diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java
index 0f95a8a..51270ee 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java
@@ -5,20 +5,20 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment;
 
-@TeleOp(name = "CometBot Auto", group = "Development")
+@TeleOp(name = "CometBot Auto v2", group = "Development")
 public class CometBotDevAuto extends OpMode {
 
     public CometBotAutoDevelopment runMode;
 
     @Override
     public void init() {
-        this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
-        this.runMode.init();
+        runMode = new CometBotAutoDevelopment(hardwareMap, gamepad1, gamepad2);
+        runMode.init();
     }
 
     @Override
     public void loop() {
-        this.runMode.update();
+        runMode.update();
         telemetry.update();
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
index 43954eb..a0e30d6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
@@ -15,6 +15,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
 import org.firstinspires.ftc.teamcode.states.FieldStates;
+import org.firstinspires.ftc.teamcode.subsystem.DualMotorSliderSubsystem;
 import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
 
 public class CometBotAutoDevelopment {
@@ -22,121 +23,64 @@ public class CometBotAutoDevelopment {
     /*
     Subsystems
      */
-    private MotorsSubsystem motors;
+    private DualMotorSliderSubsystem dualSlides;
 
     /*
     Controllers
      */
-    public Gamepad GP1;
-    public Gamepad GP2;
-    public Gamepad currentGP1;
-    public Gamepad previousGP1;
-    public Gamepad currentGP2;
-    public Gamepad previousGP2;
-    private Telemetry telemetry;
-
-    public FieldStates fieldStates;
-    private boolean centricity = false;
+    public Gamepad gamepad1;
+    public Gamepad gamepad2;
+    public Gamepad currentGamepad1;
+    public Gamepad currentGamepad2;
+    public Gamepad previousGamepad1;
+    public Gamepad previousGamepad2;
 
     private Follower follower;
-    private HardwareMap hardwareMap;
 
-    public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry);
-        this.GP1 = gp1;
-        this.GP2 = gp2;
-        this.hardwareMap = hardwareMap;
-        this.telemetry = telemetry;
-        this.currentGP1 = new Gamepad();
-        this.currentGP2 = new Gamepad();
-        this.previousGP1 = new Gamepad();
-        this.previousGP2 = new Gamepad();
-        this.fieldStates = new FieldStates();
-        this.follower = new Follower(hardwareMap);
+    public CometBotAutoDevelopment(HardwareMap hardwareMap, Gamepad gamepad1, Gamepad gamepad2) {
+        dualSlides = new DualMotorSliderSubsystem(hardwareMap);
+        this.gamepad1 = gamepad1;
+        this.gamepad2 = gamepad2;
+        currentGamepad1 = new Gamepad();
+        currentGamepad2 = new Gamepad();
+        previousGamepad1 = new Gamepad();
+        previousGamepad2 = new Gamepad();
+        follower = new Follower(hardwareMap);
     }
-
-    public class ZeroOutPower implements Action {
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            follower = new Follower(hardwareMap);
-            follower.setMaxPower(0);
-            System.out.println("Running ZeroOutPower");
-            return follower.isBusy();
-        }
-    }
-
-    public class ReturnToMaxPower implements Action {
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            follower = new Follower(hardwareMap);
-            follower.setMaxPower(MAX_POWER);
-            follower.startTeleopDrive();
-            System.out.println("Running ReturnToMaxPower");
-            return follower.isBusy();
-        }
-    }
-
-    public Action zeroOutPower() {
-        return new ZeroOutPower();
-    }
-
-    public Action returnToMaxPower() {
-        return new ReturnToMaxPower();
-    }
-
+    
     public void init() {
-        this.motors.init();
-        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        dualSlides.init();
         follower.setMaxPower(MAX_POWER);
         follower.startTeleopDrive();
     }
 
     public void update() {
-        this.previousGP1.copy(currentGP1);
-        this.currentGP1.copy(this.GP1);
-        this.previousGP2.copy(currentGP2);
-        this.currentGP2.copy(this.GP2);
+        previousGamepad1.copy(currentGamepad1);
+        currentGamepad1.copy(gamepad1);
+        previousGamepad2.copy(currentGamepad2);
+        currentGamepad2.copy(gamepad2);
 
-        this.toFixMotorBlockingIssueFirstMethod();
-        this.toFixMotorBlockingIssueSecondMethod();
-        this.changeCentricity();
+        /*
+        Check if dpad_up/down is being pressed for slides
+        */
+        dualSlides.update();
+        dualSlidesToLowBucketPosition();
+        dualSlidesToHighBucketPosition();
 
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
+        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
         follower.update();
-        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
     }
 
-    public void changeCentricity() {
-        if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-            this.centricity = !centricity;
-            this.follower.breakFollowing();
-            this.follower.startTeleopDrive();
+    private void dualSlidesToHighBucketPosition() {
+        if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
+            dualSlides.toHighBucketPosition();
         }
     }
 
-    public void toFixMotorBlockingIssueFirstMethod() {
-        if (this.currentGP1.cross && !this.previousGP1.cross) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.zeroOutPower(),
-                    new SleepAction(3),
-                    this.returnToMaxPower()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+    private void dualSlidesToLowBucketPosition() {
+        if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
+            dualSlides.toLowBucketPosition();
         }
     }
 
-    public void toFixMotorBlockingIssueSecondMethod() {
-        if (this.currentGP1.circle && !this.previousGP1.circle) {
-            this.follower.breakFollowing();
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    new SleepAction(3)
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-            this.follower.startTeleopDrive();
-        }
-    }
 }