robot.LED_ON);
+                robot.greenLED.setState(robot.LED_ON);
+            } else { // 5 SECONDS LEFT!
+                robot.redLED.setState(robot.LED_ON);
+                robot.greenLED.setState(robot.LED_OFF);
+            }
+        } else {
+            if (runTime() >= 90_000.0) { // LAUNCH DRONE and DO CHIN UP
+                robot.redLED.setState(robot.LED_OFF);
+                robot.greenLED.setState(robot.LED_ON);
+            } else if (runTime() >= 80_000.0) { // GET READY
+                robot.redLED.setState(robot.LED_ON);
+                robot.greenLED.setState(robot.LED_ON);
+            } else { // KEEP CALM and CARRY ON
+                robot.redLED.setState(robot.LED_ON);
+                robot.greenLED.setState(robot.LED_OFF);
+            }
+        }
     }
 
     @Override
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
index bd534f0..18f9943 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
@@ -15,8 +15,9 @@ public class RedCrabTeleOpDebuggingOnlyEngine extends RedCrabEngine {
     public void setup() {
         threadless();
 
+        robot = new RedCrabMinibot(false);
+
         addState(new CyberarmState() {
-            final RedCrabMinibot robot = new RedCrabMinibot(false);
 
             @Override
             public void exec() {
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
index b2ad66d..c734196 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
@@ -12,7 +12,7 @@ import dev.cyberarm.minibots.red_crab.states.Pilot;
 public class RedCrabTeleOpEngine extends RedCrabEngine {
     @Override
     public void setup() {
-        RedCrabMinibot robot = new RedCrabMinibot(false);
+        robot = new RedCrabMinibot(false);
 
         addTask(new ClawArmTask(robot));
 
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
index 252af20..265f4e7 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
@@ -130,11 +130,6 @@ public class Pilot extends CyberarmState {
         }
     }
 
-    @Override
-    public void telemetry() {
-        robot.standardTelemetry();
-    }
-
     private void drivetrain() {
         // https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html#field-centric