diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
index 66683f0..c93864c 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
@@ -11,7 +11,7 @@ public class TeleOPArmDriver extends CyberarmState {
     private long lastStepTime = 0;
     private int CyclingArmUpAndDown = 0;
     private GamepadChecker gamepad2Checker;
-    private int Opportunity, Endeavour;
+    private int Opportunity, Endeavour, Peanut;
     private double drivePower;
     private double MinimalPower = 0.25, topServoOffset = -0.05, lowServoOffset = -0.05;
     private double servoCollectLow = 0.40; //Low servos, A button
@@ -189,5 +189,28 @@ public void exec() {
             }
         }
 
+        if (engine.gamepad2.dpad_left && Peanut != 1) {
+            Peanut = 1;
+        }
+
+        if (engine.gamepad2.dpad_right && Peanut != 2) {
+            Peanut = 2;
+        }
+
+        if (engine.gamepad2.dpad_left && Peanut == 1 || engine.gamepad2.dpad_right && Peanut == 2) {
+            robot.collectorLeft.setPower(0);
+            robot.collectorRight.setPower(0);
+        }
+
+        if (Peanut == 1) {
+            robot.collectorRight.setPower(1);
+            robot.collectorLeft.setPower(-1);
+        }
+
+        if (Peanut == 2) {
+            robot.collectorLeft.setPower(1);
+            robot.collectorRight.setPower(-1);
+        }
+
     }
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
index afe1d85..9d47a38 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
@@ -104,7 +104,7 @@ public class TeleOPTankDriver extends CyberarmState {
             currentDriveCommand = engine.gamepad1.right_stick_x;
         } else if (Math.abs(engine.gamepad1.right_stick_y) > 0.1) {
             currentDriveCommand = engine.gamepad1.right_stick_y;
-        } else if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && Math.abs(engine.gamepad1.left_stick_x) > 0.1 && Math.abs(engine.gamepad1.right_stick_x) > 0.1 && Math.abs(engine.gamepad1.right_stick_y) > 0.1) {
+        } else if ((Math.abs(engine.gamepad1.left_stick_y)) > 0.1 && Math.abs(engine.gamepad1.left_stick_x) > 0.1 && Math.abs(engine.gamepad1.right_stick_x) > 0.1 && Math.abs(engine.gamepad1.right_stick_y) > 0.1 && !FreeSpirit) {
             currentDriveCommand = 0;
         }