diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
similarity index 80%
rename from TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java
rename to TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
index f807892..e52d395 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
@@ -3,21 +3,16 @@ package org.timecrafters.Autonomous.Engines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.Autonomous.States.BottomArm;
 import org.timecrafters.Autonomous.States.CollectorDistanceState;
 import org.timecrafters.Autonomous.States.CollectorState;
 import org.timecrafters.Autonomous.States.ConeIdentification;
-import org.timecrafters.Autonomous.States.DriverParkPlaceState;
 import org.timecrafters.Autonomous.States.DriverState;
-import org.timecrafters.Autonomous.States.PathDecision;
-import org.timecrafters.Autonomous.States.RotationState;
 import org.timecrafters.Autonomous.States.ServoCameraRotate;
-import org.timecrafters.Autonomous.States.TopArm;
 import org.timecrafters.TeleOp.states.PhoenixBot1;
 
 @Autonomous (name = "3 cone auto right")
 
-public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
+public class RightFourConeAutonomousEngine extends CyberarmEngine {
     PhoenixBot1 robot;
 
     @Override
@@ -25,13 +20,13 @@ public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
         robot = new PhoenixBot1(this);
 
         // 1 Rotate camera down at the signal
-        addState(new ServoCameraRotate(robot, "ThreeConeCycleAutonomousRight", "01-0"));
+        addState(new ServoCameraRotate(robot, "RightFourCone", "01-0"));
         // 2 Scan custom image
-        addState(new ConeIdentification(robot, "ThreeConeCycleAutonomousRight", "02-0"));
+        addState(new ConeIdentification(robot, "RightFourCone", "02-0"));
         // 3 Rotate Camera up, out of the way so it doesn't crash into stuff
-        addState(new ServoCameraRotate(robot, "ThreeConeCycleAutonomousRight", "03-0"));
+        addState(new ServoCameraRotate(robot, "RightFourCone", "03-0"));
         // 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel
-
+        addState(new DriverState(robot, "RightFourCone", "04-0"));
         // 5 Turn Towards and look for junction with sensor
 
         // 6 Raise lower arm while slowly driving at the junction
@@ -61,7 +56,6 @@ public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
         // 18 Bring upper arm down
 
         // 19 Drop cone
-        addState(new CollectorState(robot, "ThreeConeCycleAutonomousRight", "17-0"));
 
         // 20 Bring upper arm up
 
@@ -70,7 +64,6 @@ public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
         // 22 Drop the Upper arm to the position of the new top cone / 4th cone and check with sensor and start driving fast to get to the stack (this is a parallel state)
 
         // 23 Drive slower at the stack and run the collector to grab a 2nd cone off of the stack
-        addState(new CollectorDistanceState(robot, "ThreeConeCycleAutonomousRight", "21-0"));
 
         // 24 Drive Back and lift up all the way to position for the low junction (parallel state)
 
diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java
index 4dc8d75..6251720 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java
@@ -14,13 +14,14 @@ public class ServoCameraRotate extends CyberarmState {
         this.ServoPosition = robot.configuration.variable(groupName, actionName, "ServoPosition").value();
 
     }
+
     @Override
     public void exec() {
         if (stateDisabled) {
             setHasFinished(true);
         } else {
             robot.CameraServo.setPosition(ServoPosition);
-            setHasFinished(true);
+//            setHasFinished(true);
     }
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SterringDriveEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SterringDriveEngine.java
new file mode 100644
index 0000000..498ca4b
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SterringDriveEngine.java
@@ -0,0 +1,21 @@
+package org.timecrafters.TeleOp.engine;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.TeleOp.states.LaserState;
+import org.timecrafters.TeleOp.states.PhoenixBot1;
+import org.timecrafters.TeleOp.states.SteeringDriveExperiment;
+
+@TeleOp(name = "Steering Drive Test")
+public class SterringDriveEngine extends CyberarmEngine {
+    public SterringDriveEngine(PhoenixBot1 robot) {
+        this.robot = robot;
+    }
+    PhoenixBot1 robot;
+    @Override
+    public void setup() {
+        robot = new PhoenixBot1(this);
+        addState(new SteeringDriveExperiment(robot));
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
index 3070528..16093b1 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
@@ -125,6 +125,8 @@ public class PhoenixBot1 {
             LowRiserLeft.setDirection(Servo.Direction.FORWARD);
             LowRiserRight.setDirection(Servo.Direction.REVERSE);
 
+            CameraServo.setDirection(Servo.Direction.FORWARD);
+
             LowRiserLeft.setPosition(0.35);
             LowRiserRight.setPosition(0.35);
             HighRiserLeft.setPosition(0.45);