diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/Engine.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/Engine.java
new file mode 100644
index 0000000..38f40e4
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/Engine.java
@@ -0,0 +1,24 @@
+package org.timecrafters.minibots.cyberarm;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.minibots.cyberarm.engines.Common;
+
+@TeleOp (name = "light test")
+
+public class Engine extends CyberarmEngine {
+
+    Common robot;
+
+    @Override
+    public void setup() {
+
+        robot = new Common(this);
+
+        addState(new State(robot));
+
+
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java
new file mode 100644
index 0000000..58d3d52
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java
@@ -0,0 +1,63 @@
+package org.timecrafters.minibots.cyberarm;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.minibots.cyberarm.engines.Common;
+
+public class State extends CyberarmState {
+
+    private final Common robot;
+
+    public State (Common robot) { this.robot = robot; }
+
+    @Override
+    public void init() {
+        robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+    }
+
+    @Override
+    public void exec() {
+
+        if (engine.gamepad1.a) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_FOREST_PALETTE);
+
+        }
+        if (engine.gamepad1.x) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_OCEAN_PALETTE);
+
+        }
+        if (engine.gamepad1.y) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+        robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.STROBE_GOLD);
+
+    }
+        if (engine.gamepad1.b) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_LAVA_PALETTE);
+
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/Common.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/Common.java
new file mode 100644
index 0000000..744c2f9
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/Common.java
@@ -0,0 +1,27 @@
+package org.timecrafters.minibots.cyberarm.engines;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+
+public class Common {
+
+    private CyberarmEngine engine;
+
+    public RevBlinkinLedDriver leds;
+
+    public Common (CyberarmEngine engine) {
+
+        this.engine = engine;
+
+        setupRobot ();
+
+    }
+
+     private void setupRobot () {
+
+        leds = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
+
+     }
+
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java
new file mode 100644
index 0000000..f3cace8
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java
@@ -0,0 +1,24 @@
+package org.timecrafters.minibots.cyberarm.engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
+import org.timecrafters.minibots.cyberarm.states.PingPongState;
+
+@TeleOp (name = "Sodi PingPong")
+
+public class PingPongEngine extends CyberarmEngine {
+
+    MecanumRobot robot;
+
+    @Override
+    public void setup() {
+
+        robot = new MecanumRobot(this);
+
+        addState(new PingPongState(robot));
+
+
+    }
+}
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/minibots/cyberarm/states/PingPongState.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java
new file mode 100644
index 0000000..10153e7
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java
@@ -0,0 +1,35 @@
+package org.timecrafters.minibots.cyberarm.states;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class PingPongState extends CyberarmState {
+
+    private final MecanumRobot robot;
+    public PingPongState(MecanumRobot robot) {
+        this.robot = robot;
+    }
+    @Override
+    public void exec() {
+
+        if (engine.gamepad1.left_bumper) {
+            robot.frontLeftDrive.setPower(1);
+            robot.backLeftDrive.setPower(-1);
+            robot.backRightDrive.setPower(1);
+            robot.frontRightDrive.setPower(-1);
+        }
+        else if (engine.gamepad1.right_bumper) {
+            robot.frontLeftDrive.setPower(-1);
+            robot.backLeftDrive.setPower(1);
+            robot.frontRightDrive.setPower(1);
+            robot.backRightDrive.setPower(-1);
+        }
+
+        else {
+            robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y);
+            robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y);
+            robot.backRightDrive.setPower(engine.gamepad1.right_stick_y);
+            robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y);
+        }
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java b/TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java
index 0d4b325..93fe81a 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java
@@ -3,12 +3,16 @@ package org.timecrafters.testing.engine;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.testing.states.LaserState;
+import org.timecrafters.testing.states.SodiLEDState;
 import org.timecrafters.testing.states.SodiState;
 
 @TeleOp(name = "Wheel")
 public class SodiEngine extends CyberarmEngine {
     @Override
     public void setup() {
-        addState(new SodiState());
+//        addState(new SodiState());
+//        addState(new SodiLEDState());
+        addState(new LaserState());
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java b/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java
new file mode 100644
index 0000000..a67bd91
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java
@@ -0,0 +1,53 @@
+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;
+    RevTouchSensor Tack;
+    RevTouchSensor Mag;
+    ColorSensor Speck;
+
+    MecanumRobot robot;
+
+    public LaserState(MecanumRobot robot) {
+        this.robot = robot;
+    }
+
+    public LaserState() {
+
+    }
+
+    @Override
+    public void init() {
+        laser = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Zappy");
+        Tack = engine.hardwareMap.get(RevTouchSensor.class, "Pokey");
+        Mag = engine.hardwareMap.get(RevTouchSensor.class, "Electro");
+        Speck = engine.hardwareMap.get(ColorSensor.class, "Chroma");
+    }
+
+    @Override
+    public void telemetry() {
+        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());
+    }
+
+    @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
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/SodiLEDState.java b/TeamCode/src/main/java/org/timecrafters/testing/states/SodiLEDState.java
new file mode 100644
index 0000000..2a7b9cb
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/SodiLEDState.java
@@ -0,0 +1,62 @@
+package org.timecrafters.testing.states;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.minibots.cyberarm.engines.Common;
+
+public class SodiLEDState extends CyberarmState {
+    
+    RevBlinkinLedDriver LEDs;
+
+    @Override
+    public void init() {
+        LEDs = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
+        LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+    }
+
+    @Override
+    public void exec() {
+
+        if (engine.gamepad1.a) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+
+        }
+        if (engine.gamepad1.x) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+
+        }
+        if (engine.gamepad1.y) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+
+        }
+        if (engine.gamepad1.b) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
+
+        }
+        else if (engine.gamepad1.dpad_up) {
+
+            LEDs.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
+
+        }
+    }
+}