diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
new file mode 100644
index 0000000..5e8f67e
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
@@ -0,0 +1,24 @@
+package org.timecrafters.Autonomous.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.Autonomous.States.LowerArm;
+import org.timecrafters.Autonomous.States.UpperArm;
+import org.timecrafters.testing.states.PrototypeBot1;
+
+@Autonomous (name = "Autonomous Test")
+
+public class TestAutonomousEngine extends CyberarmEngine {
+    PrototypeBot1 robot;
+
+    @Override
+    public void setup() {
+        robot = new PrototypeBot1(this);
+
+        addState(new UpperArm(robot, "TestAutonomous", "01-0"));
+        addState(new LowerArm(robot, "TestAutonomous", "02-0"));
+
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java
index 974c2b7..e626f67 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java
@@ -6,7 +6,7 @@ import org.timecrafters.testing.states.PrototypeBot1;
 public class LowerArm extends CyberarmState {
 
     PrototypeBot1 robot;
-    double LowerRiserRightPos, LowerRiserLeftPos;
+    double LowerRiserRightPos, LowerRiserLeftPos, AddedDistance;
     long time;
     long lastStepTime = 0;
 
@@ -15,6 +15,8 @@ public class LowerArm extends CyberarmState {
         this.LowerRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
         this.LowerRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
         this.time = robot.configuration.variable(groupName, actionName, "time").value();
+        this.AddedDistance = robot.configuration.variable(groupName, actionName, "AddedDistance").value();
+
     }
 
     @Override
@@ -22,10 +24,8 @@ public class LowerArm extends CyberarmState {
         if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos) {
             if (System.currentTimeMillis() - lastStepTime >= time) {
                 lastStepTime = System.currentTimeMillis();
-                robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - LowerRiserLeftPos);
-                robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - LowerRiserRightPos);
-
-
+                robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - AddedDistance);
+                robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - AddedDistance);
             }
         }
     }
diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java
index 2c13994..8823247 100644
--- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java
@@ -6,7 +6,7 @@ import org.timecrafters.testing.states.PrototypeBot1;
 public class UpperArm extends CyberarmState {
 
     PrototypeBot1 robot;
-    double UpperRiserRightPos, UpperRiserLeftPos;
+    double UpperRiserRightPos, UpperRiserLeftPos, AddedDistance;
     long time;
     long lastStepTime = 0;
 
@@ -15,6 +15,7 @@ public class UpperArm extends CyberarmState {
         this.UpperRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
         this.UpperRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
         this.time = robot.configuration.variable(groupName, actionName, "time").value();
+        this.AddedDistance = robot.configuration.variable(groupName, actionName, "AddedDistance").value();
     }
 
     @Override
@@ -22,9 +23,10 @@ public class UpperArm extends CyberarmState {
         if (robot.HighRiserLeft.getPosition() > UpperRiserLeftPos) {
             if (System.currentTimeMillis() - lastStepTime >= time) {
                 lastStepTime = System.currentTimeMillis();
-                robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - UpperRiserLeftPos);
-                robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - UpperRiserRightPos);
-
+                robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - AddedDistance);
+                robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - AddedDistance);
+            } else {
+                setHasFinished(true);
 
             }
         }
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingEngine.java b/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingEngine.java
index 94e6770..3ad9164 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingEngine.java
@@ -25,3 +25,7 @@ public class PhoenixWingEngine {
 
         setupRobot();
     }
+    private void setupRobot() {
+
+    }
+}
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 0149198..bbeb323 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
@@ -58,8 +58,6 @@ public class PrototypeBot1 {
             // Collector
             collectorLeft = engine.hardwareMap.crservo.get("Collector Left");
             collectorRight = engine.hardwareMap.crservo.get("Collector Right");
-            collectorLeft.setDirection(CRServo.Direction.REVERSE);
-            collectorRight.setDirection(CRServo.Direction.FORWARD);
 
             // Arm
             LowRiserLeft = engine.hardwareMap.servo.get("LowRiserLeft");