diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/AubreyFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/AubreyFirstState.java
index 502ed0b..f6c870e 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/AubreyFirstState.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/AubreyFirstState.java
@@ -20,13 +20,23 @@ public class AubreyFirstState extends CyberarmState {
     //This one is set up to repeat every few milliseconds
     @Override
     public void exec() {
-        UwU= engine.gamepad1.left_stick_y ;
-        OwO= engine.gamepad1. right_stick_y;
-        robot.driveBackLeft.setPower(UwU);
+        UwU= -engine.gamepad1.left_stick_y ;
+        OwO= -engine.gamepad1.right_stick_y;
+        if(robot.wobbleTouchSensor.isPressed()) {
+            double power = .5;
+            robot.driveFrontLeft.setPower(-power);
+            robot.driveFrontRight.setPower(power);
+            robot.driveBackLeft.setPower(-power);
+            robot.driveBackRight.setPower(power);
+
+
+        }else {
+            robot.driveFrontLeft.setPower(UwU);
+            robot.driveBackRight.setPower(OwO);
+            robot.driveBackLeft.setPower(OwO);
+            robot.driveBackLeft.setPower(UwU);
+        }
 
-        robot.driveFrontLeft.setPower(UwU);
-        robot.driveBackRight. setPower(OwO);
-        robot.driveBackLeft. setPower(OwO);
 
     }
 
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CadenFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
similarity index 58%
rename from TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CadenFirstState.java
rename to TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
index d15e7ad..dcf0607 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CadenFirstState.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/CaydenFirstState.java
@@ -3,13 +3,13 @@ package org.timecrafters.javaClass.aubrey;
 import org.cyberarm.engine.V2.CyberarmState;
 import org.timecrafters.javaClass.samples.SampleRobot;
 
-public class CadenFirstState extends CyberarmState {
+public class CaydenFirstState extends CyberarmState {
 
     //here, you'll find some of your variables. you can add more as you need them.
     private SampleRobot robot;
 
     //This is the constructor. It lets other code bits run use the code you put here
-    public CadenFirstState(SampleRobot robot) {
+    public CaydenFirstState(SampleRobot robot) {
         this.robot = robot;
     }
 
@@ -17,6 +17,13 @@ public class CadenFirstState extends CyberarmState {
     //This one is set up to repeat every few milliseconds
     @Override
     public void exec() {
-        
+        robot.launchMotor.setPower(engine.gamepad1.left_stick_y);
+        robot.ringBeltMotor.setPower(engine.gamepad1.right_trigger
+        );
+        if (robot.limitSwitch.isPressed()) {
+            robot.launchMotor.setPower(0.5);
+        }else{
+            robot.launchMotor.setPower(0);
+        }
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CadenrFirstEngine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java
similarity index 71%
rename from TeamCode/src/main/java/org/timecrafters/javaClass/samples/CadenrFirstEngine.java
rename to TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java
index 4bae5fc..02af382 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CadenrFirstEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java
@@ -4,10 +4,11 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.UltimateGoal.Competition.Robot;
+import org.timecrafters.javaClass.aubrey.CaydenFirstState;
 import org.timecrafters.javaClass.spencer.SpencerFirstState;
 
-@Autonomous (name = "Caden: First Program", group = "caden")
-public class CadenrFirstEngine extends CyberarmEngine {
+@Autonomous (name = "Cayden: First Program", group = "caden")
+public class CaydenFirstEngine extends CyberarmEngine {
     
     SampleRobot robot;
 
@@ -21,6 +22,6 @@ public class CadenrFirstEngine extends CyberarmEngine {
     
     @Override
     public void setup() {
-        addState(new SpencerFirstState(robot));
+        addState(new CaydenFirstState(robot));
     }
 }