diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Ambitious.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Ambitious.java
new file mode 100644
index 00000000000..099da2b3fdc
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Ambitious.java
@@ -0,0 +1,216 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+@Autonomous(name="Ambitious", group="Autonomous Encoder")
+public class Ambitious extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
+    private DistanceSensor distance = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        crane = hardwareMap.get(DcMotor.class, "crane");
+        distance = hardwareMap.get(DistanceSensor.class, "distance");
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+        //Stuff to display for Telemetry
+
+        //crane.setPower(1);
+        runtime.reset();
+        while (Double.isNaN(distance.getDistance(DistanceUnit.MM))) {
+            telemetry.addLine("Phase: Lowering Part 1");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(1);
+        }
+        sleep(900);
+        crane.setPower(0);
+        runtime.reset();
+        while (distance.getDistance(DistanceUnit.MM) > 70) {
+            telemetry.addLine("Phase: Lowering Part 2");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(.75);
+        }
+        crane.setPower(0);
+        sleep(100);
+        runtime.reset();
+        while(runtime.milliseconds() < 50) {
+            telemetry.addLine("Bring up the crane a little bit.");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(-.75);
+        }
+        crane.setPower(0);
+
+        sleep(2500);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 150) {
+            telemetry.addLine("Move forward a little");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 750) {
+            telemetry.addLine("Turns right out of the hook");
+            telemetry.update();
+            leftMotorFront.setPower(.35);
+            leftMotorBack.setPower(.35);
+            rightMotorFront.setPower(-.35);
+            rightMotorBack.setPower(-.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Move Forward a little");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 750) {
+            telemetry.addLine("Turning Left to readjust and center");
+            telemetry.update();
+            leftMotorFront.setPower(-.35);
+            leftMotorBack.setPower(-.35);
+            rightMotorFront.setPower(.35);
+            rightMotorBack.setPower(.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(500);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Going for team depot. Goes fast to get rid of team marker.");
+            telemetry.update();
+            leftMotorFront.setPower(-1);
+            leftMotorBack.setPower(-1);
+            rightMotorFront.setPower(-1);
+            rightMotorBack.setPower(-1);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 100) {
+            telemetry.addLine("Backing up to let the team marker go");
+            telemetry.update();
+            leftMotorFront.setPower(.4);
+            leftMotorBack.setPower(.4);
+            rightMotorFront.setPower(.4);
+            rightMotorBack.setPower(.4);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(500);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 1500) {
+            telemetry.addLine("Going for team depot and pushing the team marker in");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Backing up");
+            telemetry.update();
+            leftMotorFront.setPower(.5);
+            leftMotorBack.setPower(.5);
+            rightMotorFront.setPower(.5);
+            rightMotorBack.setPower(.5);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 2500) {
+            telemetry.addLine("Turn right to crater");
+            telemetry.update();
+            leftMotorFront.setPower(.35);
+            leftMotorBack.setPower(.35);
+            rightMotorFront.setPower(-.35);
+            rightMotorBack.setPower(-.35);
+        }
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 3000) {
+            telemetry.addLine("Going for crater");
+            telemetry.update();
+            leftMotorFront.setPower(-.5);
+            leftMotorBack.setPower(-.5);
+            rightMotorFront.setPower(-.5);
+            rightMotorBack.setPower(-.5);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDetach.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDetach.java
new file mode 100644
index 00000000000..96c0c3a4466
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDetach.java
@@ -0,0 +1,128 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+@Autonomous(name="AutonomousDetachOnly", group="Autonomous Encoder")
+public class AutoDetach extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
+    private DistanceSensor distance = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        crane = hardwareMap.get(DcMotor.class, "crane");
+        distance = hardwareMap.get(DistanceSensor.class, "distance");
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+
+        //Stuff to display for Telemetry
+
+        //crane.setPower(1);
+        runtime.reset();
+        while (Double.isNaN(distance.getDistance(DistanceUnit.MM))) {
+            telemetry.addLine("Phase: Lowering Part 1");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(1);
+        }
+        sleep(900);
+        crane.setPower(0);
+        runtime.reset();
+        while (distance.getDistance(DistanceUnit.MM) > 70) {
+            telemetry.addLine("Phase: Lowering Part 2");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(.75);
+        }
+        crane.setPower(0);
+        sleep(100);
+        runtime.reset();
+        while(runtime.milliseconds() < 50) {
+            crane.setPower(-.75);
+        }
+        crane.setPower(0);
+
+        sleep(2500);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 150) {
+            telemetry.addLine("Move forward");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 1000) {
+            telemetry.addLine("Turning");
+            telemetry.update();
+            leftMotorFront.setPower(.35);
+            leftMotorBack.setPower(.35);
+            rightMotorFront.setPower(-.35);
+            rightMotorBack.setPower(-.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Move Forward");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 1000) {
