diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/AutoEngineSample.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/AutoEngineSample.java
index 1299622..ab97d84 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/AutoEngineSample.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/AutoEngineSample.java
@@ -1,4 +1,27 @@
 package org.timecrafters.CenterStage.Autonomous.Engines;
 
-public class AutoEngineSample {
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+
+import org.timecrafters.CenterStage.Common.PrototypeRobot;
+
+import dev.cyberarm.engine.V2.CyberarmEngine;
+
+@Disabled
+@Autonomous(name = "Sample", group = "Sample", preselectTeleOp = "TeleOp")
+
+public class AutoEngineSample extends CyberarmEngine {
+
+    PrototypeRobot robot;
+    @Override
+    public void setup() {
+        robot = new PrototypeRobot("Hello World");
+
+        setupFromConfig(
+                robot.configuration,
+                "org.timecrafters.Autonomous.States",
+                robot,
+                PrototypeRobot.class,
+                "Sample Auto");
+    }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/AutoStateSample.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/AutoStateSample.java
index 2fca3ad..af0abe7 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/AutoStateSample.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/AutoStateSample.java
@@ -1,4 +1,28 @@
 package org.timecrafters.CenterStage.Autonomous.States;
 
-public class AutoStateSample {
+import org.timecrafters.CenterStage.Common.PrototypeRobot;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class AutoStateSample extends CyberarmState {
+
+    private final boolean stateDisabled;
+    PrototypeRobot robot;
+    public AutoStateSample(PrototypeRobot robot, String groupName, String actionName) {
+        this.robot = robot;
+        this.stateDisabled = !robot.configuration.action(groupName, actionName).enabled;
+    }
+
+    @Override
+    public void start() {
+        //add variables that need to be reinitillized
+    }
+
+    @Override
+    public void exec() {
+        // do stuff
+        // -------------
+        // end:
+        setHasFinished(true);
+    }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
index 94145c0..ea03e41 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
@@ -18,7 +18,7 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 
 public class PrototypeRobot extends Robot {
     public double servoWaitTime;
-    public double servoSecPerDeg = 0.14/60;;
+    public double servoSecPerDeg = 0.14/60;
     public float ELBOW_COLLECT;
     public float ELBOW_DEPOSIT;
     public float SHOULDER_COLLECT;
@@ -38,6 +38,8 @@ public class PrototypeRobot extends Robot {
     public TimeCraftersConfiguration configuration;
 
     public PrototypeRobot(String string) {
+        this.engine = engine;
+        setup();
         this.string = string;
     }