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;
+        }
+
+
+    }
+}