+            telemetry.addLine("Turning Back");
+            telemetry.update();
+            leftMotorFront.setPower(-.35);
+            leftMotorBack.setPower(-.35);
+            rightMotorFront.setPower(.35);
+            rightMotorBack.setPower(.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDistance.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDistance.java
new file mode 100644
index 00000000000..61c4dc03f78
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDistance.java
@@ -0,0 +1,142 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+@Autonomous(name="AutonomousCrater", group="Autonomous Encoder")
+public class AutoDistance extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
+    private DistanceSensor distance = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        crane = hardwareMap.get(DcMotor.class, "crane");
+        distance = hardwareMap.get(DistanceSensor.class, "distance");
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+        //Stuff to display for Telemetry
+
+        //crane.setPower(1);
+        runtime.reset();
+        while (Double.isNaN(distance.getDistance(DistanceUnit.MM))) {
+            telemetry.addLine("Phase: Lowering Part 1");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(1);
+        }
+        sleep(900);
+        crane.setPower(0);
+        runtime.reset();
+        while (distance.getDistance(DistanceUnit.MM) > 70) {
+            telemetry.addLine("Phase: Lowering Part 2");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(.75);
+        }
+        crane.setPower(0);
+        sleep(100);
+        runtime.reset();
+        while(runtime.milliseconds() < 50) {
+            crane.setPower(-.75);
+        }
+        crane.setPower(0);
+
+        sleep(2500);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 150) {
+            telemetry.addLine("Move forward");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 750) {
+            telemetry.addLine("Turning Right");
+            telemetry.update();
+            leftMotorFront.setPower(.35);
+            leftMotorBack.setPower(.35);
+            rightMotorFront.setPower(-.35);
+            rightMotorBack.setPower(-.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Move Forward");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 750) {
+            telemetry.addLine("Turning Back");
+            telemetry.update();
+            leftMotorFront.setPower(-.35);
+            leftMotorBack.setPower(-.35);
+            rightMotorFront.setPower(.35);
+            rightMotorBack.setPower(.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 2000) {
+            telemetry.addLine("Going for crater");
+            telemetry.update();
+            leftMotorFront.setPower(-.4);
+            leftMotorBack.setPower(-.4);
+            rightMotorFront.setPower(-.4);
+            rightMotorBack.setPower(-.4);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTeam.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTeam.java
new file mode 100644
index 00000000000..d54657e7c9a
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTeam.java
@@ -0,0 +1,172 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+@Autonomous(name="AutonomousTeam", group="Autonomous Encoder")
+public class AutoTeam extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
+    private DistanceSensor distance = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        crane = hardwareMap.get(DcMotor.class, "crane");
+        distance = hardwareMap.get(DistanceSensor.class, "distance");
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+        //Stuff to display for Telemetry
+
+        //crane.setPower(1);
+        runtime.reset();
+        while (Double.isNaN(distance.getDistance(DistanceUnit.MM))) {
+            telemetry.addLine("Phase: Lowering Part 1");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(1);
+        }
+        sleep(900);
+        crane.setPower(0);
+        runtime.reset();
+        while (distance.getDistance(DistanceUnit.MM) > 70) {
+            telemetry.addLine("Phase: Lowering Part 2");
+            telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
+            telemetry.update();
+            crane.setPower(.75);
+        }
+        crane.setPower(0);
+        sleep(100);
+        runtime.reset();
+        while(runtime.milliseconds() < 50) {
+            crane.setPower(-.75);
+        }
+        crane.setPower(0);
+
+        sleep(2500);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 150) {
+            telemetry.addLine("Move forward");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 750) {
+            telemetry.addLine("Turning");
+            telemetry.update();
+            leftMotorFront.setPower(.35);
+            leftMotorBack.setPower(.35);
+            rightMotorFront.setPower(-.35);
+            rightMotorBack.setPower(-.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Move Forward");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 750) {
+            telemetry.addLine("Turning Back");
+            telemetry.update();
+            leftMotorFront.setPower(-.35);
+            leftMotorBack.setPower(-.35);
+            rightMotorFront.setPower(.35);
+            rightMotorBack.setPower(.35);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(500);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Going for crater");
+            telemetry.update();
+            leftMotorFront.setPower(-1);
+            leftMotorBack.setPower(-1);
+            rightMotorFront.setPower(-1);
+            rightMotorBack.setPower(-1);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 100) {
+            telemetry.addLine("Going for crater");
+            telemetry.update();
+            leftMotorFront.setPower(.4);
+            leftMotorBack.setPower(.4);
+            rightMotorFront.setPower(.4);
+            rightMotorBack.setPower(.4);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(500);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 1500) {
+            telemetry.addLine("Going for crater");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
index 10bd1351a2a..e5c7a8bcdde 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -8,73 +9,95 @@
 import com.qualcomm.robotcore.util.Range;
 
