diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
index 24fbcda..e19d4bc 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
@@ -1,6 +1,7 @@
 package org.timecrafters.CenterStage.TeleOp.States;
 
 import static org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject.ARM_COLLECT;
+import static org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject.ARM_HOVER_5_STACK;
 import static org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject.ARM_PRECOLLECT;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -20,6 +21,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
     public double drivePower;
     public final double minInput = 0.1 /* <- Minimum input from stick to send command */;
     public double lastToldAngle /* <- The angle the bot was last told to stop at */;
+    private int armPos;
     YawPitchRollAngles imuInitAngle;
 
 
@@ -42,6 +44,9 @@ public class SodiPizzaTeleOPState extends CyberarmState {
 
         GamepadChecker gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
         GamepadChecker gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
+
+        lastMoveTime = System.currentTimeMillis();
+        armPos = 0;
     }
 
     @Override
@@ -119,11 +124,12 @@ public class SodiPizzaTeleOPState extends CyberarmState {
             lastToldAngle = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
         }
 
+
         if (engine.gamepad2.a && !engine.gamepad2.start) {
 
             if (Math.abs(drivePower) < 0.5) {
                 drivePower = 0.25;
-            }
+            } else {
 
                 if (robot.shoulder.getPosition() > ARM_PRECOLLECT && System.currentTimeMillis() - lastMoveTime >= 250) {
                     robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
@@ -132,7 +138,56 @@ public class SodiPizzaTeleOPState extends CyberarmState {
                     robot.shoulder.setPosition(ARM_COLLECT);
                 }
 
+            }
 
         }
+        //End of code for armPos = 1
+
+
+        if (engine.gamepad2.y) {
+            armPos = 2;
+        }
+
+        if (armPos == 2) {
+
+            if (Math.abs(drivePower) < 0.5) {
+                drivePower = 0.25;
+            } else {
+
+                if (robot.shoulder.getPosition() > ARM_HOVER_5_STACK && System.currentTimeMillis() - lastMoveTime >= 250) {
+                    robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
+                    lastMoveTime = System.currentTimeMillis();
+                } else if (System.currentTimeMillis() - lastMoveTime >= 250) {
+                    robot.shoulder.setPosition(ARM_PRECOLLECT);
+                }
+
+            }
+        }
+        //End of code for armPos = 2
+
+
+         if (engine.gamepad2.y) {
+            armPos = 2;
+        }
+
+        if (armPos == 3) {
+
+            if (Math.abs(drivePower) < 0.5) {
+                drivePower = 0.25;
+            } else {
+
+                if (robot.shoulder.getPosition() > ARM_HOVER_5_STACK && System.currentTimeMillis() - lastMoveTime >= 250) {
+                    robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
+                    lastMoveTime = System.currentTimeMillis();
+                }
+                else if (System.currentTimeMillis() - lastMoveTime >= 250) {
+                    robot.shoulder.setPosition(ARM_PRECOLLECT);
+                }
+
+            }
+        }
+        //End of code for armPos = 2
+
+        }
+
     }
-}