diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
index 4590249..ae887e6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
@@ -13,6 +13,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
+
 @Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
 public class PreLoadedBlueBasketAuto extends OpMode {
     private Telemetry telemetryA;
@@ -118,5 +119,6 @@ public class PreLoadedBlueBasketAuto extends OpMode {
     public void loop() {
         follower.update();
         follower.telemetryDebug(telemetryA);
+
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
index d68052e..36e2f16 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
@@ -19,6 +19,8 @@ public class RobotConstants {
     public final static int liftToFloorPos = 350;
     public final static int liftToSubmarinePos = 350;
     public final static int liftToLowBucketPos = 2250;
+    public final static int liftToHighRung = 2250;
+
     public final static int liftToHighBucketPos = 3850;
     public final static double liftPower = .625;
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
index 9cca186..03f91e5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
@@ -21,7 +21,7 @@ public class LiftActionsSubsystem {
     public DcMotor lift;
 
     public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE,
     }
 
     private LiftState liftState;
@@ -58,6 +58,7 @@ public class LiftActionsSubsystem {
 
     public Action toLowBucketPosition() {
         return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
+
     }
 
     public Action toHighBucketPosition() {