 import java.lang.Math;
-
+@Disabled
 @Autonomous(name="AutoTest", group="Autonomous Encoder")
 public class AutoTest extends LinearOpMode {
 
     // Declare OpMode members.
     private ElapsedTime runtime = new ElapsedTime();
-    private DcMotor test = null;
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
 
     @Override
     public void runOpMode() {
         telemetry.addData("Status", "Initialized");
         telemetry.update();
 
-        test = hardwareMap.get(DcMotor.class, "test");
-        test.setDirection(DcMotor.Direction.REVERSE);
-        test.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        test.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        int phase = 0;
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
 
         waitForStart();
         runtime.reset();
 
         while (opModeIsActive()) {
             //Stuff to display for Telemetry
-            telemetry.addData("Motor Power", test.getPower());
-            telemetry.addData("Motor Direction", test.getDirection());
-            telemetry.addData("Motor Position", test.getCurrentPosition());
-            telemetry.addData("Motor Target", test.getTargetPosition());
-            telemetry.addData("Phase: ", phase);
+            telemetry.addData("Left Motor Position", leftMotorFront.getCurrentPosition());
+            telemetry.addData("Right Motor Position", rightMotorBack.getCurrentPosition());
+            telemetry.addData("Left Motor Target", leftMotorFront.getCurrentPosition());
+            telemetry.addData("Right Motor Target", rightMotorBack.getTargetPosition());
             telemetry.update();
 
