diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
index 6188e11..ecc6c28 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
@@ -1,6 +1,7 @@
 package org.timecrafters.Autonomous.Engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.Autonomous.States.CollectorState;
diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java
index d010627..059bd2c 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java
@@ -11,19 +11,16 @@ public class DriverState extends CyberarmState {
         this.traveledDistance = robot.configuration.variable(groupName, actionName, "traveledDistance").value();
 
     }
-
-    private float RobotRotation;
     private double drivePower;
-    private int RobotPosition,RobotStartingPosition,traveledDistance;
+    private int traveledDistance;
 
     @Override
     public void exec() {
 
-        if (RobotPosition - RobotStartingPosition < traveledDistance){
-            drivePower = 1;
-            robot.backLeftDrive.setPower(drivePower);
+        if (robot.frontRightDrive.getCurrentPosition() < traveledDistance){
+            robot.backLeftDrive.setPower(drivePower * 0.5);
             robot.backRightDrive.setPower(drivePower);
-            robot.frontLeftDrive.setPower(drivePower);
+            robot.frontLeftDrive.setPower(drivePower * 0.5);
             robot.frontRightDrive.setPower(drivePower);
         } else {
             robot.backLeftDrive.setPower(0);
diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java
index 2dc9d19..b09de56 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java
@@ -21,7 +21,7 @@ public class RotationState extends CyberarmState {
 
 
         RobotRotation = robot.imu.getAngularOrientation().firstAngle;
-        if (RobotRotation - 3 <= targetRotation || RobotRotation + 3 <= targetRotation) {
+        if (RobotRotation <= targetRotation -3 || RobotRotation >= targetRotation + 3) {
             robot.backLeftDrive.setPower(-drivePower);
             robot.backRightDrive.setPower(drivePower);
             robot.frontLeftDrive.setPower(-drivePower);
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
index d689026..a676126 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
@@ -89,17 +89,22 @@ public class PrototypeBot1 {
             //motors direction and encoders
 
             frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+            frontLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
             frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
             frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
+            frontRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
             frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
             backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+            backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
             backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
             backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
+            backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
             backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
+
             HighRiserLeft.setDirection(Servo.Direction.REVERSE);
             HighRiserRight.setDirection(Servo.Direction.FORWARD);
             LowRiserLeft.setDirection(Servo.Direction.FORWARD);