diff --git a/teamcode/BlueBoardSide.java b/teamcode/BlueBoardSide.java
new file mode 100644
index 0000000..1998257
--- /dev/null
+++ b/teamcode/BlueBoardSide.java
@@ -0,0 +1,85 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.DriverStation.output;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.HardcoreMovements.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.configureMotors.*;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Blue, Board Side")
+public class BlueBoardSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        // LinearOpMode that calls a different form of OpMode:
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();} // stop OpMode if the button is pressed
+        while (opModeIsActive()) {runLoop();}
+        visionPortal.close(); // close view for camera
+    }
+
+    @Override
+    public void runInit() {
+        mapMotors("fr","fl","br","bl");
+        forwardMotors(false,true,false,true);
+        // ^ set motor directions
+        initAprilTag("Camera 1");
+    }
+
+    @Override
+    public void runInitLoop(){}
+
+    @Override
+    public void runStart() {}
+    @Override
+    public void runStop() {
+        stopAll();
+    }
+    @Override
+    public void runLoop() {
+
+        setAprilTagVariables();
+        // ^ this line puts the april tag number into a variable, along with other april tag infromation
+        if (gamepad1.a) {
+            drive(0.5,0.5, 0.25,0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+
+        if (gamepad1.x) {
+            drive(0.5,-0.5, 0.25,-0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+
+        if (gamepad1.b) {
+            drive(-0.5,0.5, -0.25,0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+        output(tagId);
+        if (tagId == 1){
+            output("The First Tag!");
+            runStop();
+        }
+        else if (tagId == 2){
+            output("The Second Tag!");
+            runStop();
+        }
+        else if (tagId == 3){
+            output("The Third Tag!");
+            runStop();
+        }
+
+    }
+}
+
diff --git a/teamcode/BlueFarSide.java b/teamcode/BlueFarSide.java
new file mode 100644
index 0000000..d372a7e
--- /dev/null
+++ b/teamcode/BlueFarSide.java
@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Blue, Far Side")
+public class BlueFarSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+}
\ No newline at end of file
diff --git a/teamcode/Main.java b/teamcode/Main.java
new file mode 100644
index 0000000..2e94cff
--- /dev/null
+++ b/teamcode/Main.java
@@ -0,0 +1,98 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.operations.inputs.Imu.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.configureMotors.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.pixelMotor.ConfigureMotorPixel.pixelMotor;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+import org.firstinspires.ftc.teamcode.operations.outputs.motors.barMotor.BarMotorMovements;
+
+@TeleOp
+public class Main extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+        mapMotors("fr","fl","br","bl");
+        forwardMotors(false,true,false,true);
+        //ConfigureMotorBar.mapMotor("bar");
+        //ConfigureMotorPixel.mapMotor("pixel");
+        imuGet("imu", "LEFT", "UP");
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+        double y = -gamepad1.left_stick_y; // Remember, Y stick value is reversed
+        double x = gamepad1.left_stick_x;
+        double rx = gamepad1.right_stick_x;
+
+        // This button choice was made so that it is hard to hit on accident,
+        // it can be freely changed based on preference.
+        // The equivalent button is start on Xbox-style controllers.
+        if (gamepad1.options) {
+            imu.resetYaw();
+        }
+
+        double botHeading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
+
+        // Rotate the movement direction counter to the bot's rotation
+        double rotX = x * Math.cos(-botHeading) - y * Math.sin(-botHeading);
+        double rotY = x * Math.sin(-botHeading) + y * Math.cos(-botHeading);
+
+        rotX = rotX * 1.1;  // Counteract imperfect strafing
+
+        // Denominator is the largest motor power (absolute value) or 1
+        // This ensures all the powers maintain the same ratio,
+        // but only if at least one is out of the range [-1, 1]
+        double denominator = Math.max(Math.abs(rotY) + Math.abs(rotX) + Math.abs(rx), 1);
+        double frontLeftPower = (rotY + rotX + rx) / denominator;
+        double backLeftPower = (rotY - rotX + rx) / denominator;
+        double frontRightPower = (rotY - rotX - rx) / denominator;
+        double backRightPower = (rotY + rotX - rx) / denominator;
+
+        if (gamepad2.a) {
+            pixelMotor.setPower(1); // set speed to pixel motor to pick up pixels
+        }
+        else if (gamepad2.y) { // run to position for bar motor
+            pixelMotor.setPower(0);
+            BarMotorMovements.rotate(50, 1);
+
+        }
+
+        fl.setPower(frontLeftPower);
+        bl.setPower(backLeftPower);
+        fr.setPower(frontRightPower);
+        br.setPower(backRightPower);
+
+
+        // speed is still there, more force given to joystick, more power.