             sleep(1000);
-            phase = 1;
-            test.setTargetPosition(10000);
-            test.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            while (test.isBusy()) {
-                telemetry.addData("Motor Power", test.getPower());
-                telemetry.addData("Motor Direction", test.getDirection());
-                telemetry.addData("Motor Position", test.getCurrentPosition());
-                telemetry.addData("Motor Target", test.getTargetPosition());
-                telemetry.addData("Phase: ", phase);
+            leftMotorFront.setTargetPosition(1000);
+            leftMotorBack.setTargetPosition(1000);
+            rightMotorFront.setTargetPosition(1000);
+            rightMotorBack.setTargetPosition(1000);
+            leftMotorFront.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            leftMotorBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightMotorFront.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightMotorBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            while (leftMotorFront.isBusy() && rightMotorFront.isBusy()) {
+                telemetry.addData("Left Motor Position", leftMotorFront.getCurrentPosition());
+                telemetry.addData("Right Motor Position", rightMotorBack.getCurrentPosition());
+                telemetry.addData("Left Motor Target", leftMotorFront.getCurrentPosition());
+                telemetry.addData("Right Motor Target", rightMotorBack.getTargetPosition());
                 telemetry.update();
-                test.setPower(1);
+                leftMotorFront.setPower(1);
+                leftMotorBack.setPower(1);
+                rightMotorFront.setPower(1);
+                rightMotorBack.setPower(1);
             }
-            test.setPower(0);
-            sleep(1000);
+            leftMotorFront.setPower(0);
+            leftMotorBack.setPower(0);
+            rightMotorFront.setPower(0);
+            rightMotorBack.setPower(0);
+            sleep(10000);
 
-            phase = 2;
-            test.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-            sleep(1000);
-            test.setTargetPosition(-10000);
-            test.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            while (test.isBusy()) {
-                telemetry.addData("Motor Power", test.getPower());
-                telemetry.addData("Motor Direction", test.getDirection());
-                telemetry.addData("Motor Position", test.getCurrentPosition());
-                telemetry.addData("Motor Target", test.getTargetPosition());
-                telemetry.addData("Phase: ", phase);
+            leftMotorFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+            leftMotorBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+            rightMotorFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+            rightMotorBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+            sleep(5000);
+            leftMotorFront.setTargetPosition(-1000);
+            leftMotorBack.setTargetPosition(-1000);
+            rightMotorFront.setTargetPosition(-1000);
+            rightMotorBack.setTargetPosition(-1000);
+            leftMotorFront.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            leftMotorBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightMotorFront.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightMotorBack.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            while (leftMotorFront.isBusy() && rightMotorFront.isBusy()) {
+                telemetry.addData("Left Motor Position", leftMotorFront.getCurrentPosition());
+                telemetry.addData("Right Motor Position", rightMotorBack.getCurrentPosition());
+                telemetry.addData("Left Motor Target", leftMotorFront.getCurrentPosition());
+                telemetry.addData("Right Motor Target", rightMotorBack.getTargetPosition());
                 telemetry.update();
-                test.setPower(-1);
+                leftMotorFront.setPower(-1);
+                leftMotorBack.setPower(-1);
+                rightMotorFront.setPower(-1);
+                rightMotorBack.setPower(-1);
             }
-            test.setPower(0);
-
-            sleep(1000);
-            phase = 3;
-            sleep(1000);
+            leftMotorFront.setPower(0);
+            leftMotorBack.setPower(0);
+            rightMotorFront.setPower(0);
+            rightMotorBack.setPower(0);
         }
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTime.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTime.java
new file mode 100644
index 00000000000..e7502a1ee7c
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTime.java
@@ -0,0 +1,133 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+@Disabled
+@Autonomous(name="Time", group="Autonomous Encoder")
+public class AutoTime extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        crane = hardwareMap.get(DcMotor.class, "crane");
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+
+        //Stuff to display for Telemetry
+
+
+        //crane.setPower(1);
+        runtime.reset();
+        while (runtime.milliseconds() < 3000) {
+            telemetry.addLine("Phase: Lowering");
+            telemetry.update();
+            crane.setPower(1);
+        }
+        crane.setPower(0);
+
+        sleep(100);
+        runtime.reset();
+        while(runtime.milliseconds() < 250) {
+            telemetry.addLine("Readjusting");
+            telemetry.update();
+            crane.setPower(-1);
+        }
+        crane.setPower(0);
+
+        sleep(10000);
+
+        runtime.reset();
+        while(runtime.milliseconds() < 250) {
+            telemetry.addLine("Backing up");
+            telemetry.update();
+            leftMotorFront.setPower(.25);
+            leftMotorBack.setPower(.25);
+            rightMotorFront.setPower(.25);
+            rightMotorBack.setPower(.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Turning");
+            telemetry.update();
+            leftMotorFront.setPower(-.25);
+            leftMotorBack.setPower(-.25);
+            rightMotorFront.setPower(.25);
+            rightMotorBack.setPower(.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 1000) {
+            telemetry.addLine("Backing up");
+            telemetry.update();
+            leftMotorFront.setPower(.25);
+            leftMotorBack.setPower(.25);
+            rightMotorFront.setPower(.25);
+            rightMotorBack.setPower(.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 500) {
+            telemetry.addLine("Turning Back");
+            telemetry.update();
+            leftMotorFront.setPower(.25);
+            leftMotorBack.setPower(.25);
+            rightMotorFront.setPower(-.25);
+            rightMotorBack.setPower(-.25);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+
+        sleep(1000);
+        runtime.reset();
+        while(runtime.milliseconds() < 10000) {
+            telemetry.addLine("Going for crater");
+            telemetry.update();
+            leftMotorFront.setPower(1);
+            leftMotorBack.setPower(1);
+            rightMotorFront.setPower(1);
+            rightMotorBack.setPower(1);
+        }
+        leftMotorFront.setPower(0);
+        leftMotorBack.setPower(0);
+        rightMotorFront.setPower(0);
+        rightMotorBack.setPower(0);
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Tele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Tele.java
index 4aa339b2b21..19932aac51f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Tele.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Tele.java
@@ -3,10 +3,11 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.hardware.TouchSensor;
 import com.qualcomm.robotcore.util.Range;
 
