diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
index 350c978..9d28f0d 100644
--- a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
+++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
@@ -232,6 +232,4 @@ public abstract class CyberarmState implements Runnable {
   public String progressBar(int width, double percentCompleted) {
     return progressBar(width, percentCompleted, "=", "  ");
   }
-
-    public abstract void exac();
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java
index c19883e..99890ae 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java
@@ -1,117 +1,112 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import com.qualcomm.robotcore.hardware.Gamepad;
-
-
-import org.cyberarm.engine.V2.CyberarmState;
-import org.timecrafters.minibots.cyberarm.MecanumMinibot;
-
-
-public class MecanumMinibotTeleOpState extends CyberarmState {
-    private final MecanumMinibot robot;
-    private float speed;
-
-    public MecanumMinibotTeleOpState(MecanumMinibot robot) {
-        this.robot = robot;
-    }
-
-    @Override
-    public void exec() {
-
-        /* ............................................................................ drive */
-        speed = 1.0f - engine.gamepad1.left_trigger;
-
-        if (engine.gamepad1.y) {
-            robot.driveAll(speed);
-        } else if (engine.gamepad1.a) {
-            robot.driveAll(-speed);
-        } else if (engine.gamepad1.x) {
-            robot.driveStrafe(MecanumMinibot.STRAFE_LEFT, speed);
-        } else if (engine.gamepad1.b) {
-            robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
-
-        } else if (engine.gamepad1.left_bumper) {
-            robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
-
-        } else if (engine.gamepad1.right_bumper) {
-            robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
-        } else {
-            robot.driveStop();
-        }
-        /* ............................................................................ elevator */
-        if(engine.gamepad1.dpad_up ||
-                engine.gamepad2.y){
-            robot.pServoElevate.setPower(1.0);
-        }
-        else if(engine.gamepad1.dpad_down ||
-                engine.gamepad2.a){
-            robot.pServoElevate.setPower(-1.0);
-        }
-        else{
-            robot.pServoElevate.setPower((0.0));
-        }
-
-        /* ............................................................................ arch */
-        if(Math.abs(engine.gamepad1.left_stick_y)>0.1 ||
-                Math.abs(engine.gamepad2.left_stick_y)>0.1){
-            robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y);
-        }
-        else{
-            robot.pServoArch.setPower((0.0));
-        }
-
-        /* ............................................................................ rotate */
-        if(engine.gamepad1.dpad_right ||
-                engine.gamepad2.dpad_right){ // up position
-            robot.pServoRotate.setPosition(0.0);
-        }
-        if(engine.gamepad1.dpad_left ||
-                engine.gamepad2.dpad_left){ // down position
-            robot.pServoRotate.setPosition(0.70);
-        }
-
-        /* ............................................................................ grab */
-        if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
-                engine.gamepad2.x){ // in
-            robot.pServoGrab.setPosition(0.9);
-        }
-        if(engine.gamepad1.back ||
-                engine.gamepad2.back){ // small out
-            robot.pServoGrab.setPosition(0.50);
-        }
-        if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
-                engine.gamepad2.b){ // big out
-            robot.pServoGrab.setPosition(0.0);
-        }
-        /* ............................................................................ carousel */
-        if(Math.abs(engine.gamepad1.left_trigger)>0.1){
-            robot.pServoCarousel.setPower(engine.gamepad1.left_trigger);
-        }
-        else if(Math.abs(engine.gamepad1.right_trigger)>0.1){
-            robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger);
-        }
-        else{
-            robot.pServoCarousel.setPower((0.0));
-        }
-    }
-
-    @Override
-    public void buttonDown(Gamepad gamepad, String button) {
-        super.buttonDown(gamepad, button);
-    }
-
-    @Override
-    public void buttonUp(Gamepad gamepad, String button) {
-        super.buttonUp(gamepad, button);
-    }
-
-    @Override
-    public void exac() {
-
-    }
-
-    @Override
-    public void telemetry() {
-        engine.telemetry.addData("speed", speed);
-    }
-}
+package org.timecrafters.minibots.cyberarm.states;
+
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.minibots.cyberarm.MecanumMinibot;
