diff --git a/.idea/compiler.xml b/.idea/compiler.xml
index 61a9130..fb7f4a8 100644
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="1.8" />
+    <bytecodeTargetLevel target="11" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 5c9f89f..54d5acd 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" 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/spencer/SpencerDriveFoward.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java
index 9a44e0b..e824944 100644
--- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java
+++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java
@@ -15,18 +15,48 @@ public class SpencerDriveFoward extends CyberarmState {
 
     @Override
     public void init() {
-
+    spencer_dmitry.armmotor.setPower(1);
+    sleep(200);
     }
 
     @Override
     public void start() {
-        spencer_dmitry.driveleft.setPower(.5);
+        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() {
-        if (spencer_dmitry.driveleft.getCurrentPosition() >= ourposition){
-            spencer_dmitry.driveleft.setPower(0);
+        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 c3e182c..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
@@ -22,6 +22,7 @@ public class Spencer_Dmitry {
 
         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 9fb7192..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
@@ -10,7 +10,6 @@ public class Spencer_Dmitry_engine extends CyberarmEngine {
 
     private Spencer_Dmitry spencer_dmitry;
 
-
     @Override
     public void init() {
         spencer_dmitry = new Spencer_Dmitry(hardwareMap);
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();
+    }
+}