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 e828cce..2aed0a7 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java
@@ -1,5 +1,7 @@
 package org.timecrafters.javaClass.aubrey;
 
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
 import org.cyberarm.engine.V2.CyberarmState;
 import org.timecrafters.javaClass.samples.SampleRobot;
 
@@ -23,10 +25,14 @@ public class dance extends CyberarmState {
     robot.driveFrontLeft.setPower(-powerWorks);
     robot.driveFrontRight.setPower(powerWorks);
 
-    if (1 < rotation && rotation< 15){
+    if (-1 > rotation && rotation> -15){
         powerWorks = 0;
 
     }
+robot. ledDriver. setPattern(RevBlinkinLedDriver.BlinkinPattern.RAINBOW_RAINBOW_PALETTE);
+    }
 
+    @Override
+    public void telemetry() {engine.telemetry.addData("rotation",robot.getIMURotation());
     }
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
index bdee630..bdd8001 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
@@ -8,6 +8,7 @@ public class CaydenFirstState extends CyberarmState {
 
     //here, you'll find some of your variables. you can add more as you need them.
     private Robot robot;
+    private double variable=1;
 
     //This is the constructor. It lets other code bits run use the code you put here
     public CaydenFirstState(Robot robot) {
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java
new file mode 100644
index 0000000..346cc42
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java
@@ -0,0 +1,30 @@
+package org.timecrafters.javaClass.cayden;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.UltimateGoal.Competition.Robot;
+
+public class Cayden_Autonomous extends CyberarmState {
+    private Robot robot;
+    private double variable=.5;
+
+
+
+
+    public Cayden_Autonomous(Robot robot) {
+        this.robot = robot;
+    }
+    @Override
+    public void exec() {
+
+        robot.driveFrontRight.setPower(variable);
+        robot.driveBackRight.setPower(variable);
+        robot.driveFrontLeft.setPower(variable);
+        robot.driveBackLeft.setPower(variable);
+
+        if (robot.encoderLeft.getCurrentPosition()>=300){
+            variable=0;
+        }
+
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java
index 4a36655..2c1f73b 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.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.cayden.CaydenFirstState;
+import org.timecrafters.javaClass.cayden.Cayden_Autonomous;
 
 @Autonomous (name = "Cayden: First Program", group = "caden")
 public class CaydenFirstEngine extends CyberarmEngine {
@@ -21,6 +22,6 @@ public class CaydenFirstEngine extends CyberarmEngine {
     
     @Override
     public void setup() {
-        addState(new CaydenFirstState(robot));
+        addState(new Cayden_Autonomous(robot));
     }
 }