diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java
new file mode 100644
index 0000000..623a30f
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java
@@ -0,0 +1,34 @@
+package org.timecrafters.Autonomous.States;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.testing.states.PrototypeBot1;
+
+public class DriverState extends CyberarmState {
+    PrototypeBot1 robot;
+    public DriverState(PrototypeBot1 robot, String groupName, String actionName) {
+        this.robot = robot;
+        this.drivePower = robot.configuration.variable(groupName, actionName, "drivePower").value();
+    }
+
+    private float RobotRotation;
+    private double drivePower;
+    private int RobotPosition,RobotStartingPosition;
+
+    @Override
+    public void exec() {
+
+        if (RobotPosition - RobotStartingPosition < 2500){
+            drivePower = 1;
+            robot.backLeftDrive.setPower(drivePower);
+            robot.backRightDrive.setPower(drivePower);
+            robot.frontLeftDrive.setPower(drivePower);
+            robot.frontRightDrive.setPower(drivePower);
+        } else {
+            robot.backLeftDrive.setPower(0);
+            robot.backRightDrive.setPower(0);
+            robot.frontLeftDrive.setPower(0);
+            robot.frontRightDrive.setPower(0);
+        }
+
+    }
+}