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+}
\ No newline at end of file
diff --git a/teamcode/RedBoardSide.java b/teamcode/RedBoardSide.java
new file mode 100644
index 0000000..31f56bc
--- /dev/null
+++ b/teamcode/RedBoardSide.java
@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Red, Board Side")
+public class RedBoardSide extends TargetOperations {
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}
\ No newline at end of file
diff --git a/teamcode/RedFarSide.java b/teamcode/RedFarSide.java
new file mode 100644
index 0000000..59aeb68
--- /dev/null
+++ b/teamcode/RedFarSide.java
@@ -0,0 +1,46 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Red, Far Side")
+public class RedFarSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}
\ No newline at end of file
diff --git a/teamcode/operations/TargetOperations.java b/teamcode/operations/TargetOperations.java
new file mode 100644
index 0000000..db89256
--- /dev/null
+++ b/teamcode/operations/TargetOperations.java
@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.operations;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+public abstract class TargetOperations extends LinearOpMode implements TargetSetup {
+
+    public void stopAll() {
+        requestOpModeStop();
+    }
+
+}
\ No newline at end of file
diff --git a/teamcode/operations/TargetSetup.java b/teamcode/operations/TargetSetup.java
new file mode 100644
index 0000000..4ac5484
--- /dev/null
+++ b/teamcode/operations/TargetSetup.java
@@ -0,0 +1,15 @@
+// public is not needed, because Interface has public by default
+package org.firstinspires.ftc.teamcode.operations;
+
+ interface TargetSetup {
+     /*
+     this interface was made so that
+     both LinearOpMode and OpMode can be
+     ran within the same class
+      */
+     void runInit();
+     void runInitLoop();
+     void runStart();
+     void runLoop();
+     void runStop();
+}
diff --git a/teamcode/operations/inputs/AprilTag.java b/teamcode/operations/inputs/AprilTag.java
new file mode 100644
index 0000000..a1fa369
--- /dev/null
+++ b/teamcode/operations/inputs/AprilTag.java
@@ -0,0 +1,81 @@
+package org.firstinspires.ftc.teamcode.operations.inputs;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class AprilTag {
+
+    public static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    public static VisionPortal visionPortal;
+
+    public static double firstTagId, tagId;
+    public static AprilTagDetection firstTagFound;
+    public static double tagsFound;
+    public static String tagName;
+
+    public static List tagCenter, tagPosition;
+
+    public static AprilTagProcessor aprilTag;
+
+
+    public static void initAprilTag(String CameraName) {
+
+        // Create the AprilTag processor
+        aprilTag = AprilTagProcessor.easyCreateWithDefaults();
+
+        visionPortal = VisionPortal.easyCreateWithDefaults(
+                hardwareMap.get(WebcamName.class, CameraName), aprilTag);
+    }
+
+    public static void initAprilTag() {
+        // default hardware map name for the camera
+        initAprilTag("Camera 1"); // sets the name to the default name
+    }
+
+    public static void setAprilTagVariables() {
+        // add AprilTag found information to set variables
+
+        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+        firstTagFound = currentDetections.get(0);
+        firstTagId = firstTagFound.id;
+        tagsFound = currentDetections.size();
+
+        // Step through the list of detections and display info for each one.
