diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementAPI.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementAPI.java
new file mode 100644
index 0000000..c84ddf7
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementAPI.java
@@ -0,0 +1,46 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
+
+public class MovementAPI {
+    private final DcMotor fl;
+    private final DcMotor fr;
+    private final DcMotor bl;
+    private final DcMotor br;
+
+    public DcMotor getFL() { return this.fl; }
+    public DcMotor getFR() { return this.fr; }
+    public DcMotor getBL() { return this.bl; }
+    public DcMotor getBR() { return this.br; }
+
+    public MovementAPI(DcMotor fl, DcMotor fr, DcMotor bl, DcMotor br) {
+        this.fl = fl;
+        this.fr = fr;
+        this.bl = bl;
+        this.br = br;
+
+        fl.setDirection(Direction.REVERSE);
+        bl.setDirection(Direction.REVERSE);
+        fr.setDirection(Direction.FORWARD);
+        br.setDirection(Direction.FORWARD);
+    }
+
+    public void move(double powerX, double powerY, double turn, double speed) {
+        double flPower = (powerY + powerX + turn) * speed;
+        double frPower = (powerY - powerX - turn) * speed;
+        double blPower = (powerY - powerX + turn) * speed;
+        double brPower = (powerY + powerX - turn) * speed;
+
+        double scale = Math.max(1, (Math.abs(powerY) + Math.abs(turn) + Math.abs(powerX)) * Math.abs(speed)); // shortcut for max(abs([fl,fr,bl,br]))
+        flPower /= scale;
+        frPower /= scale;
+        blPower /= scale;
+        brPower /= scale;
+
+        fl.setPower(flPower);
+        fr.setPower(frPower);
+        bl.setPower(blPower);
+        br.setPower(brPower);
+    }
+}
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