diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
index 236379d..2d796ca 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
@@ -3,7 +3,8 @@ package org.timecrafters.CenterStage.Autonomous.Engines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoArmState;
-import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoDriveState;
+import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoFirstDriveState;
+import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaWheelTest;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
@@ -11,7 +12,8 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
     @Override
     public void setup() {
-        addState(new SodiPizzaAutoDriveState());
-        addState(new SodiPizzaAutoArmState());
+//        addState(new SodiPizzaAutoFirstDriveState());
+//        addState(new SodiPizzaAutoArmState());
+        addState(new SodiPizzaWheelTest());
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
similarity index 65%
rename from TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java
rename to TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
index 13cdbff..aa6d0a8 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
@@ -1,17 +1,15 @@
 package org.timecrafters.CenterStage.Autonomous.States;
 
-import com.qualcomm.robotcore.hardware.DcMotor;
-
 import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
 
 import dev.cyberarm.engine.V2.CyberarmState;
 
-public class SodiPizzaAutoDriveState extends CyberarmState{
+public class SodiPizzaAutoFirstDriveState extends CyberarmState{
     final private SodiPizzaMinibotObject robot;
     final private String groupName, actionName;
     private long lastMoveTime;
 
-    public SodiPizzaAutoDriveState() {
+    public SodiPizzaAutoFirstDriveState() {
         groupName = " ";
         actionName = " ";
         robot = new SodiPizzaMinibotObject();
@@ -46,27 +44,12 @@ public class SodiPizzaAutoDriveState extends CyberarmState{
             robot.leftBack.setPower(0.5);
             robot.rightBack.setPower(0.5);
 
-        }
-
-        if (robot.leftFront.getCurrentPosition() < 1250 && robot.leftFront.getCurrentPosition() >= 1000 &&
-            robot.rightBack.getCurrentPosition() > 750) {
-            robot.leftFront.setPower(0.5);
-            robot.leftBack.setPower(0.5);
-            robot.rightFront.setPower(-0.5);
-            robot.rightBack.setPower(-0.5);
-
-            robot.leftFront.setTargetPosition(1250);
-            robot.leftBack.setTargetPosition(1250);
-            robot.rightFront.setTargetPosition(750);
-            robot.rightBack.setTargetPosition(750);
-        }
-
-
-        if (robot.leftFront.getCurrentPosition() >= 1250 && robot.rightBack.getCurrentPosition() <= 750) {
+        } else {
             robot.leftFront.setPower(0);
-            robot.rightFront.setPower(0);
             robot.leftBack.setPower(0);
+            robot.rightFront.setPower(0);
             robot.rightBack.setPower(0);
+
             setHasFinished(true);
         }
     }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaWheelTest.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaWheelTest.java
index 0429d64..87bcf10 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaWheelTest.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaWheelTest.java
@@ -1,5 +1,7 @@
 package org.timecrafters.CenterStage.Autonomous.States;
 
+import android.annotation.SuppressLint;
+
 import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
 
 import dev.cyberarm.engine.V2.CyberarmState;
@@ -7,6 +9,8 @@ import dev.cyberarm.engine.V2.CyberarmState;
 public class SodiPizzaWheelTest extends CyberarmState {
     private SodiPizzaMinibotObject robot;
     private String groupName, actionName;
+    private long lastMoveTime;
+    private double lDrivePower, rDrivePower;
 
     public SodiPizzaWheelTest() {
         groupName = " ";
@@ -14,10 +18,76 @@ public class SodiPizzaWheelTest extends CyberarmState {
         robot = new SodiPizzaMinibotObject();
         robot.setup();
     }
+    
+    private double getrDrivePower() {
+        rDrivePower = lDrivePower * 0.75;
+        return rDrivePower;
+    }
 
+    @Override
+    public void telemetry() {
+
+        engine.telemetry.addData("Current Pos? ", robot.leftFront.getCurrentPosition());
+        engine.telemetry.addData("Last Moved Time? ", lastMoveTime);
+        engine.telemetry.addData("System Current Time? ", System.currentTimeMillis());
+
+        engine.telemetry.addData("Diff in Right/Left Front Wheel Power? ", robot.rightFront.getPower() - robot.leftFront.getPower());
+    }
+
+    @Override
+    public void start() {
+
+        lastMoveTime = System.currentTimeMillis();
+        lDrivePower = 0;
+        rDrivePower = 0;
+        robot.leftFront.setPower(lDrivePower);
+        robot.leftBack.setPower(lDrivePower);
+        robot.rightFront.setPower(rDrivePower);
+        robot.rightBack.setPower(rDrivePower);
+        
+    }
+
+    @SuppressLint("SuspiciousIndentation")
     @Override
     public void exec() {
 
-        
+/*        lDrivePower = 0.3;
+        robot.leftFront.setPower(lDrivePower);
+        robot.leftBack.setPower(lDrivePower);
+        robot.rightFront.setPower(lDrivePower);
+        robot.rightBack.setPower(lDrivePower);
+*/
+        if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10 && System.currentTimeMillis() - lastMoveTime >= 3000) {
+                robot.leftFront.setTargetPosition(500);
+                robot.leftBack.setTargetPosition(500);
+                robot.rightFront.setTargetPosition(500);
+                robot.rightBack.setTargetPosition(500);
+
+                lDrivePower = 0.3;
+                rDrivePower = lDrivePower * 0.75;
+
+                robot.leftFront.setPower(lDrivePower);
+                robot.leftBack.setPower(lDrivePower);
+                robot.rightFront.setPower(rDrivePower);
+                robot.rightBack.setPower(rDrivePower);
+
+                lastMoveTime = System.currentTimeMillis();
+
+        } else if (robot.leftFront.getCurrentPosition() >= 500 && System.currentTimeMillis() - lastMoveTime >= 3000) {
+                    robot.leftFront.setTargetPosition(0);
+                    robot.leftBack.setTargetPosition(0);
+                    robot.rightFront.setTargetPosition(0);
+                    robot.rightBack.setTargetPosition(0);
+
+                    lDrivePower = -0.3;
+                    rDrivePower = lDrivePower * 0.75;
+
+                    robot.leftFront.setPower(lDrivePower);
+                    robot.leftBack.setPower(lDrivePower);
+                    robot.rightFront.setPower(rDrivePower);
+                    robot.rightBack.setPower(rDrivePower);
+
+                    lastMoveTime = System.currentTimeMillis();
+        }
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
index 98fcf53..238812f 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
@@ -48,10 +48,10 @@ public class SodiPizzaMinibotObject extends Robot {
         leftBack = engine.hardwareMap.dcMotor.get("leftBack");
         rightBack = engine.hardwareMap.dcMotor.get("rightBack");
 
-        leftFront.setDirection(DcMotorSimple.Direction.FORWARD);
-        leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+        rightFront.setDirection(DcMotorSimple.Direction.FORWARD);
+        rightBack.setDirection(DcMotorSimple.Direction.FORWARD);
 
         leftFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         rightFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);