diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropBlue.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropBlue.java
new file mode 100644
index 0000000..c60640d
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropBlue.java
@@ -0,0 +1,106 @@
+package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesTask;
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.OdometryLocalizerTask;
+import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
+
+import dev.cyberarm.engine.V2.CyberarmEngine;
+
+@Autonomous(name = "State BackDrop red", preselectTeleOp = "Competition V1 TeleOp")
+
+public class StateBackDropBlue extends CyberarmEngine {
+
+    CompetitionRobotV1 robot;
+
+
+    @Override
+    public void init() {
+        super.init();
+        robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.clawArm.setTargetPosition(0);
+        robot.clawArm.setPower(0);
+        robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        robot.imu.resetYaw();
+        robot.leftClaw.setPosition(0.25);
+        robot.rightClaw.setPosition(0.6);
+    }
+
+    @Override
+    public void setup() {
+        this.robot = new CompetitionRobotV1("State BackDrop red");
+        addTask(new DriveToCoordinatesTask(robot));
+        addTask(new OdometryLocalizerTask(robot));
+
+        this.robot.setup();
+
+        addState(new CameraVisionState(robot));
+
+        addState(new ClawArmState(robot,"State BackDrop red", "1-00-0"));
+
+        // drive to the left, center, or right spike mark
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "2-01-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "2-01-1"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "2-01-2"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "2-03-0"));
+
+        // bring arm to hover
+        addState(new ClawArmState(robot,"State BackDrop red", "3-00-0"));
+
+        //open claw
+        addState(new ClawFingerState(robot,"State BackDrop red", "4-00-0"));
+
+        addState(new ClawArmState(robot,"State BackDrop red", "5-00-0"));
+
+        // drive towards backboard
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-01-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-01-1"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-02-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-02-1"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-03-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-03-1"));
+
+        // pause
+        addState(new ClawArmState(robot,"State BackDrop red", "6-00-0"));
+
+        // drive into board
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-01-2"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-02-2"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-03-2"));
+
+        // pause
+        addState(new ClawArmState(robot,"State BackDrop red", "6-00-1"));
+
+        //open right close left
+        addState(new ClawFingerState(robot,"State BackDrop red", "7-00-0"));
+
+        // bring arm up
+        addState(new ClawArmState(robot,"State BackDrop red", "8-00-0"));
+
+        // drivw to park
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-01-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-02-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-03-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-03-1"));
+
+        addState(new ClawArmState(robot,"State BackDrop red", "9-00-0"));
+
+
+
+    // 65, on the left, 235 on the right
+
+
+
+
+
+
+    }
+
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropRed.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropRed.java
index e82cce1..2974fc6 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropRed.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/StateBackDropRed.java
@@ -64,6 +64,8 @@ public class StateBackDropRed extends CyberarmEngine {
         addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-01-1"));
         addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-02-0"));
         addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-02-1"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-03-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-03-1"));
 
         // pause
         addState(new ClawArmState(robot,"State BackDrop red", "6-00-0"));
@@ -71,15 +73,27 @@ public class StateBackDropRed extends CyberarmEngine {
         // drive into board
         addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-01-2"));
         addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-02-2"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "6-03-2"));
 
         // pause
         addState(new ClawArmState(robot,"State BackDrop red", "6-00-1"));
 
         //open right close left
         addState(new ClawFingerState(robot,"State BackDrop red", "7-00-0"));
+
         // bring arm up
         addState(new ClawArmState(robot,"State BackDrop red", "8-00-0"));
 
+        // drivw to park
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-01-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-02-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-03-0"));
+        addState(new DriveToCoordinatesState(robot,"State BackDrop red", "9-03-1"));
+
+        addState(new ClawArmState(robot,"State BackDrop red", "9-00-0"));
+
+
+
 
 
 
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 70a01f2..76a0e76 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
@@ -69,7 +69,7 @@ public class DriveToCoordinatesState extends CyberarmState {
 
                 if (Math.abs(robot.positionX - robot.xTarget) < 5
                         && Math.abs(robot.positionY - robot.yTarget) < 5
-                        && Math.abs(robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - Math.toDegrees(robot.hTarget)) < 2) {
+                        && Math.abs(robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES)) - Math.abs(Math.toDegrees(robot.hTarget)) < 5) {
                     setHasFinished(true);
                 }
             }
@@ -80,7 +80,7 @@ public class DriveToCoordinatesState extends CyberarmState {
 
                 if (Math.abs(robot.positionX - robot.xTarget) < 5
                         && Math.abs(robot.positionY - robot.yTarget) < 5
-                        && Math.abs(robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - Math.toDegrees(robot.hTarget)) < 2) {
+                        && Math.abs(robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES)) - Math.abs(Math.toDegrees(robot.hTarget)) < 5) {
                     setHasFinished(true);
                 }
             }
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 dd496aa..34ae39c 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
@@ -71,8 +71,8 @@ public class CompetitionTeleOpState extends CyberarmState {
     // ---------------------------------------------------------------------------------------------------------------Arm control Variables:
     public String armPos = "collect";
     // chin up servo
-    public static double chinUpServoUp = 0.58;
-    public static double chinUpServoDown = 1;
+    public static double chinUpServoUp = 0.7;
+    public static double chinUpServoDown = 0;
     public long lastExecutedTime;