diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
index e7996c6..94145c0 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
@@ -17,11 +17,16 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
 public class PrototypeRobot extends Robot {
-
+    public double servoWaitTime;
+    public double servoSecPerDeg = 0.14/60;;
     public float ELBOW_COLLECT;
     public float ELBOW_DEPOSIT;
     public float SHOULDER_COLLECT;
     public float SHOULDER_DEPOSIT;
+    public float lastSetPosShoulder = SHOULDER_COLLECT;
+    public float lastSetPosElbow = ELBOW_COLLECT;
+    public float currentSetPosShoulder;
+    public float currentSetPosElbow;
     private HardwareMap hardwareMap;
     public MotorEx frontLeft, frontRight, backLeft, backRight, lift;
     public IMU imu;
@@ -91,9 +96,24 @@ public class PrototypeRobot extends Robot {
         xDrive = new HDrive(frontLeft, frontRight,
                             backLeft, backRight);
 
+        depositorShoulder.setPosition(SHOULDER_COLLECT);
+        depositorElbow.setPosition(ELBOW_COLLECT);
+
     }
 
     public void driveTrainTeleOp() {
         xDrive.driveRobotCentric(-engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, -engine.gamepad1.right_stick_x);
     }
-}
+
+    public void ShoulderServoWaitTime(){
+
+        servoWaitTime = servoSecPerDeg * (Math.abs(lastSetPosShoulder - currentSetPosShoulder));
+
+    }
+
+    public void ElbowServoWaitTime(){
+
+        servoWaitTime = 1000 * (servoSecPerDeg * (Math.abs(lastSetPosElbow - currentSetPosElbow)));
+
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
index 354aef6..0a0cc00 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
@@ -10,9 +10,48 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
     private int maxExtension = 2000;
     private int minExtension = 0;
 
+    private long lastCheckedTime;
+
     public PrototypeRobotDrivetrainState(PrototypeRobot robot) {
         this.robot = robot;
     }
+    private void depositorAutomation(){
+        // TODO: 10/7/2023 Workout Logic to move each limb step by step
+        
+        lastCheckedTime = System.currentTimeMillis();
+
+        if (engine.gamepad2.a){
+        // setting Servo Positions to do time Math
+        robot.currentSetPosShoulder = robot.SHOULDER_COLL
+        robot.depositorShoulder.setPosition(robot.currentSetPosShoulder);
+        // running math function to determine time
+        robot.ShoulderServoWaitTime();
+        // determining if the time is met to do the next action
+        if (lastCheckedTime - System.currentTimeMillis() >= robot.servoWaitTime){
+            robot.lastSetPosShoulder = robot.currentSetPosShoulder;
+            // setting Servo Positions to do time Math
+            robot.currentSetPosElbow = robot.ELBOW_COLLECT;
+            robot.depositorElbow.setPosition(robot.currentSetPosElbow);
+            robot.lastSetPosElbow = robot.currentSetPosElbow;
+        }
+    }
+        if (engine.gamepad2.y){
+            // setting Servo Positions to do time Math
+            robot.currentSetPosShoulder = robot.SHOULDER_DEPOSIT;
+            robot.depositorShoulder.setPosition(robot.currentSetPosShoulder);
+            // running math function to determine time
+            robot.ShoulderServoWaitTime();
+            // determining if the time is met to do the next action
+            if (lastCheckedTime - System.currentTimeMillis() >= robot.servoWaitTime){
+                robot.lastSetPosShoulder = robot.currentSetPosShoulder;
+                // setting Servo Positions to do time Math
+                robot.currentSetPosElbow = robot.ELBOW_COLLECT;
+                robot.depositorElbow.setPosition(robot.currentSetPosElbow);
+                robot.lastSetPosElbow = robot.currentSetPosElbow;
+
+            }
+        }
+    }
 
     // --------------------------------------------------------------------------------------------------------- Depositor control function
     private void depositorTeleOp(){