diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUDrive.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUDrive.java
index aa004fb..1c95327 100644
--- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUDrive.java
+++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUDrive.java
@@ -32,7 +32,7 @@ public class IMUDrive extends CyberarmState {
         double inchesTarget = robot.stateConfiguration.variable(groupName, actionName, "inches").value();
         tickTarget = (int) robot.inchesToTicks(inchesTarget);
         angleTarget = robot.stateConfiguration.variable(groupName, actionName, "angle").value();
-        finishDelay = robot.stateConfiguration.variable(groupName,actionName,"delay").value();
+        finishDelay = robot.stateConfiguration.variable(groupName, actionName, "delay").value();
     }
 
     @Override
diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUTurn.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUTurn.java
index 1784f2b..e00e1be 100644
--- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUTurn.java
+++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUTurn.java
@@ -25,8 +25,12 @@ public class IMUTurn extends CyberarmState {
         power = robot.stateConfiguration.variable(groupName,actionName, "power").value();
         angleTarget = robot.stateConfiguration.variable(groupName,actionName, "angle").value();
         angleAllowance = robot.stateConfiguration.variable(groupName,actionName, "allowance").value();
-        turnDirection = robot.stateConfiguration.variable(groupName, actionName, "direction").value();
-        useOptimalDirection = (turnDirection==0);
+
+        // turnDirection = robot.stateConfiguration.variable(groupName, actionName, "direction").value();
+
+        turnDirection = 0;
+
+        useOptimalDirection = (turnDirection == 0);
     }
 
     @Override
diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/LocalizerTestingEngine.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/LocalizerTestingEngine.java
index 6e83c82..a5dc745 100644
--- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/LocalizerTestingEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/LocalizerTestingEngine.java
@@ -23,5 +23,43 @@ public class LocalizerTestingEngine extends CyberarmEngine {
         addState(new IMUTurn(robot,"group", "020_turn"));
         addState(new IMUDrive(robot,"group", "030_drive"));
         addState(new IMUTurn(robot,"group", "040_turn"));
+
+        addState(new IMUDrive(robot,"group", "050_drive"));
+        addState(new IMUTurn(robot,"group", "060_turn"));
+        addState(new IMUDrive(robot,"group", "070_drive"));
+        addState(new IMUTurn(robot,"group", "080_turn"));
+
+
+        addState(new IMUDrive(robot,"group", "010_drive"));
+        addState(new IMUTurn(robot,"group", "020_turn"));
+        addState(new IMUDrive(robot,"group", "030_drive"));
+        addState(new IMUTurn(robot,"group", "040_turn"));
+
+        addState(new IMUDrive(robot,"group", "050_drive"));
+        addState(new IMUTurn(robot,"group", "060_turn"));
+        addState(new IMUDrive(robot,"group", "070_drive"));
+        addState(new IMUTurn(robot,"group", "080_turn"));
+
+        addState(new IMUDrive(robot,"group", "010_drive"));
+        addState(new IMUTurn(robot,"group", "020_turn"));
+        addState(new IMUDrive(robot,"group", "030_drive"));
+        addState(new IMUTurn(robot,"group", "040_turn"));
+
+        addState(new IMUDrive(robot,"group", "050_drive"));
+        addState(new IMUTurn(robot,"group", "060_turn"));
+        addState(new IMUDrive(robot,"group", "070_drive"));
+        addState(new IMUTurn(robot,"group", "080_turn"));
+
+
+        addState(new IMUDrive(robot,"group", "010_drive"));
+        addState(new IMUTurn(robot,"group", "020_turn"));
+        addState(new IMUDrive(robot,"group", "030_drive"));
+        addState(new IMUTurn(robot,"group", "040_turn"));
+
+        addState(new IMUDrive(robot,"group", "050_drive"));
+        addState(new IMUTurn(robot,"group", "060_turn"));
+        addState(new IMUDrive(robot,"group", "090_drive"));
+        addState(new IMUTurn(robot,"group", "080_turn"));
+
     }
 }