diff --git a/.idea/misc.xml b/.idea/misc.xml
index d5d35ec..5c9f89f 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java
index abd84e3..30a42a9 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java
@@ -17,16 +17,20 @@ public class dance extends CyberarmState {
     @Override
     public void exec() {
         float rotation = robot.getIMURotation();
- if (rotation <RotationLimit) {
-     powerWorks = -speed;
- }else {
-     powerWorks = speed;
 
- }
         robot.driveBackRight.setPower(powerWorks);
         robot.driveBackLeft.setPower(-powerWorks);
     robot.driveFrontLeft.setPower(-powerWorks);
     robot.driveFrontRight.setPower(powerWorks);
 
+    if (1 < rotation && rotation< 15){
+        powerWorks = 0;
+
+    }
+
+    }
+
+    @Override
+    public void telemetry() {engine.telemetry.addData("rotation",robot.getIMURotation());
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/AubreyFirstEngine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/AubreyFirstEngine.java
index 769f194..837582d 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/AubreyFirstEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/AubreyFirstEngine.java
@@ -5,6 +5,7 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.UltimateGoal.Competition.Robot;
 import org.timecrafters.javaClass.aubrey.AubreyFirstState;
+import org.timecrafters.javaClass.aubrey.dance;
 
 @Autonomous(name = "Aubrey: First Program", group = "aubrey")
 public class AubreyFirstEngine extends CyberarmEngine {
@@ -21,6 +22,6 @@ public class AubreyFirstEngine extends CyberarmEngine {
 
     @Override
     public void setup() {
-        addState(new AubreyFirstState(robot));
+        addState(new dance(robot));
     }
 }
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 b4ce545..2a6c040 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) {
@@ -39,73 +41,89 @@ public class SpencerFirstState extends CyberarmState {
         a = engine.gamepad1.a;
         x = engine.gamepad1.x;
         rightTrigger = engine.gamepad1.right_trigger;
-        leftTrigger = engine.gamepad1.right_trigger;
+        leftTrigger = engine.gamepad1.left_trigger;
         b = engine.gamepad1.b;
         /*this section is no bumpers... tank drive*/
 
         if (!leftBumper && !rightBumper) {
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
             robot.driveFrontLeft.setPower(-leftStick);
             robot.driveFrontRight.setPower(-rightStick);
             robot.driveBackLeft.setPower(-leftStick);
             robot.driveBackRight.setPower(-rightStick);
         }
-        /*
-        if (x) {
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
-            robot.driveFrontLeft.setPower(-.5);
-            robot.driveFrontRight.setPower(-.5);
-            robot.driveBackLeft.setPower(-.5);
-            robot.driveBackRight.setPower(-.5);
+
+        boolean a = engine.gamepad1.a;
+        if (engine.gamepad1.a && !aPrev) {
+            if (drivepower == 1) {
+                drivepower = 0.5;
+            } else {
+                drivepower = 1;
+            }
+            engine.gamepad1.a = aPrev;
+
+
+
+            /*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);
+
+            }
+
+            if (engine.gamepad1.b) {
+                robot.ringBeltMotor.setPower(-0.5);
+            }
+            /*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);
+            }
         }
-
-        if (b){
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
-        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.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
-            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.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
-            robot.driveFrontLeft.setPower(1);
-            robot.driveFrontRight.setPower(-1);
-            robot.driveBackLeft.setPower(-1);
-            robot.driveBackRight.setPower(1);
-        }
-
-        /* y section ... when y is pressed fly wheel starts, when a is pressed fly wheel stops*/
-        if (y) {
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
-            robot.launchMotor.setPower(1);
-        } else if (a) {
-            robot.launchMotor.setPower(0);
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
-        }
-
-        /*right Trigger section ... when right trigger is held collection wheels suck rings*/
-
-        if (rightTrigger>=0.5){
-            robot.collectionMotor.setPower(1);
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
-        }
-        /*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
-         else if (leftTrigger>=0.5) {
-        robot.ringBeltMotor.setPower(1);
-        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
-        }
-
     }
 }