diff --git a/teamcode/BlueBoardSide.java b/teamcode/BlueBoardSide.java
new file mode 100644
index 0000000..6e4abe1
--- /dev/null
+++ b/teamcode/BlueBoardSide.java
@@ -0,0 +1,169 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.opMode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+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.List;
+
+@Autonomous(name="Blue, Board Side")
+public class BlueBoardSide extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+    public double tag;
+
+    /**
+     * The variable to store our instance of the AprilTag processor.
+     */
+    private AprilTagProcessor aprilTag;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+        // init();
+        DcMotor frontLeftMotor = hardwareMap.dcMotor.get("fl");
+        DcMotor backLeftMotor = hardwareMap.dcMotor.get("bl");
+        DcMotor frontRightMotor = hardwareMap.dcMotor.get("fr");
+        DcMotor backRightMotor = hardwareMap.dcMotor.get("br");
+
+        frontRightMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        backRightMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        initAprilTag();
+
+        telemetry.update();
+
+        waitForStart();
+        // start();
+        if (isStopRequested()) return;
+        double speed = 0.5;
+
+        while (opModeIsActive()) {
+            // loop();
+            telemetry.update();
+            frontRightMotor.setPower(speed);
+            frontLeftMotor.setPower(speed);
+            backRightMotor.setPower(speed);
+            backLeftMotor.setPower(speed);
+
+
+            telemetryAprilTag();
+            if (gamepad1.a) {
+                frontRightMotor.setPower(speed);
+                frontLeftMotor.setPower(speed);
+                backRightMotor.setPower(speed);
+                backLeftMotor.setPower(speed);
+            }
+            else {
+                frontRightMotor.setPower(0);
+                frontLeftMotor.setPower(0);
+                backRightMotor.setPower(0);
+                backLeftMotor.setPower(0);
+            }
+
+            if (gamepad1.x) {
+                frontRightMotor.setPower(0);
+                frontLeftMotor.setPower(speed);
+                backRightMotor.setPower(0);
+                backLeftMotor.setPower(speed);
+            }
+            else {
+                frontRightMotor.setPower(0);
+                frontLeftMotor.setPower(0);
+                backRightMotor.setPower(0);
+                backLeftMotor.setPower(0);
+            }
+
+            if (gamepad1.b) {
+                frontRightMotor.setPower(0);
+                frontLeftMotor.setPower(speed);
+                backRightMotor.setPower(0);
+                backLeftMotor.setPower(speed);
+            }
+            else {
+                frontRightMotor.setPower(0);
+                frontLeftMotor.setPower(0);
+                backRightMotor.setPower(0);
+                backLeftMotor.setPower(0);
+            }
+
+            telemetry.addData("--> ", tag);
+            if (tag == 1){
+                telemetry.addData("--> ", "The First Tag!");
+                //requestOpModeStop();
+            }
+            else if (tag == 2){
+                telemetry.addData("--> ", "The Second Tag!");
+                requestOpModeStop();
+            }
+            else if (tag == 2){
+                telemetry.addData("--> ", "The Third Tag!");
+                requestOpModeStop();
+            }
+
+        }
+        visionPortal.close();
+    }
+
+    private void initAprilTag() {
+
+        // Create the AprilTag processor the easy way.
+        aprilTag = AprilTagProcessor.easyCreateWithDefaults();
+
+        // Create the vision portal the easy way.
+        if (USE_WEBCAM) {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                    hardwareMap.get(WebcamName.class, "Webcam 1"), aprilTag);
+        } else {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                    BuiltinCameraDirection.BACK, aprilTag);
+        }
+
+    }   // end method initAprilTag()
+
+    /**
+     * Add telemetry about AprilTag detections.
+     */
+    public void telemetryAprilTag() {
+
+        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+        telemetry.addData("# AprilTags Detected", currentDetections.size());
+
+        // Step through the list of detections and display info for each one.