+        for (AprilTagDetection detection : currentDetections) {
+            if (detection.metadata != null) {
+
+                tagName = detection.metadata.name;
+                tagPosition = new ArrayList();
+                tagPosition.add(detection.ftcPose.x);
+                tagPosition.add(detection.ftcPose.y);
+                tagPosition.add(detection.ftcPose.z);
+                tagPosition.add(detection.ftcPose.pitch);
+                tagPosition.add(detection.ftcPose.roll);
+                tagPosition.add(detection.ftcPose.yaw);
+                tagPosition.add(detection.ftcPose.range);
+                tagPosition.add(detection.ftcPose.bearing);
+                tagPosition.add(detection.ftcPose.elevation);
+
+            }
+            else {
+
+                tagName = "unknown";
+            }
+
+            tagId = detection.id;
+
+            tagCenter = new ArrayList();
+            tagCenter.add(detection.center.x);
+            tagCenter.add(detection.center.y);
+        }
+    }
+
+}
diff --git a/teamcode/operations/inputs/Imu.java b/teamcode/operations/inputs/Imu.java
new file mode 100644
index 0000000..eaa7585
--- /dev/null
+++ b/teamcode/operations/inputs/Imu.java
@@ -0,0 +1,82 @@
+package org.firstinspires.ftc.teamcode.operations.inputs;
+
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.BACKWARD;
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.FORWARD;
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.UP;
+
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+
+
+public class Imu {
+
+    public static IMU imu;
+
+    static HardwareMap hardwareMap = null;
+
+    public static void imuGet (String hardwareMapImuName, String logoFacing, String usbFacing) {
+        // get imu from hardware map and set the directions to the directions of the robot's brain
+        imu = hardwareMap.get(IMU .class, hardwareMapImuName);
+        // Retrieve the IMU from the hardware map
+        IMU.Parameters parameters = null;
+        // Adjust the orientation parameters to match your robot
+        if (logoFacing == UP.name() && usbFacing == FORWARD.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    UP,
+                    RevHubOrientationOnRobot.UsbFacingDirection.FORWARD));
+        }
+
+        else if (logoFacing == LEFT.name() && usbFacing == UP.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.LEFT,
+                    RevHubOrientationOnRobot.UsbFacingDirection.UP));
+        }
+
+        else if (logoFacing == RIGHT.name() && usbFacing == UP.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.RIGHT,
+                    RevHubOrientationOnRobot.UsbFacingDirection.UP));
+        }
+
+        else if (logoFacing == FORWARD.name() && usbFacing == UP.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.FORWARD,
+                    RevHubOrientationOnRobot.UsbFacingDirection.UP));
+        }
+
+        else if (logoFacing == BACKWARD.name() && usbFacing == UP.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.BACKWARD,
+                    RevHubOrientationOnRobot.UsbFacingDirection.UP));
+        }
+
+        else if (logoFacing == FORWARD.name() && usbFacing == RIGHT.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.FORWARD,
+                    RevHubOrientationOnRobot.UsbFacingDirection.RIGHT));
+        }
+
+        else if (logoFacing == UP.name() && usbFacing == BACKWARD.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    UP,
+                    RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD));
+        }
+
+        else if (logoFacing == DOWN.name() && usbFacing == FORWARD.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.DOWN,
+                    RevHubOrientationOnRobot.UsbFacingDirection.FORWARD));
+        }
+
+        else if (logoFacing == FORWARD.name() && usbFacing == LEFT.name()) {
+            parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.FORWARD,
+                    RevHubOrientationOnRobot.UsbFacingDirection.LEFT));
+        }
+        imu.initialize(parameters);
+    }
+}
