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 7dce93b..2ba2ade 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
@@ -2,9 +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.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.Servo;
 
 import org.timecrafters.Library.Robot;
 
@@ -13,9 +17,9 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 public class PrototypeRobot extends Robot {
 
     private HardwareMap hardwareMap;
-    private MotorEx frontLeft, frontRight, backLeft, backRight;
+    public MotorEx frontLeft, frontRight, backLeft, backRight;
     private RevIMU imu;
-
+    public Servo depositorFlip, depositor;
     private HDrive xDrive;
     private String string;
     private CyberarmEngine engine;
@@ -36,6 +40,16 @@ public class PrototypeRobot extends Robot {
         backRight = new MotorEx(hardwareMap, "backRight");
         backLeft = new MotorEx(hardwareMap, "backLeft");
 
+        frontRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
+        backRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
+        backLeft.motor.setDirection(DcMotorSimple.Direction.FORWARD);
+        frontLeft.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);
         //IMU
         imu = new RevIMU(hardwareMap, "imu");
         BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
@@ -43,14 +57,18 @@ public class PrototypeRobot extends Robot {
         parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
         imu.init(parameters);
 
+        //SERVO
+        depositorFlip = hardwareMap.servo.get("depositorFlip");
+        depositor = hardwareMap.servo.get("depositor");
+
         // input motors exactly as shown below
         xDrive = new HDrive(frontLeft, frontRight,
-                backLeft, backRight);
+                            backLeft, backRight);
 
     }
 
     public void driveTrainTeleOp() {
-        xDrive.driveFieldCentric(engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, engine.gamepad1.right_stick_x, heading());
+        xDrive.driveRobotCentric(-engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, -engine.gamepad1.right_stick_x);
     }
 
     public double heading() {
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 14c3446..12f631b 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
@@ -6,11 +6,26 @@ import dev.cyberarm.engine.V2.CyberarmState;
 
 public class PrototypeRobotDrivetrainState extends CyberarmState {
     private PrototypeRobot robot;
+
     public PrototypeRobotDrivetrainState(PrototypeRobot robot) {
         this.robot = robot;
     }
+
     @Override
     public void exec() {
         robot.driveTrainTeleOp();
+
+        if (engine.gamepad1.y){
+            robot.depositorFlip.setPosition(0.75);
+        } else if (engine.gamepad1.a){
+            robot.depositorFlip.setPosition(0.05);
+        }
+
+        // depositor
+        if (engine.gamepad1.b){
+            robot.depositor.setPosition(0.8);
+        } else if (engine.gamepad1.x){
+            robot.depositor.setPosition(0.2);
+        }
     }
 }