diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java
index 5774812..0349cca 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java
@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmControlTask;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
@@ -13,7 +14,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville audience blue")
+@Autonomous(name = "Burnsville audience blue", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
 
@@ -42,15 +43,15 @@ public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-1"));
 
         // drive to the left, center, or right spike mark
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-1"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-0"));
-        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
 
         // place pixel
         addState(new ClawFingerState(robot,"Burnsville audience blue", "0-02-1"));
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java
index ba4b265..c375ef1 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java
@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
@@ -12,7 +13,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville audience red")
+@Autonomous(name = "Burnsville audience red", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleAudienceRed extends CyberarmEngine {
 
@@ -41,15 +42,15 @@ public class CompetitionBurnsvilleAudienceRed extends CyberarmEngine {
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville audience red", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville audience red", "0-01-1"));
 
         // drive to the left, center, or right spike mark
         addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "3-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "3-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "2-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "1-02-0"));
 
         // place pixel
         addState(new ClawFingerState(robot,"Burnsville audience red", "0-02-1"));
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
index d149e47..4276815 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
@@ -13,7 +14,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville BackDrop blue")
+@Autonomous(name = "Burnsville BackDrop blue", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
 
@@ -42,15 +43,15 @@ public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-1"));
 
         // drive to the left, center, or right spike mark
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-02-4"));
 
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java
index d72f0c0..fb49c6c 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java
@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
@@ -12,7 +13,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville BackDrop red")
+@Autonomous(name = "Burnsville BackDrop red", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
 
@@ -22,7 +23,6 @@ public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
     @Override
     public void init() {
         super.init();
-        robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.clawArm.setTargetPosition(0);
         robot.clawArm.setPower(0);
         robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
@@ -36,19 +36,18 @@ public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
         this.robot = new CompetitionRobotV1("Burnsville BackDrop red");
         addTask(new DriveToCoordinatesTask(robot));
         addTask(new OdometryLocalizerTask(robot));
-//        addTask(new ClawArmControlTask(robot));
 
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-01-1"));
 
         // drive to the left, center, or right spike mark
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-1"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-02-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-02-5"));
@@ -67,8 +66,8 @@ public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-03-1"));
 
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-04-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-04-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-04-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-04-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-04-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-04-1"));
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/CameraVisionState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/CameraVisionState.java
index 0024a00..c2c8994 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/CameraVisionState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/CameraVisionState.java
@@ -55,7 +55,7 @@ public class CameraVisionState extends CyberarmState {
     @Override
     public void exec() {
         robot.clawArmControl();
-        if (System.currentTimeMillis() - initTime > 3000){
+        if (System.currentTimeMillis() - initTime > 4000){
             robot.objectPos = pipeline.objectPos();
             setHasFinished(true);
         }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java
index d487da0..300d267 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java
@@ -40,11 +40,15 @@ public class DriveToCoordinatesState extends CyberarmState {
     @Override
     public void start() {
         super.start();
-        robot.hTarget = hTarget;
-        robot.yTarget = yTarget;
-        robot.xTarget = xTarget;
-        robot.yMaxPower = maxYPower;
-        robot.xMaxPower = maxXPower;
+        if (posSpecific) {
+            robot.hTarget = hTarget;
+            robot.yTarget = yTarget;
+            robot.xTarget = xTarget;
+            robot.yMaxPower = maxYPower;
+            robot.xMaxPower = maxXPower;
+        } else {
+            setHasFinished(true);
+        }
 
         Log.d("TTT?", ""  + actionName + " CURRENT POSITION: x: " + robot.positionX + " Y: " + robot.positionY + "h: " + robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
         Log.d("TTT?", ""  + actionName + " TARGET POSITION: x: " + robot.xTarget + " Y: " + robot.yTarget + "h: " + robot.hTarget);
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java
index 1476885..9520e78 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java
@@ -257,16 +257,6 @@ public class CompetitionTeleOpState extends CyberarmState {
             }
         }
 
-        if (Objects.equals(armPos, "passive")) {
-            if (robot.lift.getCurrentPosition() >= 20) {
-                robot.chinUpServo.setPosition(chinUpServoDown);
-                robot.lift.setPower(-0.6);
-            } else {
-                robot.shoulder.setPosition(robot.shoulderPassive);
-                target = 570;
-            }
-        }
-
         if (Objects.equals(armPos, "lift up")) {
             robot.shoulder.setPosition(robot.shoulderCollect);
             robot.elbow.setPosition(robot.elbowDeposit);
@@ -303,8 +293,6 @@ public class CompetitionTeleOpState extends CyberarmState {
             super.init();
             pidController = new PIDController(p, i, d);
             robot.imu.resetYaw();
-
-        robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.clawArm.setTargetPosition(0);
         robot.clawArm.setPower(0);
         robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);