diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java
index 20c1cba..e824944 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java
@@ -6,15 +6,57 @@ import org.timecrafters.javaClass.samples.SampleRobot;
 public class SpencerDriveFoward extends CyberarmState {
 
 
-    private SampleRobot robot;
+    private Spencer_Dmitry spencer_dmitry;
+    public int ourposition;
 
-    public SpencerDriveFoward(SampleRobot robot) {
-        this.robot = robot;
+    public SpencerDriveFoward(Spencer_Dmitry spencer_dmitry) {
+        this.spencer_dmitry = spencer_dmitry;
+    }
+
+    @Override
+    public void init() {
+    spencer_dmitry.armmotor.setPower(1);
+    sleep(200);
+    }
+
+    @Override
+    public void start() {
+        spencer_dmitry.armmotor.setPower(1);
+        sleep(100);
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(-1);
+        sleep(4800);
+        spencer_dmitry.driveleft.setPower(0);
+        spencer_dmitry.driveright.setPower(0);
+
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(1);
+        sleep(850);
+
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(-1);
+        sleep(2500);
+
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(1);
+        sleep(850);
+
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(-1);
+        sleep(3700);
+
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(1);
+        sleep(850);
+
+        spencer_dmitry.driveleft.setPower(-1);
+        spencer_dmitry.driveright.setPower(-1);
+        sleep(2500);
     }
 
     @Override
     public void exec() {
-
+        spencer_dmitry.driveleft.setPower(0);
+        spencer_dmitry.driveright.setPower(0);
     }
-
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java
index f7991ed..9b7591d 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java
@@ -1,6 +1,7 @@
 package org.timecrafters.javaClass.spencer;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 public class Spencer_Dmitry {
@@ -12,13 +13,17 @@ public class Spencer_Dmitry {
 
     public DcMotor driveleft;
     public DcMotor driveright;
+    public DcMotor armmotor;
 
     public void hardwareInt() {
         driveleft = hardwareMap.dcMotor.get("frontLeft");
         driveright = hardwareMap.dcMotor.get("frontRight");
+        armmotor = hardwareMap.dcMotor.get("arm motor");
+
+        driveleft.setDirection(DcMotorSimple.Direction.REVERSE);
+        driveright.setDirection(DcMotorSimple.Direction.FORWARD);
+        armmotor.setDirection(DcMotorSimple.Direction.FORWARD);
     }
 
 
-
-
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java
index a291bbc..b190a06 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java
@@ -1,12 +1,15 @@
 package org.timecrafters.javaClass.spencer;
 
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
 import org.cyberarm.engine.V2.CyberarmEngine;
 
+@Autonomous (name = "Spencer: Drive Foward")
+
 public class Spencer_Dmitry_engine extends CyberarmEngine {
 
     private Spencer_Dmitry spencer_dmitry;
 
-
     @Override
     public void init() {
         spencer_dmitry = new Spencer_Dmitry(hardwareMap);
@@ -16,6 +19,6 @@ public class Spencer_Dmitry_engine extends CyberarmEngine {
 
     @Override
     public void setup() {
-
+    addState(new SpencerDriveFoward(spencer_dmitry));
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java
new file mode 100644
index 0000000..1cbe670
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java
@@ -0,0 +1,20 @@
+package org.timecrafters.javaClass.spencer;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class armControl extends CyberarmState {
+
+
+    private Spencer_Dmitry spencer_dmitry;
+
+    public armControl(Spencer_Dmitry spencer_dmitry) {
+        this.spencer_dmitry = spencer_dmitry;
+    }
+
+
+    @Override
+    public void exec() {
+
+    }
+
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java
new file mode 100644
index 0000000..ac69727
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java
@@ -0,0 +1,29 @@
+/*package org.timecrafters.javaClass.spencer;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.cyberarm.engine.V2.CyberarmState;
+
+@TeleOp (name = "Spencer: Tank Drive")
+
+public class spencerTankDrive extends CyberarmState {
+
+    private Spencer_Dmitry spencer_dmitry;
+    private double leftstick;
+    private double rightstick;
+
+    @Override
+    public void init() {
+        spencer_dmitry = new Spencer_Dmitry(engine.hardwareMap);
+        spencer_dmitry.hardwareInt();
+    }
+
+    @Override
+    public void exec() {
+        spencer_dmitry.driveleft.setPower(engine.gamepad1.left_stick_y);
+        spencer_dmitry.driveright.setPower(engine.gamepad1.right_stick_y);
+    }
+}
+*/
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java
new file mode 100644
index 0000000..5470d2f
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java
@@ -0,0 +1,24 @@
+package org.timecrafters.javaClass.spencer;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class spencerTurnState extends CyberarmState {
+   private Spencer_Dmitry spencer_dmitry;
+   public spencerTurnState (Spencer_Dmitry spencer_dmitry) {
+       this.spencer_dmitry = spencer_dmitry;
+   }
+
+    @Override
+    public void start() {
+
+   }
+
+
+    @Override
+    public void exec() {
+        spencer_dmitry.driveleft.setPower(-.5);
+        spencer_dmitry.driveright.setPower(.5);
+        sleep(1000);
+        stop();
+    }
+}