+
+
+public class MecanumMinibotTeleOpState extends CyberarmState {
+    private final MecanumMinibot robot;
+    private float speed;
+
+    public MecanumMinibotTeleOpState(MecanumMinibot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void exec() {
+
+        /* ............................................................................ drive */
+        speed = 1.0f - engine.gamepad1.left_trigger;
+
+        if (engine.gamepad1.y) {
+            robot.driveAll(speed);
+        } else if (engine.gamepad1.a) {
+            robot.driveAll(-speed);
+        } else if (engine.gamepad1.x) {
+            robot.driveStrafe(MecanumMinibot.STRAFE_LEFT, speed);
+        } else if (engine.gamepad1.b) {
+            robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
+
+        } else if (engine.gamepad1.left_bumper) {
+            robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
+
+        } else if (engine.gamepad1.right_bumper) {
+            robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
+        } else {
+            robot.driveStop();
+        }
+        /* ............................................................................ elevator */
+        if(engine.gamepad1.dpad_up ||
+                engine.gamepad2.y){
+            robot.pServoElevate.setPower(1.0);
+        }
+        else if(engine.gamepad1.dpad_down ||
+                engine.gamepad2.a){
+            robot.pServoElevate.setPower(-1.0);
+        }
+        else{
+            robot.pServoElevate.setPower((0.0));
+        }
+
+        /* ............................................................................ arch */
+        if(Math.abs(engine.gamepad1.left_stick_y)>0.1 ||
+                Math.abs(engine.gamepad2.left_stick_y)>0.1){
+            robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y);
+        }
+        else{
+            robot.pServoArch.setPower((0.0));
+        }
+
+        /* ............................................................................ rotate */
+        if(engine.gamepad1.dpad_right ||
+                engine.gamepad2.dpad_right){ // up position
+            robot.pServoRotate.setPosition(0.0);
+        }
+        if(engine.gamepad1.dpad_left ||
+                engine.gamepad2.dpad_left){ // down position
+            robot.pServoRotate.setPosition(0.70);
+        }
+
+        /* ............................................................................ grab */
+        if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
+                engine.gamepad2.x){ // in
+            robot.pServoGrab.setPosition(0.9);
+        }
+        if(engine.gamepad1.back ||
+                engine.gamepad2.back){ // small out
+            robot.pServoGrab.setPosition(0.50);
+        }
+        if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
+                engine.gamepad2.b){ // big out
+            robot.pServoGrab.setPosition(0.0);
+        }
+        /* ............................................................................ carousel */
+        if(Math.abs(engine.gamepad1.left_trigger)>0.1){
+            robot.pServoCarousel.setPower(engine.gamepad1.left_trigger);
+        }
+        else if(Math.abs(engine.gamepad1.right_trigger)>0.1){
+            robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger);
+        }
+        else{
+            robot.pServoCarousel.setPower((0.0));
+        }
+    }
+
+    @Override
+    public void buttonDown(Gamepad gamepad, String button) {
+        super.buttonDown(gamepad, button);
+    }
+
+    @Override
+    public void buttonUp(Gamepad gamepad, String button) {
+        super.buttonUp(gamepad, button);
+    }
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("speed", speed);
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java
index a36efd6..304299d 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java
@@ -1,85 +1,79 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import org.cyberarm.engine.V2.CyberarmState;
-import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
-
-public class pickle_teleop_state extends CyberarmState {
-    private final pickle_minibot_general robot;
-    public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;}
-
-    @Override
-    public void exec() {
-        double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY;
-        dDrivePowerY =  engine.gamepad1.left_stick_y;
-        dDrivePowerX = engine.gamepad1.left_stick_x;
-        dRotatePowerY =  engine.gamepad1.right_stick_y;
-        dRotatePowerX = engine.gamepad1.right_stick_x;
-        if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) {
-            robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX);
-            robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX);
