diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
index f4aced1..7094ac0 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
@@ -19,6 +19,8 @@ public class SpencerFirstState extends CyberarmState {
     private float leftTrigger;
     private boolean x;
     private boolean b;
+    private boolean aPrev;
+    private double drivepower = 1;
 
     //This is the constructor. It lets other code bits run use the code you put here
     public SpencerFirstState(SampleRobot robot) {
@@ -49,80 +51,77 @@ public class SpencerFirstState extends CyberarmState {
             robot.driveBackLeft.setPower(-leftStick);
             robot.driveBackRight.setPower(-rightStick);
         }
-        /*
-        if (x) {
-            robot.driveFrontLeft.setPower(-.5);
-            robot.driveFrontRight.setPower(-.5);
-            robot.driveBackLeft.setPower(-.5);
-            robot.driveBackRight.setPower(-.5);
-        }
 
-        if (b){
-        robot.driveFrontLeft.setPower(-1);
-        robot.driveFrontRight.setPower(-1);
-        robot.driveBackLeft.setPower(-1);
-        robot.driveBackRight.setPower(-1);
-    }
-        */
-
-        /*this is left bumper section... strafe to the left*/
-        if (leftBumper) {
-            robot.driveFrontLeft.setPower(-1);
-            robot.driveFrontRight.setPower(1);
-            robot.driveBackLeft.setPower(1);
-            robot.driveBackRight.setPower(-1);
-        }
-
-        /* right bumper section ... strafe to the right*/
-        else if (rightBumper) {
-            robot.driveFrontLeft.setPower(1);
-            robot.driveFrontRight.setPower(-1);
-            robot.driveBackLeft.setPower(-1);
-            robot.driveBackRight.setPower(1);
-        } else {
-            robot.driveFrontLeft.setPower(-leftStick);
-            robot.driveFrontRight.setPower(-rightStick);
-            robot.driveBackLeft.setPower(-leftStick);
-            robot.driveBackRight.setPower(-rightStick);
-        }
-        /* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
-
-        boolean changed = false; //outside of loop
-        if (engine.gamepad1.y && !changed) {
-            if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
-            else robot.launchMotor.setPower(0);
-            changed = true;
-        } else if (!engine.gamepad1.y) changed = false;
-
-        /*right Trigger section ... when right trigger is held collection wheels suck rings*/
-
-        boolean rightTriggerB = (rightTrigger >= 0.5);
-        if (rightTriggerB) {
-            robot.collectionMotor.setPower(1);
-        } else {
-            robot.collectionMotor.setPower(0);
-
-        }
+        boolean a = engine.gamepad1.a;
+        if (engine.gamepad1.a && !aPrev) {
+            if (drivepower == 1) {
+                drivepower = 0.5;
+            } else {
+                drivepower = 1;
+            }
+            engine.gamepad1.a = aPrev;
 
 
-        /*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
 
-         if (leftTrigger >= 0.5) {
-            robot.ringBeltMotor.setPower(1);
-        }
-         else {
-             robot.ringBeltMotor.setPower(0);
-         }
+            /*this is left bumper section... strafe to the left*/
+            if (leftBumper) {
+                robot.driveFrontLeft.setPower(-1);
+                robot.driveFrontRight.setPower(1);
+                robot.driveBackLeft.setPower(1);
+                robot.driveBackRight.setPower(-1);
+            }
 
-         if (robot.launchMotor.getPower() == 1) {
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
-        }else if (leftTrigger >= 0.5) {
-             robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
-         }
-         else if (rightTriggerB) {
-             robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
-        } else {
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+            /* right bumper section ... strafe to the right*/
+            else if (rightBumper) {
+                robot.driveFrontLeft.setPower(1);
+                robot.driveFrontRight.setPower(-1);
+                robot.driveBackLeft.setPower(-1);
+                robot.driveBackRight.setPower(1);
+            } else {
+                robot.driveFrontLeft.setPower(-leftStick);
+                robot.driveFrontRight.setPower(-rightStick);
+                robot.driveBackLeft.setPower(-leftStick);
+                robot.driveBackRight.setPower(-rightStick);
+            }
+            /* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
+
+            boolean changed = false; //outside of loop
+            if (engine.gamepad1.y && !changed) {
+                if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
+                else robot.launchMotor.setPower(0);
+                changed = true;
+            } else if (!engine.gamepad1.y) changed = false;
+
+            /*right Trigger section ... when right trigger is held collection wheels suck rings*/
+
+            boolean rightTriggerB = (rightTrigger >= 0.5);
+            if (rightTriggerB) {
+                robot.collectionMotor.setPower(1);
+            } else {
+                robot.collectionMotor.setPower(0);
+
+            }
+
+
+            /*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
+
+            if (leftTrigger >= 0.5) {
+                robot.ringBeltMotor.setPower(1);
+            } else {
+                robot.ringBeltMotor.setPower(0);
+            }
+
+            if (robot.launchMotor.getPower() == 1) {
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
+            } else if (leftTrigger >= 0.5) {
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
+            } else if (rightTriggerB) {
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
+            } else if (drivepower == 0.5){
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
+            } else {
+                robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+            }
         }
     }
-    }
+}