diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java
index dcf1a73..e9f764f 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java
@@ -3,19 +3,17 @@ package org.timecrafters.minibots.cyberarm.engines;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.pickle_minibot;
-import org.timecrafters.minibots.cyberarm.states.pickle_telescope_state;
+import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
+import org.timecrafters.minibots.cyberarm.states.pickle_teleop_state;
 
 @TeleOp (name = "pickle_minibot teleop", group = "minibot")
 public class pickle_engine extends CyberarmEngine {
-    pickle_minibot robot;
+    pickle_minibot_general robot;
 
     @Override
     public void setup (){
-        robot = new pickle_minibot(this);
-
-
-        addState(new pickle_telescope_state(robot));
+        robot = new pickle_minibot_general(this);
+        addState(new pickle_teleop_state(robot));
     }
 
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java
deleted file mode 100644
index f7a6cc6..0000000
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package org.timecrafters.minibots.cyberarm;
-
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-import org.cyberarm.engine.V2.CyberarmEngine;
-
-public class pickle_minibot {
-    private CyberarmEngine engine;
-
-    public DcMotor pLeftFront;
-
-    public pickle_minibot (CyberarmEngine engine){
-        this.engine=engine;
-
-        pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft");
-    }
-}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java
new file mode 100644
index 0000000..dc5f65e
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java
@@ -0,0 +1,30 @@
+package org.timecrafters.minibots.cyberarm;
+
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+
+public class pickle_minibot_general {
+    private CyberarmEngine engine;
+
+    public DcMotor pLeftFront, pRightFront;
+    public DcMotor pLeftBack, pRightBack;
+    public CRServo pServoArch, pServoCarousel, pServoElevate;
+    public Servo pServoRotate, pServoGrab;
+
+    public pickle_minibot_general(CyberarmEngine engine){
+        this.engine=engine;
+
+        pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft");
+        pRightFront = engine.hardwareMap.dcMotor.get("frontRight");
+        pLeftBack = engine.hardwareMap.dcMotor.get("backLeft");
+        pRightBack = engine.hardwareMap.dcMotor.get("backRight");
+        pServoArch = engine.hardwareMap.crservo.get("arch");//dpad up and down
+        pServoCarousel = engine.hardwareMap.crservo.get("carousel");// bumper
+        pServoElevate = engine.hardwareMap.crservo.get("elevate");// left and right dpad
+        pServoRotate = engine.hardwareMap.servo.get("rotate"); // triggers >:(
+        pServoGrab = engine.hardwareMap.servo.get("grab");
+    }
+}
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
new file mode 100644
index 0000000..a36efd6
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java
@@ -0,0 +1,85 @@
+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() {
+
+    }
+
+}
+
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java
deleted file mode 100644
index eff270d..0000000
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import org.cyberarm.engine.V2.CyberarmState;
-import org.timecrafters.minibots.cyberarm.pickle_minibot;
-
-public class pickle_telescope_state extends CyberarmState {
-    private final pickle_minibot robot;
-    public pickle_telescope_state(pickle_minibot robot){this.robot = robot;}
-
-    @Override
-    public void exec() {
-        robot.pLeftFront.setPower(1);
-
-    }
-
-    @Override
-    public void exac() {
-
-    }
-}
-