diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java
index 728ac4e..a3bb3df 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java
@@ -2,19 +2,13 @@ package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
 
 @Autonomous
 public class AutoBlueSubstationParkingBehavior extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
-        DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
-        DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
-        DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
-        DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
-
         API api = new API(this);
-        MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
+        MovementAPI movementAPI = new MovementAPI(api);
 
         waitForStart();
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java
index 2c91ba7..fe61c30 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java
@@ -2,19 +2,14 @@ package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
 
 @Autonomous
 public class AutoBlueTerminalParkingBehavior extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
-        DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
-        DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
-        DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
-        DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
 
         API api = new API(this);
-        MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
+        MovementAPI movementAPI = new MovementAPI(api);
 
         waitForStart();
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java
index b57712b..cdae9c9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java
@@ -2,19 +2,13 @@ package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
 
 @Autonomous
 public class AutoRedSubstationParkingBehavior extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
-        DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
-        DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
-        DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
-        DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
-
         API api = new API(this);
-        MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
+        MovementAPI movementAPI = new MovementAPI(api);
 
         waitForStart();
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java
index d83fd2c..dc0e139 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java
@@ -2,20 +2,15 @@ package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
 
 
 @Autonomous
 public class AutoRedTerminalParkingBehavior extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
-        DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
-        DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
-        DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
-        DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
 
         API api = new API(this);
-        MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
+        MovementAPI movementAPI = new MovementAPI(api);
 
         waitForStart();
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/ColorSensorTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/ColorSensorTest.java
index ecf0c47..d0aadff 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/ColorSensorTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/ColorSensorTest.java
@@ -9,12 +9,13 @@ public class ColorSensorTest extends LinearOpMode {
     @Override
     public void runOpMode() {
         ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
+        API api = new API(this);
+
         waitForStart();
         while (opModeIsActive()) {
-           telemetry.addData("r:", sensor.red());
-           telemetry.addData("g:", sensor.green());
-           telemetry.addData("b:", sensor.blue());
-           telemetry.update();
+           api.print("r:", String.valueOf(sensor.red()));
+           api.print("g:", String.valueOf(sensor.green()));
+           api.print("b:", String.valueOf(sensor.blue()));
         }
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/MovementAPI.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/MovementAPI.java
index e2cd059..d70f419 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/MovementAPI.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/MovementAPI.java
@@ -18,22 +18,17 @@ public class MovementAPI {
     public DcMotor getBR() { return br; }
 
     /**
-     * Initializes the API
-     *
-     * @param _fl the front-left wheel
-     * @param _fr the front-right wheel
-     * @param _bl the back-left wheel
-     * @param _br the back-right wheel
+     * Initializes the MovementAPI
      */
-    public MovementAPI(API api, DcMotor _fl, DcMotor _fr, DcMotor _bl, DcMotor _br) {
+    public MovementAPI(API api) {
         this.api = api;
 
         api.print("Initializing MovementApi...");
 
-        fl = _fl;
-        fr = _fr;
-        bl = _bl;
-        br = _br;
+        fl = api.opMode.hardwareMap.get(DcMotor.class, "frontLeft");
+        fr = api.opMode.hardwareMap.get(DcMotor.class, "frontRight");
+        bl = api.opMode.hardwareMap.get(DcMotor.class, "rearLeft");
+        br = api.opMode.hardwareMap.get(DcMotor.class, "rearRight");
 
         fl.setDirection(DcMotor.Direction.REVERSE);
         bl.setDirection(DcMotor.Direction.REVERSE);