diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
index ef6a498..e08369c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
@@ -1,35 +1,22 @@
 package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
-import com.acmerobotics.roadrunner.geometry.Pose2d;
-import com.acmerobotics.roadrunner.geometry.Vector2d;
-import com.acmerobotics.roadrunner.trajectory.Trajectory;
-import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.ColorSensor;
 
-import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
-
 @Autonomous
 public class AutoBlueColorSensor extends LinearOpMode {
-    SampleMecanumDrive mecanumDrive;
-
     @Override
     public void runOpMode() throws InterruptedException {
         ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
-        mecanumDrive = new SampleMecanumDrive(hardwareMap);
         API api = new API(this);
+        MovementAPI movementAPI = new MovementAPI(api);
 
         waitForStart();
 
-        Trajectory firstMove = api.makeTrajectories(
-                mecanumDrive,
-                new Pose2d(new Vector2d(-34, 60), Math.toRadians(270)),
-                new int[]{-34},
-                new int[]{40}
-        );
-
-        mecanumDrive.followTrajectory(firstMove);
+        movementAPI.move(0, 0.7);
+        api.pause(0.5);
+        movementAPI.stop();
 
         api.pause(5);
         int r = sensor.red();
@@ -38,41 +25,26 @@ public class AutoBlueColorSensor extends LinearOpMode {
 
         int largest = api.getLargest(r, g, b);
 
-        Trajectory endpos;
         if (largest == g) {
             // move to position 1
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -12, -12},
-                    new int[]{60, 60, 12}
-            );
+            movementAPI.move(90, 0.7);
+            api.pause(0.25);
         } else if (largest == r) {
             // move to position 2
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -12, -12, -34},
-                    new int[]{60, 60, 12, 12}
-            );
+            movementAPI.move(0, 0.7);
+            api.pause(0.25);
         } else if (largest == b) {
             // move to position 3
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -70, -60},
-                    new int[]{60, 60, 30}
-            );
+            movementAPI.move(-90, 0.7);
+            api.pause(0.25);
         } else {
             // Color sensor broke, move to backup position
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -70},
-                    new int[]{60, 60}
-            );
+            movementAPI.move(-180, 0.7);
+            api.pause(0.5);
+            movementAPI.move(90, 0.7);
+            api.pause(0.7);
         }
 
-        mecanumDrive.followTrajectory(endpos);
+        movementAPI.stop();
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
index 40f67f5..0dad3a0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
@@ -1,36 +1,22 @@
 package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
-import com.acmerobotics.roadrunner.geometry.Pose2d;
-import com.acmerobotics.roadrunner.geometry.Vector2d;
-import com.acmerobotics.roadrunner.trajectory.Trajectory;
-import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.ColorSensor;
 
-import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
-
 @Autonomous
 public class AutoRedColorSensor extends LinearOpMode {
-    SampleMecanumDrive mecanumDrive;
-
     @Override
     public void runOpMode() throws InterruptedException {
         ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
-        mecanumDrive = new SampleMecanumDrive(hardwareMap);
         API api = new API(this);
-
+        MovementAPI movementAPI = new MovementAPI(api);
 
         waitForStart();
 
-        Trajectory firstMove = api.makeTrajectories(
-                mecanumDrive,
-                new Pose2d(new Vector2d(-34, -60), Math.toRadians(90)),
-                new int[]{-34},
-                new int[]{-40}
-        );
-
-        mecanumDrive.followTrajectory(firstMove);
+        movementAPI.move(0, 0.7);
+        api.pause(0.5);
+        movementAPI.stop();
 
         api.pause(5);
         int r = sensor.red();
@@ -39,41 +25,26 @@ public class AutoRedColorSensor extends LinearOpMode {
 
         int largest = api.getLargest(r, g, b);
 
-        Trajectory endpos;
         if (largest == g) {
             // move to position 1
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -12, -12},
-                    new int[]{-60, -60, -12}
-            );
+            movementAPI.move(-90, 0.7);
+            api.pause(0.25);
         } else if (largest == r) {
             // move to position 2
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -12, -12, -34},
-                    new int[]{-60, -60, -12, -12}
-            );
+            movementAPI.move(0, 0.7);
+            api.pause(0.25);
         } else if (largest == b) {
             // move to position 3
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -70, -60},
-                    new int[]{-60, -60, -30}
-            );
+            movementAPI.move(90, 0.7);
+            api.pause(0.25);
         } else {
             // Color sensor broke, move to backup position
-            endpos = api.makeTrajectories(
-                    mecanumDrive,
-                    firstMove.end(),
-                    new int[]{-34, -70},
-                    new int[]{-60, -60}
-            );
+            movementAPI.move(-180, 0.7);
+            api.pause(0.5);
+            movementAPI.move(-90, 0.7);
+            api.pause(0.7);
         }
 
-        mecanumDrive.followTrajectory(endpos);
+        movementAPI.stop();
     }
 }