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 990677c..af027a2 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
@@ -1,4 +1,109 @@
 package org.timecrafters.FreightFrenzy.Competition.Common;
 
+import com.qualcomm.hardware.bosch.BNO055IMU;
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+
 public class Robot {
+    private final CyberarmEngine engine;
+    public TimeCraftersConfiguration configuration;
+
+    // Shiny
+    public RevBlinkinLedDriver leds;
+
+    // Sensors
+    public BNO055IMU imu;
+
+    // Drivetrain
+    public static final double WHEEL_CIRCUMFERENCE = Math.PI * 8;
+    public static final int COUNTS_PER_REVOLUTION = 1000;
+
+    public DcMotor driveFrontLeft, driveFrontRight, driveBackLeft, driveBackRight;
+
+    // Collector
+    public DcMotor collectorBobbin;
+    public Servo collectorDoor;
+
+    // Depositor
+    public DcMotor depositorBobbin;
+    public Servo depositorDoor;
+
+    public Robot(CyberarmEngine engine) {
+        this.engine = engine;
+
+        initConfiguration();
+        initBlinkin();
+        initIMU();
+        initDrivetrain();
+        initCollector();
+        initDepositor();
+        initCarousel();
+    }
+
+    public double rotation() {
+        return imu.getAngularOrientation().firstAngle;
+    }
+
+    public double pitch() {
+        return imu.getAngularOrientation().secondAngle;
+    }
+
+    public double roll() {
+        return imu.getAngularOrientation().thirdAngle;
+    }
+
+    public double ticksToInches(int ticks) {
+        return ticks * (WHEEL_CIRCUMFERENCE / COUNTS_PER_REVOLUTION);
+    }
+
+    public double inchesToTicks(double inches) {
+        return inches * (COUNTS_PER_REVOLUTION / WHEEL_CIRCUMFERENCE);
+    }
+
+    private void initConfiguration() {
+        this.configuration = new TimeCraftersConfiguration();
+    }
+
+    private void initBlinkin() {
+//        engine.hardwareMap.get(RevBlinkinLedDriver.class, "leds");
+    }
+
+    private void initIMU() {
+        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
+
+        parameters.mode = BNO055IMU.SensorMode.IMU;
+        parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
+        parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
+        parameters.loggingEnabled = false;
+
+        this.imu = engine.hardwareMap.get(BNO055IMU.class, "imu");
+        imu.initialize(parameters);
+    }
+
+    private void initDrivetrain() {
+        driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
+        driveFrontLeft = engine.hardwareMap.dcMotor.get("driveFrontLeft");
+        driveBackRight = engine.hardwareMap.dcMotor.get("driveBackRight");
+        driveBackLeft = engine.hardwareMap.dcMotor.get("driveBackLeft");
+
+        driveFrontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        driveBackLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
+
+    private void initCollector() {
+
+    }
+
+    private void initDepositor(){
+
+    }
+
+    private void initCarousel() {
+
+    }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java
index 6b1f12e..3c88ec6 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java
@@ -3,12 +3,15 @@ package org.timecrafters.FreightFrenzy.HardwareTesting.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.HardwareTesting.States.DriveTrainTestState;
 
 @TeleOp(name = "DriveTrain Test", group = "testing")
 public class DriveTrainTestEngine extends CyberarmEngine {
     @Override
     public void setup() {
-        addState(new DriveTrainTestState());
+        Robot robot = new Robot(this);
+
+        addState(new DriveTrainTestState(robot));
     }
 }
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 94062c0..f463c3d 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
@@ -4,35 +4,25 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
 import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
 
 public class DriveTrainTestState extends CyberarmState {
 
     //here, you'll find some of your variables. you can add more as you need them.
-    DcMotor driveFrontRight;
-    DcMotor driveBackRight;
-    DcMotor driveFrontLeft;
-    DcMotor driveBackLeft;
-
-    TimeCraftersConfiguration configuration;
+    final Robot robot;
 
     double maxSpeed;
 
     //This is the constructor. It lets other code bits run use the code you put here
-    public DriveTrainTestState() {
-        configuration = new TimeCraftersConfiguration();
-        maxSpeed = configuration.variable("testing", "teleop", "maxSpeed").value();
+    public DriveTrainTestState(Robot robot) {
+        this.robot = robot;
+
+        maxSpeed = robot.configuration.variable("testing", "teleop", "maxSpeed").value();
     }
 
     @Override
     public void init() {
-        driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
-        driveFrontLeft = engine.hardwareMap.dcMotor.get("driveFrontLeft");
-        driveBackRight = engine.hardwareMap.dcMotor.get("driveBackRight");
-        driveBackLeft = engine.hardwareMap.dcMotor.get("driveBackLeft");
-
-        driveFrontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
-        driveBackLeft.setDirection(DcMotorSimple.Direction.REVERSE);
     }
 
     //This is a method. methods are bits of code that can be run elsewhere. 
@@ -40,10 +30,9 @@ public class DriveTrainTestState extends CyberarmState {
     @Override
     public void exec() {
 
-        driveFrontRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
-        driveBackRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
-        driveFrontLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
-        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