diff --git a/teamcode/operations/outputs/DriverStation.java b/teamcode/operations/outputs/DriverStation.java
new file mode 100644
index 0000000..404373f
--- /dev/null
+++ b/teamcode/operations/outputs/DriverStation.java
@@ -0,0 +1,11 @@
+package org.firstinspires.ftc.teamcode.operations.outputs;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
+
+public class DriverStation {
+    public static void output(Object output) {
+        // display to telemetry without a caption
+        telemetry.addData("", output);
+        telemetry.update();
+    }
+}
diff --git a/teamcode/operations/outputs/motors/barMotor/BarMotorMovements.java b/teamcode/operations/outputs/motors/barMotor/BarMotorMovements.java
new file mode 100644
index 0000000..709d381
--- /dev/null
+++ b/teamcode/operations/outputs/motors/barMotor/BarMotorMovements.java
@@ -0,0 +1,20 @@
+package org.firstinspires.ftc.teamcode.operations.outputs.motors.barMotor;
+
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.barMotor.ConfigureMotorBar.barMotor;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class BarMotorMovements {
+
+        public void motorEncoder () {
+            barMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            barMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+            barMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        }
+
+        public static void rotate(int rotations, int speed) {
+            barMotor.setTargetPosition(rotations);
+            barMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            barMotor.setPower(speed);
+    }
+}
diff --git a/teamcode/operations/outputs/motors/barMotor/ConfigureMotorBar.java b/teamcode/operations/outputs/motors/barMotor/ConfigureMotorBar.java
new file mode 100644
index 0000000..a243496
--- /dev/null
+++ b/teamcode/operations/outputs/motors/barMotor/ConfigureMotorBar.java
@@ -0,0 +1,14 @@
+package org.firstinspires.ftc.teamcode.operations.outputs.motors.barMotor;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class ConfigureMotorBar {
+
+    public static DcMotor barMotor;
+    public static void mapMotor (String motorName) {
+        barMotor = hardwareMap.dcMotor.get(motorName);
+    }
+
+}
diff --git a/teamcode/operations/outputs/motors/drive/HardcoreMovements.java b/teamcode/operations/outputs/motors/drive/HardcoreMovements.java
new file mode 100644
index 0000000..7aac3a2
--- /dev/null
+++ b/teamcode/operations/outputs/motors/drive/HardcoreMovements.java
@@ -0,0 +1,91 @@
+package org.firstinspires.ftc.teamcode.operations.outputs.motors.drive;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.configureMotors.*;
+
+public class HardcoreMovements {
+
+    public static void forward(double speed) {
+        fr.setPower(speed);
+        fl.setPower(speed);
+        br.setPower(speed);
+        bl.setPower(speed);
+
+    }
+
+    public static void backward(double speed) {
+        fr.setPower(speed);
+        fl.setPower(speed);
+        br.setPower(speed);
+        bl.setPower(speed);
+
+    }
+
+    public static void left(double speed) {
+        fr.setPower(speed);
+        fl.setPower(-speed);
+        br.setPower(-speed);
+        bl.setPower(speed);
+
+    }
+
+    public static void right(double speed) {
+        fr.setPower(-speed);
+        fl.setPower(speed);
+        br.setPower(speed);
+        bl.setPower(-speed);
+
+    }
+
+    public static void forwardLeft(double speed) {
+        fr.setPower(speed);
+        bl.setPower(speed);
+
+    }
+
+    public static void forwardRight(double speed) {
+        fl.setPower(speed);
+        br.setPower(speed);
+
+    }
+
+    public static void backwardLeft(double speed) {;
+        fl.setPower(-speed);
+        br.setPower(-speed);
+
+    }
+
+    public static void backwardRight(double speed) {
+        fr.setPower(-speed);
+        bl.setPower(-speed);
+
+    }
+
+    public static void turnRight(double speed) {
+        fr.setPower(-speed);
+        fl.setPower(speed);
+        br.setPower(-speed);
+        bl.setPower(speed);
+
+    }
+
+    public static void turnLeft(double speed) {
+        fr.setPower(speed);
