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 df321ed..7691329 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
@@ -1,10 +1,15 @@
 package org.timecrafters.CenterStage.Autonomous.Engines;
 
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoDriveState;
+
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
+@Autonomous(name = "Sodi's Pizza Box Bot Auto", group = "")
 public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
     @Override
     public void setup() {
-
+        addState(new SodiPizzaAutoDriveState());
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java
new file mode 100644
index 0000000..08ebd70
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java
@@ -0,0 +1,36 @@
+package org.timecrafters.CenterStage.Autonomous.States;
+
+import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class SodiPizzaAutoDriveState extends CyberarmState{
+    final private SodiPizzaMinibotObject robot;
+    final private String groupName, actionName;
+
+    public SodiPizzaAutoDriveState() {
+        groupName = " ";
+        actionName = " ";
+        robot = new SodiPizzaMinibotObject();
+        robot.setup();
+    }
+
+    @Override
+    public void exec() {
+        robot.flDrive.setTargetPosition(2800);
+        if (robot.flDrive.getCurrentPosition() < robot.flDrive.getTargetPosition()) {
+            robot.flDrive.setPower(0.75);
+            robot.frDrive.setPower(0.75);
+            robot.blDrive.setPower(0.75);
+            robot.brDrive.setPower(0.75);
+        } else {
+            robot.flDrive.setPower(0);
+            robot.frDrive.setPower(0);
+            robot.blDrive.setPower(0);
+            robot.brDrive.setPower(0);
+        }
+            if (robot.flDrive.getPower() == 0 && robot.flDrive.getCurrentPosition() >= robot.flDrive.getTargetPosition()) {
+                setHasFinished(true);
+            }
+        }
+    }
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 8c84712..ead9895 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
@@ -18,6 +18,18 @@ public class SodiPizzaMinibotObject extends Robot {
     public IMU imu;
     private String string;
 
+    public static double GRIPPER_CLOSED = 0.333; // ~90 degrees
+    public static double GRIPPER_OPEN = 0.75; // ~205 degrees
+
+    public static double ARM_COLLECT = 0.0; // ~? degrees
+    public static double ARM_PRECOLLECT = 0.05; // ~? degrees
+    public static double ARM_DELIVER = 0.28; // ~? degrees
+    public static double ARM_STOW = 0.72; // ~? degrees
+    public static double ARM_HOVER_5_STACK = 0.10;
+    public static double ARM_HOVER_4_STACK = 0.08;
+    public static double ARM_HOVER_3_STACK = 0.07;
+    public static double ARM_HOVER_2_STACK = 0.06;
+
     private CyberarmEngine engine;
     public TimeCraftersConfiguration configuration;
 
@@ -35,6 +47,9 @@ public class SodiPizzaMinibotObject extends Robot {
         blDrive = engine.hardwareMap.dcMotor.get("BL Drive");
         brDrive = engine.hardwareMap.dcMotor.get("BR Drive");
 
+        //Servo Defining
+        shoulder = engine.hardwareMap.servo.get("Shoulder");
+        hand = engine.hardwareMap.servo.get("Hand");
 
     }
 }