+
 import java.lang.Math;
 
 @TeleOp(name="TeleOp", group="Linear Opmode")
@@ -18,6 +19,7 @@ public class Tele extends LinearOpMode {
     private DcMotor leftMotorBack = null;
     private DcMotor rightMotorFront = null;
     private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
 
     @Override
     public void runOpMode() {
@@ -29,8 +31,10 @@ public void runOpMode() {
         leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
         rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
         rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
-        leftMotorFront.setDirection(DcMotor.Direction.REVERSE);
-        leftMotorBack.setDirection(DcMotor.Direction.REVERSE);
+        crane = hardwareMap.get(DcMotor.class, "crane");
+
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
 
         waitForStart();
         runtime.reset();
@@ -48,28 +52,47 @@ public void runOpMode() {
                 rightMotorBack.setPower(gamepad1.left_stick_y);
             }
             if (gamepad1.right_stick_x != 0 && gamepad1.left_stick_y == 0) {
-                leftMotorFront.setPower(-gamepad1.right_stick_x);
-                leftMotorBack.setPower(-gamepad1.right_stick_x);
-                rightMotorFront.setPower(gamepad1.right_stick_x);
-                rightMotorBack.setPower(gamepad1.right_stick_x);
+                leftMotorFront.setPower(gamepad1.right_stick_x);
+                leftMotorBack.setPower(gamepad1.right_stick_x);
+                rightMotorFront.setPower(-gamepad1.right_stick_x);
+                rightMotorBack.setPower(-gamepad1.right_stick_x);
+            }
+            if (gamepad1.left_stick_y < 0 && gamepad1.right_stick_x < 0) {
+                leftMotorFront.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+                leftMotorBack.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+                rightMotorFront.setPower(0);
+                rightMotorBack.setPower(0);
             }
-            if (gamepad1.left_stick_y != 0 && gamepad1.right_stick_x > 0) {
+            if (gamepad1.left_stick_y > 0 && gamepad1.right_stick_x < 0) {
                 leftMotorFront.setPower(0);
                 leftMotorBack.setPower(0);
                 rightMotorFront.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
                 rightMotorBack.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
             }
-            if (gamepad1.left_stick_y != 0 && gamepad1.right_stick_x < 0) {
+            if (gamepad1.left_stick_y < 0 && gamepad1.right_stick_x > 0) {
+                leftMotorFront.setPower(0);
+                leftMotorBack.setPower(0);
+                rightMotorFront.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+                rightMotorBack.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+            }
+            if (gamepad1.left_stick_y > 0 && gamepad1.right_stick_x > 0) {
                 leftMotorFront.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
                 leftMotorBack.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
                 rightMotorFront.setPower(0);
                 rightMotorBack.setPower(0);
             }
+            if(gamepad1.dpad_down || gamepad2.dpad_down){
+                crane.setPower(-1);
+            }
+            if(gamepad1.dpad_up || gamepad2.dpad_up) {
+                crane.setPower(1);
+            }
             else {
                 leftMotorFront.setPower(0);
                 leftMotorBack.setPower(0);
                 rightMotorFront.setPower(0);
                 rightMotorBack.setPower(0);
+                crane.setPower(0);
             }
         }
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTest.java
new file mode 100644
index 00000000000..253787c6ef8
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTest.java
@@ -0,0 +1,122 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@TeleOp(name="TeleOpTest", group="Linear Opmode")
+public class TeleOpTest extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftMotorFront = null;
+    private DcMotor leftMotorBack = null;
+    private DcMotor rightMotorFront = null;
+    private DcMotor rightMotorBack = null;
+    private DcMotor crane = null;
+    private boolean reversed = false;
+    private int multiplier = 1;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+
+        leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
+        leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
+        rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
+        rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
