diff --git a/.idea/deploymentTargetDropDown.xml b/.idea/deploymentTargetDropDown.xml
deleted file mode 100644
index 1a680dd..0000000
--- a/.idea/deploymentTargetDropDown.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="deploymentTargetDropDown">
-    <runningDeviceTargetSelectedWithDropDown>
-      <Target>
-        <type value="RUNNING_DEVICE_TARGET" />
-        <deviceKey>
-          <Key>
-            <type value="SERIAL_NUMBER" />
-            <value value="192.168.43.1:5555" />
-          </Key>
-        </deviceKey>
-      </Target>
-    </runningDeviceTargetSelectedWithDropDown>
-    <timeTargetWasSelectedWithDropDown value="2022-10-19T00:43:33.788807500Z" />
-  </component>
-</project>
\ No newline at end of file
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 faac5ea..101d577 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
@@ -66,7 +66,7 @@ public class PrototypeBot1 {
 
             imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
 
-            configuration = new TimeCraftersConfiguration("Phoenix");
+            ///configuration = new TimeCraftersConfiguration("Phoenix");
 
             //motors configuration
             frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left");
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
index 5ef56e1..9def35f 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
@@ -39,6 +39,7 @@ public class PrototypeTeleOPState extends CyberarmState {
         engine.telemetry.addData("Low Riser Right Position", robot.LowRiserRight.getPosition());
         engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition());
         engine.telemetry.addData("AutoChain", AutoChain);
+        engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle);
 //        engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown);
 
     }
@@ -109,6 +110,133 @@ public class PrototypeTeleOPState extends CyberarmState {
 //
 //            robot.collectorLeft.setPower(0);
 //            robot.collectorRight.setPower(0);
+        if (engine.gamepad2.dpad_up) {
+            robot.collectorLeft.setPower(1);
+        }
+
+        if (engine.gamepad1.right_trigger > 0) {
+            drivePower = engine.gamepad1.right_trigger;
+            robot.backLeftDrive.setPower(drivePower);
+            robot.backRightDrive.setPower(drivePower);
+            robot.frontLeftDrive.setPower(drivePower);
+            robot.frontRightDrive.setPower(drivePower);
+        }
+
+        if (engine.gamepad1.left_trigger > 0) {
+            drivePower = engine.gamepad1.left_trigger;
+            robot.backLeftDrive.setPower(-drivePower);
+            robot.backRightDrive.setPower(-drivePower);
+            robot.frontLeftDrive.setPower(-drivePower);
+            robot.frontRightDrive.setPower(-drivePower);
+        }
+
+        if (engine.gamepad1.right_trigger < 0.1&&engine.gamepad1.left_trigger < 0.1
+        && !engine.gamepad1.y&& !engine.gamepad1.x&& !engine.gamepad1.a&& !engine.gamepad1.b) {
+            drivePower = 0;
+            robot.backLeftDrive.setPower(-drivePower);
+            robot.backRightDrive.setPower(-drivePower);
+            robot.frontLeftDrive.setPower(-drivePower);
+            robot.frontRightDrive.setPower(-drivePower);
+        }
+
+        if (engine.gamepad1.a) {
+            RobotRotation = robot.imu.getAngularOrientation().firstAngle;
+            if (RobotRotation < 0) {
+                drivePower = 0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if(RobotRotation > 0) {
+                drivePower = -0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if (RobotRotation <-177 || RobotRotation >177) {
+                drivePower = 0;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+        }
+
+        if (engine.gamepad1.y) {
+            RobotRotation = robot.imu.getAngularOrientation().firstAngle;
+            if (RobotRotation < -3) {
+                drivePower = -0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if(RobotRotation > 3) {
+                drivePower = 0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if (RobotRotation >-3 && RobotRotation <3) {
+                drivePower = 0;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+        }
+        if (engine.gamepad1.x) {
+            RobotRotation = robot.imu.getAngularOrientation().firstAngle;
+            if (RobotRotation > -45&& RobotRotation <132) {//CCW
+                drivePower = -0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if(RobotRotation < -45 || RobotRotation > 138) {//CW
+                drivePower = 0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if (RobotRotation <138 && RobotRotation >132) {
+                drivePower = 0;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+        }
+        if (engine.gamepad1.b) {
+            RobotRotation = robot.imu.getAngularOrientation().firstAngle;
+            if (RobotRotation < 45&& RobotRotation > -132) {//CCW
+                drivePower = 0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if(RobotRotation > 45||RobotRotation < -138) {//CW
+                drivePower = -0.4;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+            if (RobotRotation <-132 && RobotRotation >-138) {
+                drivePower = 0;
+                robot.backLeftDrive.setPower(drivePower);
+                robot.backRightDrive.setPower(-drivePower);
+                robot.frontLeftDrive.setPower(drivePower);
+                robot.frontRightDrive.setPower(-drivePower);
+            }
+        }
+
 //
 //        }
 //