diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Move.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Move.java
index 5593b61..d363b6b 100644
--- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Move.java
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Move.java
@@ -26,6 +26,8 @@ public class Move extends CyberarmState {
         this.maxPower = robot.config.variable(groupName, actionName, "maxPower").value();
         this.minPower = robot.config.variable(groupName, actionName, "minPower").value();
 
+        this.strafe = robot.config.variable(groupName, actionName, "strafe").value();
+
         this.timeoutMS = robot.config.variable(groupName, actionName, "timeoutMS").value();
 
         // Validate distance and lerp distances
@@ -84,6 +86,18 @@ public class Move extends CyberarmState {
         }
     }
 
+    @Override
+    public void telemetry() {
+        engine.telemetry.addLine();
+        engine.telemetry.addData("Strafing", strafe);
+        engine.telemetry.addData("lerp MM UP", lerpMM_UP);
+        engine.telemetry.addData("lerp MM DOWN", lerpMM_DOWN);
+        engine.telemetry.addData("Distance MM", distanceMM);
+        engine.telemetry.addData("Distance Travelled MM", (strafe ? robot.left.getDistance() : robot.frontLeft.getDistance()));
+        engine.telemetry.addData("Timeout MS", timeoutMS);
+        progressBar(20, runTime() / timeoutMS);
+    }
+
     private void tankMove(){
         double travelledDistance = Math.abs(robot.left.getDistance());
         double power = lerpPower(travelledDistance);
diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ServoMove.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ServoMove.java
new file mode 100644
index 0000000..14f0847
--- /dev/null
+++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ServoMove.java
@@ -0,0 +1,63 @@
+package dev.cyberarm.minibots.red_crab.states;
+
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.Range;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+import dev.cyberarm.engine.V2.Utilities;
+import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
+
+public class ServoMove extends CyberarmState {
+    private final RedCrabMinibot robot;
+    private final Servo servo;
+    private final double startingPosition, targetPosition, lerpMS;
+    private final int timeoutMS;
+    private final boolean lerp;
+    private final String servoName;
+    public ServoMove(RedCrabMinibot robot, String groupName, String actionName) {
+        this.robot = robot;
+
+        this.servoName = robot.config.variable(groupName, actionName, "servoName").value();
+        this.targetPosition = robot.config.variable(groupName, actionName, "position").value();
+        this.lerp = robot.config.variable(groupName, actionName, "lerp").value();
+        this.lerpMS = robot.config.variable(groupName, actionName, "lerpMS").value();
+        this.timeoutMS = robot.config.variable(groupName, actionName, "timeoutMS").value();
+
+        this.servo = engine.hardwareMap.servo.get(servoName);
+        this.startingPosition = this.servo.getPosition();
+    }
+
+    @Override
+    public void exec() {
+        if (lerp) {
+            servo.setPosition(
+                    Utilities.lerp(
+                            startingPosition,
+                            targetPosition,
+                            Range.clip(runTime() / lerpMS, 0.0, 1.0))
+            );
+        } else {
+            servo.setPosition(targetPosition);
+        }
+
+        if (runTime() >= timeoutMS) {
+            servo.setPosition(targetPosition);
+            this.finished();
+        }
+    }
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addLine();
+        engine.telemetry.addData("Servo", servoName);
+        engine.telemetry.addData("Servo Position", servo.getPosition());
+        engine.telemetry.addData("Servo Starting Position", startingPosition);
+        engine.telemetry.addData("Servo Target Position", targetPosition);
+        engine.telemetry.addData("lerp", lerp);
+        engine.telemetry.addData("lerp MS", lerpMS);
+        progressBar(20, runTime() / lerpMS);
+        engine.telemetry.addLine();
+        engine.telemetry.addData("Timeout MS", timeoutMS);
+        progressBar(20, runTime() / timeoutMS);
+    }
+}