+        crane = hardwareMap.get(DcMotor.class, "crane");
+
+        rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
+        rightMotorBack.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+
+        while (opModeIsActive()) {
+            //Stuff to display for Telemetry
+            telemetry.addData("Left Motor Power", leftMotorFront.getPower());
+            telemetry.addData("Right Motor Power", rightMotorFront.getPower());
+            telemetry.addData("Reversed: ", reversed);
+            telemetry.update();
+
+            if(gamepad1.x && runtime.seconds() > 1) {
+                if(reversed == true) {
+                    multiplier = 1;
+                    reversed = false;
+                    runtime.reset();
+                }
+                else if(reversed == false) {
+                    reversed = true;
+                    multiplier = -1;
+                    runtime.reset();
+                }
+            }
+
+            if (gamepad1.left_stick_y != 0 && gamepad1.right_stick_x == 0) {
+                leftMotorFront.setPower(multiplier * gamepad1.left_stick_y);
+                leftMotorBack.setPower(multiplier * gamepad1.left_stick_y);
+                rightMotorFront.setPower(multiplier * gamepad1.left_stick_y);
+                rightMotorBack.setPower(multiplier * gamepad1.left_stick_y);
+            }
+            if (gamepad1.right_stick_x != 0 && gamepad1.left_stick_y == 0) {
+                leftMotorFront.setPower(gamepad1.right_stick_x);
+                leftMotorBack.setPower(gamepad1.right_stick_x);
+                rightMotorFront.setPower(-gamepad1.right_stick_x);
+                rightMotorBack.setPower(-gamepad1.right_stick_x);
+            }
+            if (reversed == false && gamepad1.left_stick_y < 0 && gamepad1.right_stick_x < 0) {
+                leftMotorFront.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y) / 2));
+                leftMotorBack.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y) / 2));
+                rightMotorFront.setPower(0);
+                rightMotorBack.setPower(0);
+            }
+            if (reversed == true && gamepad1.left_stick_y < 0 && gamepad1.right_stick_x < 0) {
+                leftMotorFront.setPower(0);
+                leftMotorBack.setPower(0);
+                rightMotorFront.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
+                rightMotorBack.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
+            }
+            if (gamepad1.left_stick_y > 0 && gamepad1.right_stick_x < 0) {
+                leftMotorFront.setPower(0);
+                leftMotorBack.setPower(0);
+                rightMotorFront.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
+                rightMotorBack.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
+            }
+            if (reversed == false && gamepad1.left_stick_y < 0 && gamepad1.right_stick_x > 0) {
+                leftMotorFront.setPower(0);
+                leftMotorBack.setPower(0);
+                rightMotorFront.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+                rightMotorBack.setPower(-(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+            }
+            if (reversed == true && gamepad1.left_stick_y < 0 && gamepad1.right_stick_x > 0) {
+                leftMotorFront.setPower((Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+                leftMotorBack.setPower((Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2));
+                rightMotorFront.setPower(0);
+                rightMotorBack.setPower(0);
+            }
+            if (gamepad1.left_stick_y > 0 && gamepad1.right_stick_x > 0) {
+                leftMotorFront.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
+                leftMotorBack.setPower(Math.abs(gamepad1.right_stick_x) + Math.abs(gamepad1.left_stick_y)/2);
+                rightMotorFront.setPower(0);
+                rightMotorBack.setPower(0);
+            }
+            if(gamepad1.dpad_down || gamepad2.dpad_down){
+                crane.setPower(-1);
+            }
+            if(gamepad1.dpad_up || gamepad2.dpad_up)
+                crane.setPower(1);
+            else {
+                leftMotorFront.setPower(0);
+                leftMotorBack.setPower(0);
+                rightMotorFront.setPower(0);
+                rightMotorBack.setPower(0);
+                crane.setPower(0);
+            }
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java
index c41b91c11a6..542feb1923b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java
@@ -1,44 +1,32 @@
 package org.firstinspires.ftc.teamcode;
 