+        fl.setPower(-speed);
+        br.setPower(speed);
+        bl.setPower(-speed);
+
+    }
+
+    public static void drive(double frontLeftSpeed, double frontRightSpeed, double backLeftSpeed, double backRightSpeed) {
+        fr.setPower(frontLeftSpeed);
+        fl.setPower(frontRightSpeed);
+        br.setPower(backLeftSpeed);
+        bl.setPower(backRightSpeed);
+
+    }
+
+    public static void driveZeroPower() {
+        drive(0,0,0,0);
+    }
+    // ^ set all motors to 0, this stops all movements
+
+}
diff --git a/teamcode/operations/outputs/motors/drive/configureMotors.java b/teamcode/operations/outputs/motors/drive/configureMotors.java
new file mode 100644
index 0000000..a1c1d1c
--- /dev/null
+++ b/teamcode/operations/outputs/motors/drive/configureMotors.java
@@ -0,0 +1,59 @@
+package org.firstinspires.ftc.teamcode.operations.outputs.motors.drive;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class configureMotors {
+
+    public static DcMotor fr;
+    public static DcMotor fl;
+    public static DcMotor br;
+    public static DcMotor bl;
+
+    static HardwareMap hardwareMap = null;
+
+    public static void mapMotors (String frontLeftMotor, String frontRightMotor, String backLeftMotor, String backRightMotor) {
+        fr = hardwareMap.dcMotor.get(frontRightMotor);
+        fl = hardwareMap.dcMotor.get(frontLeftMotor);
+        br = hardwareMap.dcMotor.get(backRightMotor);
+        bl = hardwareMap.dcMotor.get(backLeftMotor);
+    }
+
+
+    public static void forwardMotors (boolean frontLeftMotor, boolean frontRightMotor, boolean backLeftMotor, boolean backRightMotor) {
+
+        if (frontRightMotor) {
+            fr.setDirection(DcMotorSimple.Direction.FORWARD);
+        }
+
+        else {
+            fr.setDirection(DcMotorSimple.Direction.REVERSE);
+        }
+
+        if (frontLeftMotor) {
+            fl.setDirection(DcMotorSimple.Direction.FORWARD);
+        }
+
+        else {
+            fl.setDirection(DcMotorSimple.Direction.REVERSE);
+        }
+
+        if (backRightMotor) {
+            br.setDirection(DcMotorSimple.Direction.FORWARD);
+        }
+
+        else {
+            br.setDirection(DcMotorSimple.Direction.REVERSE);
+        }
+
+        if (backLeftMotor) {
+            bl.setDirection(DcMotorSimple.Direction.FORWARD);
+        }
+
+        else {
+            bl.setDirection(DcMotorSimple.Direction.REVERSE);
+        }
+    }
+
+}
diff --git a/teamcode/operations/outputs/motors/pixelMotor/ConfigureMotorPixel.java b/teamcode/operations/outputs/motors/pixelMotor/ConfigureMotorPixel.java
new file mode 100644
index 0000000..91e7288
--- /dev/null
+++ b/teamcode/operations/outputs/motors/pixelMotor/ConfigureMotorPixel.java
@@ -0,0 +1,15 @@
+package org.firstinspires.ftc.teamcode.operations.outputs.motors.pixelMotor;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class ConfigureMotorPixel {
+
+    public static DcMotor pixelMotor;
+
+    public static void mapMotor (String motorName) {
+        pixelMotor = hardwareMap.dcMotor.get(motorName);
+    }
+
+}
diff --git a/teamcode/operations/outputs/motors/pixelMotor/PixelMotorMovements.java b/teamcode/operations/outputs/motors/pixelMotor/PixelMotorMovements.java
new file mode 100644
index 0000000..d1704f7
--- /dev/null
+++ b/teamcode/operations/outputs/motors/pixelMotor/PixelMotorMovements.java
@@ -0,0 +1,21 @@
+package org.firstinspires.ftc.teamcode.operations.outputs.motors.pixelMotor;
+
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.pixelMotor.ConfigureMotorPixel.pixelMotor;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class PixelMotorMovements {
+
+    public static void motorEncoder () {
+        pixelMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        pixelMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        pixelMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+    }
+
+    public static void rotate (int rotations, int speed) {
+        pixelMotor.setTargetPosition(rotations);
+        pixelMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        pixelMotor.setPower(speed);
+    }
+
+}