-            robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX);
-            robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX);
-        }
-        else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){
-            robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX);
-            robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX);
-            robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX);
-            robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX);
-        }
-        else {
-            robot.pLeftFront.setPower(0);
-            robot.pRightFront.setPower(0);
-            robot.pRightBack.setPower(0);
-            robot.pLeftBack.setPower(0);
-        }
-
-       if (engine.gamepad1.dpad_up){
-           robot.pServoArch.setPower(1);
-
-       }
-       else if (engine.gamepad1.dpad_down){
-           robot.pServoArch.setPower(-1);
-
-       }
-       else {
-           robot.pServoArch.setPower(0);
-       }
-       if (engine.gamepad1.left_bumper){
-           robot.pServoCarousel.setPower(1);
-       }
-       else if (engine.gamepad1.right_bumper) {
-           robot.pServoCarousel.setPower(-1);
-       }
-        else {
-           robot.pServoCarousel.setPower(0);
-        }
-        if (engine.gamepad1.dpad_left){
-            robot.pServoElevate.setPower(1);
-
-        }else if (engine.gamepad1.dpad_right){
-            robot.pServoElevate.setPower(-1);
-
-        } else {
-            robot.pServoElevate.setPower(0);
-        }
-        if (engine.gamepad1.left_trigger>.1){
-            robot.pServoRotate.setPosition(.7);// full down
-        }
-        else if (engine.gamepad1.right_trigger>.1){
-            robot.pServoRotate.setPosition(0);//full up
-
-        }if (engine.gamepad1.a){
-            robot.pServoGrab.setPosition(1);
-
-        }else if (engine.gamepad1.b){
-            robot.pServoGrab.setPosition(0);
-        }
-    }
-
-    @Override
-    public void exac() {
-
-    }
-
-}
-
+package org.timecrafters.minibots.cyberarm.states;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
+
+public class pickle_teleop_state extends CyberarmState {
+    private final pickle_minibot_general robot;
+    public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;}
+
+    @Override
+    public void exec() {
+        double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY;
+        dDrivePowerY =  engine.gamepad1.left_stick_y;
+        dDrivePowerX = engine.gamepad1.left_stick_x;
+        dRotatePowerY =  engine.gamepad1.right_stick_y;
+        dRotatePowerX = engine.gamepad1.right_stick_x;
+        if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) {
+            robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX);
+            robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX);
+            robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX);
+            robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX);
+        }
+        else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){
+            robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX);
+            robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX);
+            robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX);
+            robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX);
+        }
+        else {
+            robot.pLeftFront.setPower(0);
+            robot.pRightFront.setPower(0);
+            robot.pRightBack.setPower(0);
+            robot.pLeftBack.setPower(0);
+        }
+
+       if (engine.gamepad1.dpad_up){
+           robot.pServoArch.setPower(1);
+
+       }
+       else if (engine.gamepad1.dpad_down){
+           robot.pServoArch.setPower(-1);
+
+       }
+       else {
+           robot.pServoArch.setPower(0);
+       }
+       if (engine.gamepad1.left_bumper){
+           robot.pServoCarousel.setPower(1);
+       }
+       else if (engine.gamepad1.right_bumper) {
+           robot.pServoCarousel.setPower(-1);
+       }
+        else {
+           robot.pServoCarousel.setPower(0);
+        }
+        if (engine.gamepad1.dpad_left){
+            robot.pServoElevate.setPower(1);
+
+        }else if (engine.gamepad1.dpad_right){
+            robot.pServoElevate.setPower(-1);
+
+        } else {
+            robot.pServoElevate.setPower(0);
+        }
+        if (engine.gamepad1.left_trigger>.1){
+            robot.pServoRotate.setPosition(.7);// full down
+        }
+        else if (engine.gamepad1.right_trigger>.1){
+            robot.pServoRotate.setPosition(0);//full up
+
+        }if (engine.gamepad1.a){
+            robot.pServoGrab.setPosition(1);
+
+        }else if (engine.gamepad1.b){
+            robot.pServoGrab.setPosition(0);
+        }
+    }
+}
+