diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
index cf2b61a..c5920b2 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.TeleOp.Engines;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
+import org.timecrafters.CenterStage.TeleOp.States.MiniYellowTeleOPv2;
 import org.timecrafters.CenterStage.TeleOp.States.YellowMinibotTeleOP;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
@@ -11,11 +12,12 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 
     public class MiniYTeleOPEngine extends CyberarmEngine {
     private MiniYTeleOPBot robot;
-        @Override
+
+    @Override
     public void setup() {
         this.robot = new MiniYTeleOPBot();
         this.robot.setup();
 
-        addState(new YellowMinibotTeleOP(robot));
+        addState(new MiniYellowTeleOPv2(robot));
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java
new file mode 100644
index 0000000..9eb5d8e
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java
@@ -0,0 +1,40 @@
+package org.timecrafters.CenterStage.TeleOp.States;
+
+import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class MiniYellowTeleOPv2 extends CyberarmState {
+    private final MiniYTeleOPBot robot;
+    private double flPower, frPower, blPower, brPower;
+    private float lStickY, transitPercent = lStickY / 100;
+
+    public MiniYellowTeleOPv2(MiniYTeleOPBot robot) {
+        this.robot = robot;
+    }
+
+
+    @Override
+    public void telemetry() {
+    engine.telemetry.addData("FL Power", flPower);
+
+    }
+
+    @Override
+    public void init() {
+
+        flPower = 0;
+        robot.flDrive.motor.setPower(flPower);
+
+    }
+
+    @Override
+    public void exec() {
+
+        transitPercent = -engine.gamepad1.left_stick_y * 100;
+        flPower = lStickY / 100;
+        robot.flDrive.motor.setPower(flPower);
+
+    }
+}