diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java
index 23038f1..58d3d52 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java
@@ -26,7 +26,7 @@ public class State extends CyberarmState {
         }
         else if (engine.gamepad1.dpad_up) {
 
-            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_FOREST_PALETTE);
 
         }
         if (engine.gamepad1.x) {
@@ -36,7 +36,7 @@ public class State extends CyberarmState {
         }
         else if (engine.gamepad1.dpad_up) {
 
-            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_OCEAN_PALETTE);
 
         }
         if (engine.gamepad1.y) {
@@ -46,7 +46,7 @@ public class State extends CyberarmState {
         }
         else if (engine.gamepad1.dpad_up) {
 
-        robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+        robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.STROBE_GOLD);
 
     }
         if (engine.gamepad1.b) {
@@ -56,7 +56,7 @@ public class State extends CyberarmState {
         }
         else if (engine.gamepad1.dpad_up) {
 
-            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_LAVA_PALETTE);
 
         }
     }
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java
new file mode 100644
index 0000000..7548ee8
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java
@@ -0,0 +1,112 @@
+package org.timecrafters.minibots.cyberarm.states;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class AssignmentOmniKinetic extends CyberarmState {
+    CRServo Wheel, Rack;
+    DcMotor Three, Zero, Two, One;
+    Servo Zygo;
+    @Override
+    public void init() {
+        super.init();
+
+        Wheel=engine.hardwareMap.crservo.get("Wheel");
+        Rack=engine.hardwareMap.crservo.get("Rack");
+        Three=engine.hardwareMap.dcMotor.get("Three");
+        Zero=engine.hardwareMap.dcMotor.get("Zero");
+        Two=engine.hardwareMap.dcMotor.get("Two");
+        One=engine.hardwareMap.dcMotor.get("One");
+        Zygo=engine.hardwareMap.servo.get("Zygo");
+    }
+    MecanumRobot robot;
+            public AssignmentOmniKinetic (MecanumRobot robot) {this.robot = robot;}
+
+    @Override
+    public void exec() {
+
+                if (engine.gamepad1.dpad_up) {
+
+                    robot.frontLeftDrive.setPower(1);
+                    robot.frontRightDrive.setPower(1);
+                    robot.backLeftDrive.setPower(1);
+                    robot.backRightDrive.setPower(1);
+
+                }
+
+                if (engine.gamepad1.dpad_down) {
+
+                    robot.frontLeftDrive.setPower(-1);
+                    robot.frontRightDrive.setPower(-1);
+                    robot.backLeftDrive.setPower(-1);
+                    robot.backRightDrive.setPower(-1);
+
+                }
+
+                if (engine.gamepad1.dpad_left) {
+
+                    robot.frontLeftDrive.setPower(1);
+                    robot.frontRightDrive.setPower(-1);
+                    robot.backLeftDrive.setPower(-1);
+                    robot.backRightDrive.setPower(1);
+
+                }
+
+                if (engine.gamepad1.) {
+
+                    robot.frontLeftDrive.setPower(-1);
+                    robot.frontRightDrive.setPower(1);
+                    robot.backLeftDrive.setPower(1);
+                    robot.backRightDrive.setPower(-1);
+
+                    }
+
+                if (engine.gamepad1.) {
+
+                    robot.frontLeftDrive.setPower(-1);
+                    robot.frontRightDrive.setPower(1);
+                    robot.backLeftDrive.setPower(1);
+                    robot.backRightDrive.setPower(-1);
+
+                    }
+                if (engine.gamepad1.left_bumper) {
+
+                    Zygo.setPosition(1.0);
+
+                }
+
+                if (engine.gamepad1.right_bumper) {
+                    Zygo.setPosition(0);
+                }
+
+                if (engine.gamepad1.a) {
+
+                    engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.GREEN));
+
+                }
+
+                if (engine.gamepad1.b) {
+
+                    engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.RED));
+
+                }
+
+                if (engine.gamepad1.x) {
+
+                    engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.BLUE));
+
+                }
+
+                if (engine.gamepad1.y) {
+
+                    engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.YELLOW));
+
+                }
+
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AutonomousReversalExperiment.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AutonomousReversalExperiment.java
new file mode 100644
index 0000000..0861bea
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AutonomousReversalExperiment.java
@@ -0,0 +1,22 @@
+package org.timecrafters.minibots.cyberarm.states;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class AutonomousReversalExperiment extends CyberarmState {
+
+    MecanumRobot robot;
+    public AutonomousReversalExperiment (MecanumRobot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void exec() {
+
+    if (engine.gamepad1.dpad_up) {
+
+
+
+    }
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java b/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java
index 349815d..a67bd91 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java
@@ -1,11 +1,13 @@
 package org.timecrafters.testing.states;
 
 import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
 import com.qualcomm.hardware.rev.RevTouchSensor;
 import com.qualcomm.robotcore.hardware.ColorSensor;
 
 import org.cyberarm.engine.V2.CyberarmState;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
 
 public class LaserState extends CyberarmState {
     Rev2mDistanceSensor laser;
@@ -13,6 +15,15 @@ public class LaserState extends CyberarmState {
     RevTouchSensor Mag;
     ColorSensor Speck;
 
+    MecanumRobot robot;
+
+    public LaserState(MecanumRobot robot) {
+        this.robot = robot;
+    }
+
+    public LaserState() {
+
+    }
 
     @Override
     public void init() {
@@ -27,11 +38,16 @@ public class LaserState extends CyberarmState {
         engine.telemetry.addData("Laser Distance", laser.getDistance(DistanceUnit.CM));
         engine.telemetry.addData("The Feels", Tack.isPressed());
         engine.telemetry.addData("Eel", Mag.isPressed());
-        engine.telemetry.addData("Pretty Colors", ", Red " + Speck.red() + ", Green " + Speck.green() + ", Blue " + Speck.blue()  );
+        engine.telemetry.addData("Pretty Colors", ", Red " + Speck.red() + ", Green " + Speck.green() + ", Blue " + Speck.blue());
     }
 
     @Override
     public void exec() {
 
+        if (Tack.isPressed() & !Mag.isPressed()) {
+            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+        } else {
+            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
+        }
     }
-}
+}
\ No newline at end of file