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
 import com.qualcomm.robotcore.util.ElapsedTime;
-import com.qualcomm.robotcore.util.Range;
 
-import java.lang.Math;
-
-@TeleOp(name="Test", group="Linear Opmode")
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+@Disabled
+@TeleOp(name="Distance", group="Autonomous Encoder")
 public class Test extends LinearOpMode {
 
-    // Declare OpMode members.
-    private ElapsedTime runtime = new ElapsedTime();
-    private DcMotor test = null;
+    private DistanceSensor distance = null;
 
     @Override
     public void runOpMode() {
         telemetry.addData("Status", "Initialized");
         telemetry.update();
-
-
-        test = hardwareMap.get(DcMotor.class, "test");
-        test.setDirection(DcMotor.Direction.REVERSE);
+        distance = hardwareMap.get(DistanceSensor.class, "distance");
 
         waitForStart();
-        runtime.reset();
 
         while (opModeIsActive()) {
             //Stuff to display for Telemetry
-            telemetry.addData("Motor Power", test.getPower());
-            telemetry.addData("Motor Direction", test.getDirection());
-            telemetry.addData("Motor Position", test.getCurrentPosition());
+            telemetry.addData("Distance: ", distance.getDistance(DistanceUnit.MM));
             telemetry.update();
-
-            if (gamepad1.left_stick_y != 0) {
-                test.setPower(gamepad1.left_stick_y);
-            } else {
-                test.setPower(0);
-            }
         }
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaID.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaID.java
index b00b4bfdeb6..d24fd9d2e88 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaID.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaID.java
@@ -65,7 +65,7 @@
  * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
  * is explained in {@link ConceptVuforiaNavigation}.
  */
-
+@Disabled
 @TeleOp(name="VuforiaID", group ="Concept")
 public class VuforiaID extends LinearOpMode {
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaNav.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaNav.java
index d1de5a56403..cb04ac36f4e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaNav.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/VuforiaNav.java
@@ -90,7 +90,7 @@
  * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
  * is explained below.
  */
-
+@Disabled
 @TeleOp(name="VuforiaNavigation", group ="Concept")
 public class VuforiaNav extends LinearOpMode {