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 eae6bc2..2c05058 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
@@ -16,11 +16,9 @@ public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
 
     @Override
     public void setup() {
-
+        blackboardSet("readyToTurn", 0);
         addState(new SodiPizzaAutoTurnState());
-        if (blackboardGetInt("readyToTurn") == 0) {
-            addTask(new SodiPizzaAutoFirstDriveState());
-        }
+        addParallelStateToLastState(new SodiPizzaAutoFirstDriveState());
 
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
index a67ecf2..4c2905f 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
@@ -12,6 +12,7 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
     private long lastMoveTime;
     private int targetPos = 2500;
     private double drivePower;
+    public int readyToTurn;
 
     public SodiPizzaAutoFirstDriveState() {
         groupName = " ";
@@ -26,7 +27,7 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
     public void start() {
 
         lastMoveTime = System.currentTimeMillis();
-        robot.readyToTurn = 0;
+        readyToTurn = engine.blackboardGetInt("readyToTurn");
 
     }
 
@@ -36,12 +37,18 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
         engine.telemetry.addData("Current Ticks?", robot.leftFront.getCurrentPosition());
         engine.telemetry.addData("Ticks Needed?", robot.leftFront.getTargetPosition() -
         robot.leftFront.getCurrentPosition());
+        engine.telemetry.addLine();
+        engine.telemetry.addData("Internal Ready To Turn Value", readyToTurn);
+
     }
 
     @Override
     public void exec() {
+
+        readyToTurn = engine.blackboardGet("readyToTurn");
+
         // Move forward from 0 to targetPos
-        if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10) {
+        if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10 && readyToTurn == 0) {
 
             robot.leftFront.setTargetPosition(targetPos);
             robot.leftBack.setTargetPosition(targetPos);
@@ -66,7 +73,7 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
             robot.rightFront.setPower(drivePower);
             robot.rightBack.setPower(drivePower);
 
-            robot.readyToTurn = 1;
+            engine.blackboardSet("readyToTurn", 1);
 
             setHasFinished(true);
         }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
index 0d3f3f5..b8b206e 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.States;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
 import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
 
 import dev.cyberarm.engine.V2.CyberarmState;
 
@@ -14,12 +15,13 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
     private int startPos;
     private double targetRot;
     private double currentRot;
-    private double neededRot = targetRot - currentRot;
-
-    private double rightTurnCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) + 90;
-    private double rightTurnCCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - 90;
-    private double backTurnCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) + 180;
-    private double backTurnCCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - 180;
+    private double neededRot;
+    public int readyToTurn;
+    
+//    private double rightTurnCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) + 90;
+//    private double rightTurnCCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - 90;
+//    private double backTurnCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) + 180;
+//    private double backTurnCCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - 180;
 
   /** Rot = rotation **/
 
@@ -29,20 +31,19 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
         robot.setup();
     }
 
-    public SodiPizzaAutoTurnState(int readyToTurnParm) {
-        groupName = " ";
-        actionName = " ";
-        robot.setup();
-        robot.readyToTurn = readyToTurnParm;
-    }
-
     private double getTurnSpeed() {
         if (Math.abs(neededRot) > 5) {
-            turnSpeed = turnSpeedRaw * neededRot / 10;
+            turnSpeed = (turnSpeedRaw * neededRot) / 10;
         }
             return turnSpeed;
     }
 
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("Target Pos", robot.leftFront.getTargetPosition());
+        engine.telemetry.addData("Power", robot.leftFront.getPower());
+    }
+
     @Override
     public void start() {
 
@@ -54,18 +55,21 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
         robot.rightFront.setPower(turnSpeed);
         robot.rightBack.setPower(turnSpeed);
 
-        robot.imu.resetYaw();
+        neededRot = (targetRot - robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
+//        robot.imu.resetYaw();
     }
 
 
     @Override
     public void exec() {
 
+        readyToTurn = engine.blackboardGet("readyToTurn");
+
         currentRot = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
 
-        if (robot.readyToTurn == 1 && robot.leftFront.getCurrentPosition() == startPos && Math.abs(neededRot) > 10) {
+        if (readyToTurn == 1 && robot.leftFront.getCurrentPosition() == startPos && Math.abs(neededRot) > 10) {
 
-            targetRot = currentRot + 90;
+            targetRot = -90;
 
             turnSpeedRaw = 0.3;
 
@@ -74,14 +78,14 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
             robot.rightFront.setPower(-turnSpeed);
             robot.rightBack.setPower(-turnSpeed);
 
-        } else if (robot.readyToTurn == 1 && Math.abs(neededRot) < 5) {
+        } else if (readyToTurn == 1 && Math.abs(neededRot) < 5) {
             turnSpeedRaw = 0;
             robot.leftFront.setPower(turnSpeed);
             robot.leftBack.setPower(turnSpeed);
             robot.rightFront.setPower(turnSpeed);
             robot.rightBack.setPower(turnSpeed);
 
-            robot.readyToTurn = 0;
+            engine.blackboardSet("readyToTurn", 0);
         }
 
     }
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 58e6287..1102635 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
@@ -6,6 +6,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.Servo;
 
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
 import org.timecrafters.Library.Robot;
 import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
 
@@ -19,8 +20,6 @@ public class SodiPizzaMinibotObject extends Robot {
     public IMU imu;
     private String string;
 
-    public int readyToTurn;
-
     public static double GRIPPER_CLOSED = 0.333; // ~90 degrees
     public static double GRIPPER_OPEN = 0.75; // ~205 degrees
 
@@ -43,6 +42,7 @@ public class SodiPizzaMinibotObject extends Robot {
 
         this.engine = CyberarmEngine.instance;
         this.hardwareMap = CyberarmEngine.instance.hardwareMap;
+        this.imu = CyberarmEngine.instance.hardwareMap.get(IMU.class, "imu");
 
         //Motor defining
         leftFront = engine.hardwareMap.dcMotor.get("leftFront");