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 8918736..54d72a6 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
@@ -78,13 +78,14 @@ public class Robot {
 
     // Collector
     public Servo collectorDispenser;
-
     public CRServo turretServo1;
 
     // Depositor
     public Servo depositorDispenser;
+    // Depositor, and carousel
+    public CRServo turretServo2, carouselWheel, collectorOrange, collectorWhite;
+
 
-    public CRServo turretServo2;
 
     public Robot(CyberarmEngine engine) {
         this.engine = engine;
@@ -210,6 +211,9 @@ public class Robot {
         collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
         collectorArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
         turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
+        collectorArmRiser = engine.hardwareMap.dcMotor.get("collectorArmRiser");
+        collectorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
+        collectorOrange = engine.hardwareMap.crservo.get("collectorOrange");
     }
 
     private void initDepositor(){
@@ -217,10 +221,13 @@ public class Robot {
         depositorArmBobbin = engine.hardwareMap.dcMotor.get("depositorArmBobbin");
         depositorArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
         turretServo2 = engine.hardwareMap.crservo.get("turretServo2");
+        depositorArmRiser = engine.hardwareMap.dcMotor.get("depositorArmRiser");
+        depositorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
+        collectorWhite = engine.hardwareMap.crservo.get("collectorWhite");
     }
 
     private void initCarousel() {
-
+        carouselWheel = engine.hardwareMap.crservo.get("carouselWheel");
     }
 
     private void initVuforia() {
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 ce579be..99364ab 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
@@ -32,7 +32,7 @@ public class TeleOpState extends CyberarmState {
         robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
 
         // dispenser powered
-        if (engine.gamepad1.right_bumper){
+        if (engine.gamepad1.b){
             robot.collectorDispenser.setPosition(.5);
         }
 
@@ -40,14 +40,14 @@ public class TeleOpState extends CyberarmState {
         else {
             robot.collectorDispenser.setPosition(0);
         }
-        //if one of triggers pressed arm extends or unextends
+        //  if one of triggers pressed arm extends or unextends
         robot.collectorArmBobbin.setPower(engine.gamepad1.right_trigger * maxCollectorArmSpeed);
 
         if (engine.gamepad1.right_trigger <= 0){
             robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed);
         }
 
-        //  if either of these buttons move the servo
+        //  if either of these buttons... move the servo
         //  turretServo1 = orange
         if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
 
@@ -59,11 +59,53 @@ public class TeleOpState extends CyberarmState {
                 robot.turretServo1.setPower(-1);
             }
         }
-        //  if neither of these buttons power off
+
+        //  if neither of these buttons... power off
         else {
             robot.turretServo1.setPower(0);
         }
 
+        // if dpad verticles pressed arm rises or lowers...
+        if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) {
+
+            if (engine.gamepad1.dpad_up) {
+                robot.collectorArmRiser.setPower(1);
+            }
+
+            if (engine.gamepad1.dpad_down) {
+                robot.collectorArmRiser.setPower(-1);
+            }
+        }
+        // nothing pressed nothing move...
+        else {
+            robot.collectorArmRiser.setPower(0);
+        }
+
+        // if bumpers pressed intake wheel move...
+
+        if (engine.gamepad1.right_bumper || engine.gamepad1.left_bumper) {
+            if (engine.gamepad1.right_bumper) {
+                robot.collectorOrange.setPower(1);
+            }
+
+            if (engine.gamepad1.left_bumper) {
+                robot.collectorOrange.setPower(-1);
+            }
+        }
+        // no bumpers pressed no wheel move...
+        else {
+            robot.collectorOrange.setPower(0);
+        }
+
+        // button x pressed carousel wheel move.
+
+        if (engine.gamepad1.x){
+            robot.carouselWheel.setPower(1);
+        }
+
+        else {
+            robot.carouselWheel.setPower(0);
+        }
 
         // GamePad 2
 
@@ -74,13 +116,14 @@ public class TeleOpState extends CyberarmState {
             robot.depositorArmBobbin.setPower(-engine.gamepad2.left_trigger * maxDepositorArmSpeed);
         }
 
-
-        if (engine.gamepad2.left_bumper){
+        // if b is pressed then depositor door opens, if not pressed not opening.
+        if (engine.gamepad2.b){
             robot.depositorDispenser.setPosition(.5);
-        } else {
-            robot.depositorDispenser.setPosition(0);
         }
 
+        else {
+            robot.depositorDispenser.setPosition(0);
+        }
 
         //  if either of these buttons move the servo
         //  turretServo2 = white
@@ -99,9 +142,42 @@ public class TeleOpState extends CyberarmState {
             robot.turretServo2.setPower(0);
         }
 
+        // if dpad verticles pressed arm rises or lowers
+        if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) {
 
+            if (engine.gamepad2.dpad_up) {
+                robot.depositorArmRiser.setPower(1);
+            }
+
+            if (engine.gamepad2.dpad_down) {
+                robot.depositorArmRiser.setPower(-1);
+            }
+        }
+        // nothing pressed nothing move...
+        else {
+            robot.depositorArmRiser.setPower(0);
+        }
+
+        if (engine.gamepad2.left_bumper || engine.gamepad2.right_bumper) {
+
+            if (engine.gamepad2.left_bumper) {
+                robot.collectorWhite.setPower(-1);
+            }
+
+            if (engine.gamepad2.right_bumper) {
+                robot.collectorWhite.setPower(1);
+            }
+        }
+
+        else {
+            robot.collectorWhite.setPower(0);
+        }
 
     }
 
 
+
+
+
+
 }