diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
index a491415..b9d56ab 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
@@ -4,6 +4,7 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoArmState;
 import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoFirstDriveState;
+import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoSecDriveState;
 import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoTurnState;
 import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaWheelTest;
 
@@ -13,8 +14,12 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
 public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
     @Override
     public void setup() {
+
         addState(new SodiPizzaAutoFirstDriveState());
         addState(new SodiPizzaAutoTurnState());
+
+//        addState(new SodiPizzaAutoSecDriveState());
+
 //        addState(new SodiPizzaAutoArmState());
 //        addState(new SodiPizzaWheelTest());
     }
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
index b9a40bd..90aab3f 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
@@ -12,7 +12,6 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
     private long lastMoveTime;
     private int targetPos = 2500;
     private double drivePower;
-    private boolean lastHalf;
 
     public SodiPizzaAutoFirstDriveState() {
         groupName = " ";
@@ -26,7 +25,6 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
     @Override
     public void start() {
 
-        lastHalf = false;
         lastMoveTime = System.currentTimeMillis();
         robot.readyToTurn = 0;
 
@@ -43,8 +41,8 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
     @Override
     public void exec() {
         // Move forward from 0 to targetPos
-        if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10
-                && !lastHalf) {
+        if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10) {
+
             robot.leftFront.setTargetPosition(targetPos);
             robot.leftBack.setTargetPosition(targetPos);
             robot.rightFront.setTargetPosition(targetPos);
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoSecDriveState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoSecDriveState.java
new file mode 100644
index 0000000..453d17c
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoSecDriveState.java
@@ -0,0 +1,28 @@
+package org.timecrafters.CenterStage.Autonomous.States;
+
+import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class SodiPizzaAutoSecDriveState extends CyberarmState {
+
+    final private SodiPizzaMinibotObject robot;
+    final private String groupName, actionName;
+
+    public SodiPizzaAutoSecDriveState() {
+        groupName = " ";
+        actionName = " ";
+        robot = new SodiPizzaMinibotObject();
+        robot.setup();
+    }
+
+    @Override
+    public void start() {
+
+    }
+
+    @Override
+    public void exec() {
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
index 3a31fe5..6ad25f6 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
@@ -7,13 +7,13 @@ import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
 import dev.cyberarm.engine.V2.CyberarmState;
 
 public class SodiPizzaAutoTurnState extends CyberarmState {
-    final private SodiPizzaMinibotObject robot = new SodiPizzaMinibotObject();
+    final private SodiPizzaMinibotObject robot = SodiPizzaMinibotObject();
     final private String groupName, actionName;
     private long lastMoveTime;
     private double turnSpeedRaw, turnSpeed;
     private int startPos;
     private double targetRot;
-    private double currentRot = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
+    private double currentRot;
     private double neededRot = targetRot - currentRot;
   /** Rot = rotation **/
 
@@ -23,6 +23,13 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
         robot.setup();
     }
 
+    public SodiPizzaAutoTurnState(int readyToTurnParm) {
+        groupName = " ";
+        actionName = " ";
+        robot.setup();
+        robot.readyToTurn = readyToTurnParm;
+    }
+
     private double getTurnSpeed() {
         if (Math.abs(neededRot) > 5) {
             turnSpeed = turnSpeedRaw * neededRot / 10;
@@ -48,6 +55,8 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
     @Override
     public void exec() {
 
+        currentRot = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
+
         if (robot.readyToTurn == 1 && robot.leftFront.getCurrentPosition() == startPos && Math.abs(neededRot) > 10) {
 
             targetRot = currentRot + 90;
@@ -59,12 +68,14 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
             robot.rightFront.setPower(-turnSpeed);
             robot.rightBack.setPower(-turnSpeed);
 
-        } else if (robot.readyToTurn == 1 && Math.abs(neededRot) < 10) {
+        } else if (robot.readyToTurn == 1 && Math.abs(neededRot) < 5) {
             turnSpeedRaw = 0;
             robot.leftFront.setPower(turnSpeed);
             robot.leftBack.setPower(turnSpeed);
             robot.rightFront.setPower(turnSpeed);
             robot.rightBack.setPower(turnSpeed);
+
+            robot.readyToTurn = 0;
         }
 
     }