diff --git a/.idea/misc.xml b/.idea/misc.xml
index 2a4d5b5..bdd9278 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
   <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
diff --git a/README.md b/README.md
index e69de29..d2d4ef8 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1 @@
+This is the code for 2021-2022 FreeOfCharge team. 
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoModeTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoModeTest.java
new file mode 100644
index 0000000..95b48e8
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoModeTest.java
@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode;
+
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+@Autonomous
+public class AutoModeTest extends LinearOpMode {
+    private DcMotor frontRight, frontLeft, rearRight, rearLeft;
+    private double drive, strafe, turn;
+    private double driveMult = 0.25;
+
+    @Override
+    public void runOpMode(){
+        initParts();
+
+    }
+
+
+    public void initParts(){
+        frontRight = hardwareMap.get(DcMotor.class, "frontRight");
+        frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
+        rearRight = hardwareMap.get(DcMotor.class, "rearRight");
+        rearLeft = hardwareMap.get(DcMotor.class, "rearLeft");
+
+        // turns on encoders
+        frontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        frontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // telemetry messages
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MotorControl.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MotorControl.java
new file mode 100644
index 0000000..228fc54
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MotorControl.java
@@ -0,0 +1,71 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
+
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+
+public class MotorControl {
+    private DcMotor frontRight, frontLeft, rearRight, rearLeft;
+    private double frontRightPower, frontLeftPower, rearRightPower, rearLeftPower;
+
+    public MotorControl(){
+        init();
+    }
+    private void calcDrive(double yDrive, double xDrive){
+        frontRightPower = yDrive - xDrive;
+        frontLeftPower = yDrive + xDrive;
+        rearRightPower = yDrive + xDrive;
+        rearLeftPower = yDrive - xDrive;
+
+    }
+
+    private void addTurn(double turn){
+        if (turn > 0) {
+            frontRightPower *= (1 - turn);
+            rearRightPower *= (1 - turn);
+        }
+        if (turn < 0) {
+            frontLeftPower *= (1 + turn);
+            rearLeftPower *= (1 + turn);
+        }
+    }
+
+
+    public void drive(double yDrive, double xDrive, double speed, double turn){
+        calcDrive(yDrive, xDrive);
+        if (turn != 0) {
+            addTurn(turn);
+        }
+        frontRightPower*=speed;
+        frontLeftPower*=speed;
+        rearRightPower*=speed;
+        rearLeftPower*=speed;
+
+        frontRight.setPower(-1*frontRightPower);
+        frontLeft.setPower(frontLeftPower);
+        rearRight.setPower(-1*rearRightPower);
+        rearLeft.setPower(rearLeftPower);
+    }
+
+    private void init(){
+        frontRight = hardwareMap.get(DcMotor.class, "frontRight");
+        frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
+        rearRight = hardwareMap.get(DcMotor.class, "rearRight");
+        rearLeft = hardwareMap.get(DcMotor.class, "rearLeft");
+
+        // stops and resets encoders
+        frontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        frontLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rearRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rearLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        // turns on encoders
+        frontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        frontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java
index 2c98b72..5b0e159 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java
@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -9,7 +10,7 @@ import com.qualcomm.robotcore.hardware.Gyroscope;
 import com.qualcomm.robotcore.hardware.Servo;
 
 @TeleOp
-
+@Disabled
 public class MyFIRSTJavaOpMode extends LinearOpMode {
     private Gyroscope imu;
     private DcMotor frontRight;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java
index 63dae97..338487b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java
@@ -8,41 +8,43 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 public class controllerOpMode extends OpMode {
     private DcMotor frontRight, frontLeft, rearRight, rearLeft;
     private double drive,strafe, turn;
-    private double driveMult = 0.25;
-    public void init(){
-        frontRight = hardwareMap.get(DcMotor.class, "frontRight");
-        frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
-        rearRight = hardwareMap.get(DcMotor.class, "rearRight");
-        rearLeft = hardwareMap.get(DcMotor.class, "rearLeft");
-        telemetry.addData("Status", "Initialized");
-        telemetry.update();
-    }
+    private double speed;
+    MotorControl driveMotors;
+
+
+
+
     public void loop() {
-        strafe = gamepad1.left_stick_x;
+
+        detectSpeedChange();
+
         drive = gamepad1.left_stick_y;
+        strafe = gamepad1.left_stick_x;
         turn = gamepad1.right_stick_x;
 
+        telemetry.addData("Speed", "Current Speed = " + Math.round(speed*100));
+        telemetry.update();
+        driveMotors.drive(drive, strafe, turn, speed);
+
+    }
+
+    public void init(){
+        driveMotors = new MotorControl();
+        speed = 0.25;
+    }
+
+    public void detectSpeedChange(){
         if (gamepad1.dpad_up){
-            if (driveMult<=1) {
-                driveMult += 0.0005;
+            if (speed <= 1) {
+                speed += 0.0005;
             }
         }
         if (gamepad1.dpad_down){
-            if (driveMult>=0) {
-                driveMult -= 0.0005;
+            if (speed >= 0) {
+                speed -= 0.0005;
             }
         }
-
-        telemetry.addData("Speed", "Current Speed = " + Math.round(driveMult*100));
-        telemetry.update();
-
-
-        frontRight.setPower(driveMult*(drive - strafe - turn));
-        rearRight.setPower(driveMult*(drive + strafe - turn));
-        frontLeft.setPower(-1*driveMult*(drive + strafe + turn));
-        rearLeft.setPower(-1*driveMult*(drive - strafe + turn));
     }
 
 
-
 }