diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
index 2e7a128..6212476 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
@@ -33,6 +33,8 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.ColorSensor;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 /**
@@ -72,6 +74,10 @@ public class Autonomoustest extends LinearOpMode {
     private DcMotor         backleftDrive  = null;
     private ColorSensor  colorRight = null;
     private ColorSensor colorLeft = null;
+    private Servo wrist = null;
+    private Servo gripper = null;
+    private DcMotor arm = null;
+
 
 
 
@@ -95,13 +101,16 @@ public class Autonomoustest extends LinearOpMode {
     static final double     DEGREE_TOO_DISTANCE = 0.21944444444;   @Override
     public void runOpMode() {
 
-        // Initialize the drive system variables.
+        // Initialize the drive system variables
         leftDrive  = hardwareMap.get(DcMotor.class, "Drive front lt");
         rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt");
         backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt");
         backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt");
         colorRight = hardwareMap.get(ColorSensor.class, "color right");
         colorLeft = hardwareMap.get(ColorSensor.class, "color left");
+        gripper = hardwareMap.get(Servo.class, "gripper");
+        arm = hardwareMap.get(DcMotor.class , "arm raise");
+        wrist = hardwareMap.get(Servo.class, "wrist");
         // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
         // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
         // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
@@ -109,17 +118,20 @@ public class Autonomoustest extends LinearOpMode {
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
         backrightDrive.setDirection(DcMotor.Direction.REVERSE);
         backleftDrive.setDirection(DcMotor.Direction.REVERSE);
+        arm.setDirection(DcMotor.Direction.REVERSE);
 
         leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         backleftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         backrightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
 
         leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         backrightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         backleftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
+        arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         // Send telemetry message to indicate successful Encoder reset
        /* telemetry.addData("Starting at",  "%7d :%7d",
                           leftDrive.getCurrentPosition(),
@@ -134,32 +146,67 @@ public class Autonomoustest extends LinearOpMode {
 
         // Step through each leg of the path,
         // Note: Reverse movement is obtained by setting a negative distance (not speed)
+        raisearm(1);
+        arm.setPower(0.001);
+        sleep(10000);
         //driveForward(2);
-        loop();
-        while(opModeIsActive())
-        {
-            int blueleft = readColorLeft();
-            int blueright = readColorRight();
-           if (blueleft > 50)
-           {
-               //telemetry.addData("color sensor","left");
-               if(blueleft > blueright)
-                   telemetry.addData("color sensor","left");
-
-
-           }
-           if (blueright > 50)
-           {
-               //telemetry.addData("color sensor", "right");
-               if(blueleft < blueright)
-                   telemetry.addData("color sensor","right");
-           }
-           else
-               telemetry.addData("position","center");
-           telemetry.update();
-            sleep(250);
-
-        }
+//        driveForward(28);
+//        {
+//            int blueleft = readColorLeft();
+//            int blueright = readColorRight();
+//           if (blueleft > 75)
+//           {
+//               //telemetry.addData("color sensor","left");
+//               if(blueleft > blueright)
+//                   telemetry.addData("color sensor","left");
+//               turnLeft(90);
+//               straightLeft(2);
+//               driveForward(11);
+//               driveForward(-30);
+//               turnLeft(180);
+//               driveForward(19);
+//               straightLeft(7);
+//               //use arm to place pixel
+//               straightRight(34);
+//               driveForward(11);
+//               terminateOpModeNow();
+//
+//
+//
+//
+//           }
+//           if (blueright > 75)
+//           {
+//               //telemetry.addData("color sensor", "right");
+//               if(blueleft < blueright)
+//                   telemetry.addData("color sensor","right");
+//               straightRight(11);
+//               driveForward(-17);
+//               turnRight(90);
+//               straightLeft(8);
+//               driveForward(28.5);
+//               //use arm to place pixel
+//               straightRight(20);
+//               driveForward(11);
+//               terminateOpModeNow();
+//
+//
+//           }
+//           else
+//               telemetry.addData("position","center");
+//           driveForward(11);
+//            driveForward(-17);
+//            turnRight(90);
+//            driveForward(39);
+//            straightRight(3.5);
+//            //use arm to place pixel
+//            straightRight(23.5);
+//            driveForward(11);
+//
+//           telemetry.update();
+//            sleep(250);
+//
+//        }
 
 
 
@@ -235,6 +282,14 @@ public class Autonomoustest extends LinearOpMode {
 
     }
 
+    public void raisearm(long seconds)
+    {
+        arm.setPower(.1);
+        sleep(seconds * 1000);
+    }
+
+
+
     /*
      *  Method to perform a relative move, based on encoder counts.
      *  Encoders are not reset as the move is based on the current position.
@@ -242,7 +297,9 @@ public class Autonomoustest extends LinearOpMode {
      *  1) Move gets to the desired position
      *  2) Move runs out of time
      *  3) Driver stops the opmode running.
+
      */
+
     public void encoderDrive(double speed,
                              double leftInches, double rightInches,
                              double timeoutS) {
@@ -251,7 +308,6 @@ public class Autonomoustest extends LinearOpMode {
         int newBackLeftTarget;
                 int newbackRightTarget;
 
-        // Ensure that the opmode is still active
         if (opModeIsActive()) {
 
             // Determine new target position, and pass to motor controller
@@ -294,11 +350,13 @@ public class Autonomoustest extends LinearOpMode {
                 telemetry.update();
             }
 
-            // Stop all motion;
-            leftDrive.setPower(0);
-            rightDrive.setPower(0);
-            backrightDrive.setPower(0);
-            backleftDrive.setPower(0);
+
+
+                leftDrive.setPower(0);
+                rightDrive.setPower(0);
+                backrightDrive.setPower(0);
+                backleftDrive.setPower(0);
+
 
             // Turn off RUN_TO_POSITION
             leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);