diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/DepositorArmPosState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/DepositorArmPosState.java
index fd28817..72f8120 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/DepositorArmPosState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/DepositorArmPosState.java
@@ -10,8 +10,8 @@ public class DepositorArmPosState extends CyberarmState {
     private final boolean stateDisabled;
     ServoTestRobot robot;
     private long startOfSequencerTime;
-    private long totalWaitedTime;
-    private long lastMeasuredTime;
+    private long totalWaitedTime = 0;
+    private long lastMeasuredTime = System.currentTimeMillis();
     private boolean actionsFinished = false;
 
     private int armPosition;
@@ -29,63 +29,84 @@ public class DepositorArmPosState extends CyberarmState {
 
     @Override
     public void exec() {
-        if (actionsFinished) {
-            setHasFinished(true);
-        } else {
-            lastMeasuredTime = System.currentTimeMillis();
 
-            if (armPosition == robot.oldArmPosititon){
-                actionsFinished = true;
-            } else if (robot.oldArmPosititon == 1){
+        lastMeasuredTime = System.currentTimeMillis();
 
-                robot.collectorShoulder.setPosition(robot.COLLECTOR_SHOULDER_IN);
-                robot.ServoWaitTime(robot.COLLECTOR_SHOULDER_PASSIVE, robot.COLLECTOR_SHOULDER_IN);
-                totalWaitedTime = robot.servoWaitTime;
-                if (System.currentTimeMillis() - startOfSequencerTime >= robot.servoWaitTime){
-                    robot.collectorElbow.setPosition(robot.COLLECTOR_ELBOW_IN);
-                    robot.ServoWaitTime(robot.COLLECTOR_ELBOW_PASSIVE, robot.COLLECTOR_ELBOW_IN);
-                    totalWaitedTime += robot.servoWaitTime;
-                    if (System.currentTimeMillis() - lastMeasuredTime >= totalWaitedTime){
-                        actionsFinished = true;
-                    }
+        if (armPosition == robot.oldArmPosititon) {
+            actionsFinished = true;
+        } else if (robot.oldArmPosititon == 1) {
+
+            robot.collectorShoulder.setPosition(robot.COLLECTOR_SHOULDER_IN); // drive the shoulder to the transfer position
+            robot.ServoWaitTime(robot.COLLECTOR_SHOULDER_PASSIVE, robot.COLLECTOR_SHOULDER_IN); // calculate time to move
+            totalWaitedTime = robot.servoWaitTime;
+            if (System.currentTimeMillis() - startOfSequencerTime >= robot.servoWaitTime) { // wait to move till time is met
+                robot.collectorElbow.setPosition(robot.COLLECTOR_ELBOW_IN);
+                robot.ServoWaitTime(robot.COLLECTOR_ELBOW_PASSIVE, robot.COLLECTOR_ELBOW_IN); // calculate time to move
+                totalWaitedTime += robot.servoWaitTime; // add the time to the total time to wait
+                if (System.currentTimeMillis() - lastMeasuredTime >= totalWaitedTime) {
+                    setHasFinished(true);
                 }
             }
+        } else if (robot.oldArmPosititon == 2) {
+            robot.collectorShoulder.setPosition(robot.COLLECTOR_SHOULDER_IN); // drive the shoulder to the transfer position
+            robot.ServoWaitTime(robot.COLLECTOR_SHOULDER_OUT, robot.COLLECTOR_SHOULDER_IN); // calculate time to move
+            totalWaitedTime = robot.servoWaitTime;
+            if (System.currentTimeMillis() - startOfSequencerTime >= robot.servoWaitTime) { // wait to move till time is met
+                robot.collectorElbow.setPosition(robot.COLLECTOR_ELBOW_IN);
+                robot.ServoWaitTime(robot.COLLECTOR_ELBOW_OUT, robot.COLLECTOR_ELBOW_IN); // calculate time to move
+                totalWaitedTime += robot.servoWaitTime; // add the time to the total time to wait
+                if (System.currentTimeMillis() - lastMeasuredTime >= totalWaitedTime) {
+                    setHasFinished(true);
+                }
+            }
+        } else if (robot.oldArmPosititon == 3) {
+                robot.collectorShoulder.setPosition(robot.COLLECTOR_SHOULDER_IN); // drive the shoulder to the transfer position
+                robot.ServoWaitTime(robot.COLLECTOR_SHOULDER_PASSIVE, robot.COLLECTOR_SHOULDER_IN); // calculate time to move
+                totalWaitedTime = robot.servoWaitTime;
+                if (System.currentTimeMillis() - startOfSequencerTime >= robot.servoWaitTime) { // wait to move till time is met
+                    robot.collectorElbow.setPosition(robot.COLLECTOR_ELBOW_IN);
+                    robot.ServoWaitTime(robot.COLLECTOR_ELBOW_PASSIVE, robot.COLLECTOR_ELBOW_IN); // calculate time to move
+                    totalWaitedTime += robot.servoWaitTime; // add the time to the total time to wait
+                    if (System.currentTimeMillis() - lastMeasuredTime >= totalWaitedTime) {
+                        robot.collectorElbow.setPosition(robot.COLLECTOR_ELBOW_IN);
+                        robot.ServoWaitTime(robot.COLLECTOR_ELBOW_PASSIVE, robot.COLLECTOR_ELBOW_IN); // calculate time to move
+                        totalWaitedTime += robot.servoWaitTime; // add the time to the total time to wait                     }
+                    if (System.currentTimeMillis() - lastMeasuredTime >= totalWaitedTime) {
+                        setHasFinished(true);
+                    }
+                }
 
-            // -----------------------------------------------------------------------------------------------------0, drive to transfer
-            // if already at 0, actions have finished = true
+                // -----------------------------------------------------------------------------------------------------0, drive to transfer
+                // if already at 0, actions have finished = true
 
-            // else if at 1,
-            // drive collector shoulder to position
-            // do math and wait till wait time is met
-            // once met, drive the elbow
-            // set has finished = true
+                // else if at 1,
+                // drive collector shoulder to position
+                // do math and wait till wait time is met
+                // once met, drive the elbow
+                // set has finished = true
 
-            // else if at 2,
-            // drive collector shoulder to position
-            // do math and wait till wait time is met
-            // once met, drive the elbow
-            // set has finished = true
+                // else if at 2,
+                // drive collector shoulder to position
+                // do math and wait till wait time is met
+                // once met, drive the elbow
+                // set has finished = true
 
-            // else if at 3,
-            // drive collector shoulder to position
-            // do math and wait till wait time is met
-            // once met, drive the elbow
-            // set has finished = true
+                // else if at 3,
+                // drive collector shoulder to position
+                // do math and wait till wait time is met
+                // once met, drive the elbow
+                // set has finished = true
 
-            // -----------------------------------------------------------------------------------------------------1, drive to driving mode
+                // -----------------------------------------------------------------------------------------------------1, drive to driving mode
 
 
-
-            // -----------------------------------------------------------------------------------------------------2, drive to collect
-
-
-
-            // -----------------------------------------------------------------------------------------------------3, drive to deposit
-
+                // -----------------------------------------------------------------------------------------------------2, drive to collect
 
 
+                // -----------------------------------------------------------------------------------------------------3, drive to deposit
 
 
+            }
         }
     }
-}
+}
\ No newline at end of file