diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
index b1159bf..78c56d3 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
@@ -76,11 +76,9 @@ public class Robot {
             collectorArmRiser, collectorArmBobbin, depositorArmRiser, depositorArmBobbin;
 
     // Collector
-    public DcMotor collectorBobbin;
     public Servo collectorDispenser;
 
     // Depositor
-    public DcMotor depositorBobbin;
     public Servo depositorDispenser;
 
     public Robot(CyberarmEngine engine) {
@@ -93,8 +91,8 @@ public class Robot {
         initCollector();
         initDepositor();
         initCarousel();
-        initVuforia();
-        initTensorflow();
+//        initVuforia();
+//        initTensorflow();
     }
 
     public double heading() {
@@ -195,17 +193,23 @@ public class Robot {
         driveGoalRight      = engine.hardwareMap.dcMotor.get("driveGoalRight");
         driveGoalLeft       = engine.hardwareMap.dcMotor.get("driveGoalLeft");
 
-        driveWarehouseLeft.setDirection(DcMotorSimple.Direction.REVERSE);
-        driveGoalLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        driveWarehouseLeft.setDirection(DcMotorSimple.Direction.FORWARD);
+        driveWarehouseRight.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        driveGoalLeft.setDirection(DcMotorSimple.Direction.FORWARD);
+        driveGoalRight.setDirection(DcMotorSimple.Direction.REVERSE);
     }
 
     private void initCollector() {
+        collectorArmBobbin = engine.hardwareMap.dcMotor.get("collectorArmBobbin");
         collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
-
+        collectorArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
     }
 
     private void initDepositor(){
         depositorDispenser = engine.hardwareMap.servo.get("depositorDispenser");
+        depositorArmBobbin = engine.hardwareMap.dcMotor.get("depositorArmBobbin");
+        depositorArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
 
     }
 
diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java
index ba70c4b..cb72fd7 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java
@@ -1,9 +1,12 @@
 package org.timecrafters.FreightFrenzy.Competition.TeleOp.Engines;
 
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
 import org.timecrafters.FreightFrenzy.Competition.TeleOp.States.TeleOpState;
 
+@TeleOp(name = "TeleOp")
 public class TeleOpEngine extends CyberarmEngine {
     @Override
     public void setup() {
diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
index 35e3eb0..027fdf8 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
@@ -5,11 +5,14 @@ import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
 
 public class TeleOpState extends CyberarmState {
     Robot robot;
-    double maxDriveSpeed;
+    double maxDriveSpeed, maxCollectorArmSpeed, maxDepositorArmSpeed;
+
 
     public TeleOpState(Robot robot) {
         this.robot = robot;
      maxDriveSpeed = 0.7;
+     maxCollectorArmSpeed = 0.5;
+     maxDepositorArmSpeed = .5;
     }
 
     @Override
@@ -20,8 +23,9 @@ public class TeleOpState extends CyberarmState {
     @Override
     public void exec() {
         robot.driveWarehouseLeft.setPower(-engine.gamepad1.left_stick_y * maxDriveSpeed);
-        robot.driveWarehouseRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
         robot.driveGoalLeft.setPower(-engine.gamepad1.left_stick_y * maxDriveSpeed);
+
+        robot.driveWarehouseRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
         robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
 
         if (engine.gamepad1.left_bumper){
@@ -35,6 +39,24 @@ public class TeleOpState extends CyberarmState {
         } else {
             robot.collectorDispenser.setPosition(0);
         }
+
+        robot.collectorArmBobbin.setPower(engine.gamepad1.right_trigger * maxCollectorArmSpeed);
+
+        if (engine.gamepad1.right_trigger <= 0){
+            robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed);
+        }
+
+
+        // GamePad 2
+        robot.depositorArmBobbin.setPower(engine.gamepad2.right_trigger * maxDepositorArmSpeed);
+
+        if (engine.gamepad2.right_trigger <= 0) {
+            robot.depositorArmBobbin.setPower(-engine.gamepad2.left_trigger * maxDepositorArmSpeed);
+        }
+
+
+
+
     }
 
 
diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java
index f463c3d..3b65e12 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java
@@ -29,10 +29,10 @@ public class DriveTrainTestState extends CyberarmState {
     //This one is set up to repeat every few milliseconds
     @Override
     public void exec() {
-
-        robot.driveFrontRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
-        robot.driveBackRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
-        robot.driveFrontLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
-        robot.driveBackLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
+//
+//        robot.driveFrontRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
+//        robot.driveBackRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
+//        robot.driveFrontLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
+//        robot.driveBackLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
     }
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/TeleOp/TeleOpEngine.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/TeleOp/TeleOpEngine.java
index f63409c..7c28398 100644
--- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/TeleOp/TeleOpEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/TeleOp/TeleOpEngine.java
@@ -8,7 +8,7 @@ import org.timecrafters.UltimateGoal.Competition.Autonomous.DriveToCoordinates;
 import org.timecrafters.UltimateGoal.Competition.Autonomous.Face;
 import org.timecrafters.UltimateGoal.Competition.Robot;
 @Disabled
-@TeleOp (name = "TeleOp",group = "comp")
+//@TeleOp (name = "TeleOp",group = "comp")
 public class TeleOpEngine extends CyberarmEngine {
 
     private Robot robot;