diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MotorPortTestRobot.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MotorPortTestRobot.java
new file mode 100644
index 0000000..6023538
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MotorPortTestRobot.java
@@ -0,0 +1,38 @@
+package org.timecrafters.CenterStage.Common;
+
+import com.arcrobotics.ftclib.hardware.motors.MotorEx;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.timecrafters.Library.Robot;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+
+import dev.cyberarm.engine.V2.CyberarmEngine;
+
+public class MotorPortTestRobot extends Robot {
+    private HardwareMap hardwareMap;
+    private String string;
+    private CyberarmEngine engine;
+
+    public MotorEx eh0, eh1, eh2, eh3, ch0, ch1, ch2, ch3;
+
+    public MotorPortTestRobot(String string) {
+        this.engine = engine;
+        this.string = string;
+    }
+
+    @Override
+    public void setup() {
+        eh0 = new MotorEx(hardwareMap, "eh0");
+        eh1 = new MotorEx(hardwareMap, "eh1");
+        eh2 = new MotorEx(hardwareMap, "eh2");
+        eh3 = new MotorEx(hardwareMap, "eh3");
+        ch0 = new MotorEx(hardwareMap, "ch0");
+        ch1 = new MotorEx(hardwareMap, "ch1");
+        ch2 = new MotorEx(hardwareMap, "ch2");
+        ch3 = new MotorEx(hardwareMap, "ch3");
+    }
+}
\ No newline at end of file
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 00d855d..aac935c 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
@@ -139,8 +139,8 @@ public class PrototypeRobot extends Robot {
         //SERVO
         depositorShoulder = hardwareMap.servo.get("depositor_shoulder");
         depositorElbow = hardwareMap.servo.get("depositor_elbow");
-//        collectorShoulder = hardwareMap.servo.get("collector_shoulder");
-//        collectorElbow = hardwareMap.servo.get("collector_elbow");
+        collectorShoulder = hardwareMap.servo.get("collector_shoulder");
+        collectorElbow = hardwareMap.servo.get("collector_elbow");
         depositor = hardwareMap.servo.get("depositor");
 
         // input motors exactly as shown below
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/DriveMotorPortTestEngine.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/DriveMotorPortTestEngine.java
new file mode 100644
index 0000000..adab912
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/DriveMotorPortTestEngine.java
@@ -0,0 +1,22 @@
+package org.timecrafters.CenterStage.TeleOp.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.timecrafters.CenterStage.Common.MotorPortTestRobot;
+import org.timecrafters.CenterStage.Common.PrototypeRobot;
+import org.timecrafters.CenterStage.TeleOp.TestingState.MotorPortTestingState;
+
+import dev.cyberarm.engine.V2.CyberarmEngine;
+
+@TeleOp (name = "Motor Port Test")
+public class DriveMotorPortTestEngine extends CyberarmEngine {
+
+    MotorPortTestRobot robot;
+    @Override
+    public void setup() {
+        robot = new MotorPortTestRobot("Hello World");
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/ArmPosTest.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/ArmPosTest.java
index 0789b56..6fbedf7 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/ArmPosTest.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/ArmPosTest.java
@@ -27,17 +27,27 @@ public class ArmPosTest extends CyberarmState {
 
     @Override
     public void exec(){
+        robot.collectorElbow.setPosition(armPos);
 
         if (engine.gamepad1.a){
-            robot.depositorShoulder.setPosition(0);
-            robot.depositorElbow.setPosition(0);
+            robot.collectorShoulder.setPosition(0.75);
         } else if (engine.gamepad1.y){
+            robot.collectorShoulder.setPosition(0.65);
+        }else if (engine.gamepad1.x){
+            robot.collectorShoulder.setPosition(0.4);
+        }
 
-            robot.depositorShoulder.setPosition(0.9);
-            robot.depositorElbow.setPosition(0.22);
+        if (engine.gamepad2.y && System.currentTimeMillis() - lastMeasuredTime > 500){
+            lastMeasuredTime = System.currentTimeMillis();
+            armPos += 0.05;
+        } else if (engine.gamepad2.a && System.currentTimeMillis() - lastMeasuredTime > 500){
+            lastMeasuredTime = System.currentTimeMillis();
+            armPos -= 0.05;
         }
     }
 
+
+
     @Override
     public void telemetry() {
         engine.telemetry.addData("arm pos current", armPos);
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/TestingState/MotorPortTestingState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/TestingState/MotorPortTestingState.java
new file mode 100644
index 0000000..74337b2
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/TestingState/MotorPortTestingState.java
@@ -0,0 +1,26 @@
+package org.timecrafters.CenterStage.TeleOp.TestingState;
+
+import org.timecrafters.CenterStage.Common.MotorPortTestRobot;
+import org.timecrafters.CenterStage.Common.PrototypeRobot;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class MotorPortTestingState extends CyberarmState {
+
+    MotorPortTestRobot robot;
+    private long lastMeasuredTime;
+    private int CurrentMotorPort;
+    public MotorPortTestingState(MotorPortTestRobot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void start() {
+        lastMeasuredTime = System.currentTimeMillis();
+    }
+
+    @Override
+    public void exec() {
+
+    }
+}