+        for (AprilTagDetection detection : currentDetections) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+
+            tag = detection.id;
+            String name = detection.metadata.name;
+            telemetry.addData("id: ", tag);
+        }
+
+        // Add "key" information to telemetry
+        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
+        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
+        telemetry.addLine("RBE = Range, Bearing & Elevation");
+
+    }   // end method telemetryAprilTag()
+    }
+
diff --git a/teamcode/BlueFarSide.java b/teamcode/BlueFarSide.java
new file mode 100644
index 0000000..ba3549e
--- /dev/null
+++ b/teamcode/BlueFarSide.java
@@ -0,0 +1,31 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+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.List;
+
+@Autonomous(name="Blue, Far Side")
+public class BlueFarSide extends LCore {
+
+    @Override
+    public void runOpMode() {
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        // move robot across april tags, stop robot when it finds the correct one
+
+
+        while (opModeIsActive()) {
+
+            //telemetryAprilTag();
+        }
+        visionPortal.close();
+    }
+
+}
\ No newline at end of file
diff --git a/teamcode/FieldCentric.java b/teamcode/FieldCentric.java
new file mode 100644
index 0000000..d42d91c
--- /dev/null
+++ b/teamcode/FieldCentric.java
@@ -0,0 +1,17 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+@TeleOp(name="Field Centric")
+public class FieldCentric extends OpMode {
+    @Override
+    public void init(){
+
+    }
+
+    @Override
+    public void loop(){
+
+    }
+}
diff --git a/teamcode/LCore.java b/teamcode/LCore.java
new file mode 100644
index 0000000..7cfab95
--- /dev/null
+++ b/teamcode/LCore.java
@@ -0,0 +1,86 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+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.List;
+
+//@Autonomous(name="Test Core L")
+public class LCore extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    private AprilTagProcessor aprilTag;
+    public double tag;
+    public String name;
+
+    public VisionPortal visionPortal;
+    @Override
+    public void runOpMode() {
+    }
+
+
+
+    public void initAprilTag() {
+
+        // Create the AprilTag processor the easy way.
+        aprilTag = AprilTagProcessor.easyCreateWithDefaults();
+
+        // Create the vision portal the easy way.
+        if (USE_WEBCAM) {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                    hardwareMap.get(WebcamName.class, "Webcam 1"), aprilTag);
+        } else {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                    BuiltinCameraDirection.BACK, aprilTag);
+        }
+
+    }   // end method initAprilTag()
+
+    public void telemetryAprilTag() {
+
+        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+        //telemetry.addData("# AprilTags Detected", currentDetections.size());
+
+        // Step through the list of detections and display info for each one.
+        for (AprilTagDetection detection : currentDetections) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            }
+            else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+
+            tag = detection.id;
+            name = detection.metadata.name;
+            telemetry.addData("id: ", tag);
+            if (tag == 2){
+                stop();
+            }
+        }
+
+
+
+
+        // Add "key" information to telemetry
+        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
+        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
+        telemetry.addLine("RBE = Range, Bearing & Elevation");
+
+    }   // end method telemetryAprilTag()
+}
diff --git a/teamcode/RedBoardSide.java b/teamcode/RedBoardSide.java
new file mode 100644
index 0000000..0434617
--- /dev/null
+++ b/teamcode/RedBoardSide.java
@@ -0,0 +1,31 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+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.List;
+
+@Autonomous(name="Red, Board Side")
+public class RedBoardSide extends LCore {
+
+    @Override
+    public void runOpMode() {
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        // move robot across april tags, stop robot when it finds the correct one
+
+
+        while (opModeIsActive()) {
+
+            //telemetryAprilTag();
+        }
+        visionPortal.close();
+    }
+
+}
\ No newline at end of file
diff --git a/teamcode/RedFarSide.java b/teamcode/RedFarSide.java
new file mode 100644
index 0000000..ba84c59
--- /dev/null
+++ b/teamcode/RedFarSide.java
@@ -0,0 +1,31 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+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.List;
+
+@Autonomous(name="Red, Far Side")
+public class RedFarSide extends LCore {
+
+    @Override
+    public void runOpMode() {
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        // move robot across april tags, stop robot when it finds the correct one
+
+
+        while (opModeIsActive()) {
+
+            //telemetryAprilTag();
+        }
+        visionPortal.close();
+    }
+
+}
\ No newline at end of file