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 2ba2ade..a37f3b3 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
@@ -2,12 +2,13 @@ package org.timecrafters.CenterStage.Common;
 
 import com.arcrobotics.ftclib.drivebase.HDrive;
 import com.arcrobotics.ftclib.hardware.RevIMU;
-import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.arcrobotics.ftclib.hardware.motors.MotorEx;
 import com.qualcomm.hardware.bosch.BNO055IMU;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.Servo;
 
 import org.timecrafters.Library.Robot;
@@ -17,9 +18,9 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 public class PrototypeRobot extends Robot {
 
     private HardwareMap hardwareMap;
-    public MotorEx frontLeft, frontRight, backLeft, backRight;
-    private RevIMU imu;
-    public Servo depositorFlip, depositor;
+    public MotorEx frontLeft, frontRight, backLeft, backRight, lift;
+    public IMU imu;
+    public Servo depositorShoulder, depositorElbow, depositor;
     private HDrive xDrive;
     private String string;
     private CyberarmEngine engine;
@@ -34,31 +35,39 @@ public class PrototypeRobot extends Robot {
         this.hardwareMap = CyberarmEngine.instance.hardwareMap;
         this.engine = CyberarmEngine.instance;
 
+        imu = engine.hardwareMap.get(IMU.class, "imu");
+
         //MOTORS
         frontRight = new MotorEx(hardwareMap, "frontRight");
         frontLeft = new MotorEx(hardwareMap, "frontLeft");
         backRight = new MotorEx(hardwareMap, "backRight");
         backLeft = new MotorEx(hardwareMap, "backLeft");
+        lift = new MotorEx(hardwareMap, "lift");
+
 
         frontRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
         backRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
         backLeft.motor.setDirection(DcMotorSimple.Direction.FORWARD);
         frontLeft.motor.setDirection(DcMotorSimple.Direction.FORWARD);
+        lift.motor.setDirection(DcMotorSimple.Direction.FORWARD);
 
 
         frontRight.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         backRight.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         backLeft.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         frontLeft.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        lift.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         //IMU
-        imu = new RevIMU(hardwareMap, "imu");
-        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
-        parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
-        parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
-        imu.init(parameters);
+        IMU.Parameters parameters = new IMU.Parameters(
+                new RevHubOrientationOnRobot(
+                        RevHubOrientationOnRobot.LogoFacingDirection.LEFT,
+                        RevHubOrientationOnRobot.UsbFacingDirection.UP));
+
+        imu.initialize(parameters);
 
         //SERVO
-        depositorFlip = hardwareMap.servo.get("depositorFlip");
+        depositorShoulder = hardwareMap.servo.get("depositor_shoulder");
+        depositorElbow = hardwareMap.servo.get("depositor_elbow");
         depositor = hardwareMap.servo.get("depositor");
 
         // input motors exactly as shown below
@@ -70,9 +79,4 @@ public class PrototypeRobot extends Robot {
     public void driveTrainTeleOp() {
         xDrive.driveRobotCentric(-engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, -engine.gamepad1.right_stick_x);
     }
-
-    public double heading() {
-        return imu.getHeading();
-    }
-
 }
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 12f631b..30e0258 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
@@ -1,11 +1,14 @@
 package org.timecrafters.CenterStage.States;
 
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.timecrafters.CenterStage.Common.PrototypeRobot;
 
 import dev.cyberarm.engine.V2.CyberarmState;
 
 public class PrototypeRobotDrivetrainState extends CyberarmState {
     private PrototypeRobot robot;
+    private int maxExtension = 2000;
+    private int minExtension = 0;
 
     public PrototypeRobotDrivetrainState(PrototypeRobot robot) {
         this.robot = robot;
@@ -13,19 +16,58 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
 
     @Override
     public void exec() {
+        // drivetrain
         robot.driveTrainTeleOp();
 
+        // flip arms
+        if (engine.gamepad1.x) {
+            robot.depositorShoulder.setPosition(0.75);
+        } else if (engine.gamepad1.a) {
+            robot.depositorShoulder.setPosition(0.05);
+        }
+
         if (engine.gamepad1.y){
-            robot.depositorFlip.setPosition(0.75);
-        } else if (engine.gamepad1.a){
-            robot.depositorFlip.setPosition(0.05);
+            robot.depositorElbow.setPosition(0.33);
+        } else if (engine.gamepad1.b){
+            robot.depositorElbow.setPosition(0);
         }
 
         // depositor
-        if (engine.gamepad1.b){
+        if (engine.gamepad1.right_bumper) {
             robot.depositor.setPosition(0.8);
-        } else if (engine.gamepad1.x){
+        } else if (engine.gamepad1.left_bumper) {
             robot.depositor.setPosition(0.2);
         }
+
+
+        // lift
+        if (engine.gamepad1.right_trigger != 0){
+            if (robot.lift.getCurrentPosition() >= maxExtension){
+                robot.lift.motor.setPower(0);
+            } else if (robot.lift.getCurrentPosition() >= maxExtension - 200){
+                robot.lift.motor.setPower(0.35);
+            }else {
+                robot.lift.motor.setPower(engine.gamepad1.right_trigger);
+            }
+        } else if (engine.gamepad1.left_trigger != 0){
+
+            if (robot.lift.getCurrentPosition() <= minExtension) {
+                robot.lift.motor.setPower(0);
+            } else if (robot.lift.getCurrentPosition() < 350){
+                robot.lift.motor.setPower(-0.3);
+            }else {
+                robot.lift.motor.setPower(-engine.gamepad1.left_trigger);
+            }
+        } else {
+            robot.lift.motor.setPower(0);
+        }
+
+    }
+
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("Lift Encoder Pos", robot.lift.motor.getCurrentPosition());
+        engine.telemetry.addData("imu", robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
     }
 }