diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index 6358a7e..8f2ae30 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit 6358a7e46b7a73ab78680f80093231f4db1de1a3
+Subproject commit 8f2ae308bac3eb12b54a27b467ae7b73d9580820
diff --git a/TeamCode/src/main/java/teamcode/FtcTeleOp.java b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
index 63093d2..f8d9567 100644
--- a/TeamCode/src/main/java/teamcode/FtcTeleOp.java
+++ b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
@@ -326,10 +326,18 @@ public class FtcTeleOp extends FtcOpMode
                 break;
 
             case Y:
-                if (driverAltFunc && pressed)
+                if (pressed)
                 {
-                    robot.globalTracer.traceInfo(moduleName, ">>>>> Cancel all.");
-                    robot.cancelAll();
+                    if (driverAltFunc)
+                    {
+                        robot.globalTracer.traceInfo(moduleName, ">>>>> Cancel all.");
+                        robot.cancelAll();
+                    }
+                    else
+                    {
+                        robot.globalTracer.traceInfo(moduleName, ">>>>> Turtle mode.");
+                        robot.turtle();
+                    }
                 }
                 break;
 
diff --git a/TeamCode/src/main/java/teamcode/Robot.java b/TeamCode/src/main/java/teamcode/Robot.java
index acb59be..8512e23 100644
--- a/TeamCode/src/main/java/teamcode/Robot.java
+++ b/TeamCode/src/main/java/teamcode/Robot.java
@@ -40,6 +40,7 @@ import trclib.robotcore.TrcDbgTrace;
 import trclib.robotcore.TrcEvent;
 import trclib.robotcore.TrcRobot;
 import trclib.sensor.TrcDigitalInput;
+import trclib.subsystem.TrcSubsystem;
 import trclib.timer.TrcTimer;
 
 /**
@@ -280,6 +281,7 @@ public class Robot
         globalTracer.traceInfo(moduleName, "Cancel all operations.");
         // Cancel subsystems.
         if (robotDrive != null) robotDrive.cancel();
+        TrcSubsystem.cancelAll();
         // Cancel auto tasks.
     }   //cancelAll
 
@@ -291,8 +293,19 @@ public class Robot
      */
     public void zeroCalibrate(String owner, TrcEvent event)
     {
+        globalTracer.traceInfo(moduleName, "Zero calibrate all subsystems.");
+        TrcSubsystem.zeroCalibrateAll(owner, event);
     }   //zeroCalibrate
 
+    /**
+     * This method retracts all appendages for robot high speed travelling.
+     */
+    public void turtle()
+    {
+        globalTracer.traceInfo(moduleName, "Turtle mode.");
+        TrcSubsystem.resetStateAll();
+    }   //turtle
+
     /**
      * This method sets the robot's starting position according to the autonomous choices.
      *
diff --git a/TeamCode/src/main/java/trclib b/TeamCode/src/main/java/trclib
index 1d053fe..fa7d159 160000
--- a/TeamCode/src/main/java/trclib
+++ b/TeamCode/src/main/java/trclib
@@ -1 +1 @@
-Subproject commit 1d053febdd45da8ef7c8d6a1c0d99b52a916c550
+Subproject commit fa7d1591a29f94a455697ee12099d31b7ad8f508