diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
index 73e4e98..5600550 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
@@ -71,17 +71,19 @@ public class Robot {
     private Slides slides;
 
     GamepadEx controller2 = new GamepadEx(gamepad2);
+    GamepadEx controller1 = new GamepadEx(gamepad1);
+
 
     public Robot init(HardwareMap hardwareMap) {
         this.drive = new MecanumDrive(hardwareMap);
-        this.hang = new Hang().init(hardwareMap);
-        this.arm = new Arm().init(hardwareMap);
-        this.wrist = new Wrist().init(hardwareMap);
-        this.claw = new Claw().init(hardwareMap);
-        this.camera = new Camera(hardwareMap);
-        this.plane = new Plane().init(hardwareMap);
-        this.slides= new Slides().init(hardwareMap);
-        this.led = new Led().init(hardwareMap);
+//        this.hang = new Hang().init(hardwareMap);
+//        this.arm = new Arm().init(hardwareMap);
+//        this.wrist = new Wrist().init(hardwareMap);
+//        this.claw = new Claw().init(hardwareMap);
+//        this.camera = new Camera(hardwareMap);
+//        this.plane = new Plane().init(hardwareMap);
+//        this.slides= new Slides().init(hardwareMap);
+//        this.led = new Led().init(hardwareMap);
         return this;
     }
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
index c2055ad..8b8e933 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
@@ -32,11 +32,12 @@ import com.acmerobotics.roadrunner.trajectory.constraints.MinVelocityConstraint;
 import com.acmerobotics.roadrunner.trajectory.constraints.ProfileAccelerationConstraint;
 import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint;
 import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
@@ -323,15 +324,15 @@ public class    MecanumDrive extends com.acmerobotics.roadrunner.drive.MecanumDr
         return new ProfileAccelerationConstraint(maxAccel);
     }
 
-    public void setInput(Gamepad gamepad1, Gamepad gamepad2) {
-        double speedScale = gamepad1.y ? SLOWMODE_SPEED : SPEED;
-        double turnScale = gamepad1.y ? SLOWMODE_TURN : TURN;
+    public void setInput(GamepadEx controller1, GamepadEx controller2) {
+        double speedScale = controller1.isDown(GamepadKeys.Button.Y) ? SLOWMODE_SPEED : SPEED;
+        double turnScale = controller1.isDown(GamepadKeys.Button.Y) ? SLOWMODE_TURN : TURN;
 
         this.setWeightedDrivePower(
                 new Pose2d(
-                        gamepad1.left_stick_y* -1 * speedScale,
-                        gamepad1.left_stick_x*-1 * speedScale,
-                        -gamepad1.right_stick_x * turnScale
+                        controller1.getLeftY()* -1 * speedScale,
+                        controller1.getLeftX()*-1 * speedScale,
+                        -controller1.getRightX() * turnScale
                 ));
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
index 9dbb458..63d42a6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.arcrobotics.ftclib.gamepad.GamepadEx;
-import com.arcrobotics.ftclib.gamepad.GamepadKeys;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.teamcode.hardware.Robot;
@@ -18,63 +17,65 @@ public class MainTeleOp extends OpMode {
     }
 
     GamepadEx controller2 = new GamepadEx(gamepad2);
+    GamepadEx controller1 = new GamepadEx(gamepad1);
+
 
     public void loop() {
-        boolean slideUp = controller2.isDown(GamepadKeys.Button.DPAD_UP);
-        boolean slideDown = controller2.isDown(GamepadKeys.Button.DPAD_LEFT);
-        boolean hang = gamepad2.left_bumper;
-        boolean hangRelease = gamepad2.right_bumper;
-        boolean hangPlane = gamepad2.y;
-        boolean plane = gamepad2.dpad_right;
+//        boolean slideUp = controller2.isDown(GamepadKeys.Button.DPAD_UP);
+//        boolean slideDown = controller2.isDown(GamepadKeys.Button.DPAD_LEFT);
+//        boolean hang = gamepad2.left_bumper;
+//        boolean hangRelease = gamepad2.right_bumper;
+//        boolean hangPlane = gamepad2.y;
+//        boolean plane = gamepad2.dpad_right;
 //Drive
-        robot.getDrive().setInput(gamepad1, gamepad2);
+        robot.getDrive().setInput(controller1, controller2);
 //slides
-        if (slideUp) {
-            this.robot.getSlides().slideUp();
-        } else if (slideDown) {
-            this.robot.getSlides().slideDown();
-        } else if (controller2.wasJustReleased(GamepadKeys.Button.DPAD_DOWN)
-                || controller2.wasJustReleased(GamepadKeys.Button.DPAD_LEFT)) {
-            this.robot.getSlides().slideStop();
-        }
-//Macros
-        this.robot.pickupMacro(controller2, getRuntime()); //DPADDOWN
-
-//Arm and Wrist
-        if (controller2.wasJustPressed(GamepadKeys.Button.X)) {
-            this.robot.getArm().armSecondaryScore();
-            this.robot.getWrist().wristScore();
-        } else if (controller2.wasJustPressed(GamepadKeys.Button.A)) {
-            this.robot.getArm().armRest();
-            this.robot.getWrist().wristPickup();
-        }
-//Claw
-        if (controller2.wasJustPressed(GamepadKeys.Button.B)) {
-            gamepad1.rumble(300);
-        } else if (controller2.isDown(GamepadKeys.Button.B)){
-            this.robot.getClaw().open();
-        } else if (controller2.wasJustReleased(GamepadKeys.Button.B)){
-            this.robot.getClaw().close();
-        }
-//Hang
-        if (hang) {
-            this.robot.getHang().hang();
-        } else if (hangRelease){
-            this.robot.getHang().hangRelease();
-        } else if (hangPlane) {
-            this.robot.getHang().hangPlane();
-        }
-
-        int Position = this.robot.getHang().hangRight.getCurrentPosition();
-        telemetry.addData("position",(Position));
-        telemetry.update();
-
-//Plane
-        if (plane) {
-            this.robot.getPlane().planeLaunch();
-        }else {
-            this.robot.getPlane().planeLock();
-        }
-
+//        if (slideUp) {
+//            this.robot.getSlides().slideUp();
+//        } else if (slideDown) {
+//            this.robot.getSlides().slideDown();
+//        } else if (controller2.wasJustReleased(GamepadKeys.Button.DPAD_UP)
+//                || controller2.wasJustReleased(GamepadKeys.Button.DPAD_LEFT)) {
+//            this.robot.getSlides().slideStop();
+//        }
+////Macros
+//        this.robot.pickupMacro(controller2, getRuntime()); //DPADDOWN
+//
+////Arm and Wrist
+//        if (controller2.wasJustPressed(GamepadKeys.Button.X)) {
+//            this.robot.getArm().armSecondaryScore();
+//            this.robot.getWrist().wristScore();
+//        } else if (controller2.wasJustPressed(GamepadKeys.Button.A)) {
+//            this.robot.getArm().armRest();
+//            this.robot.getWrist().wristPickup();
+//        }
+////Claw
+//        if (controller2.wasJustPressed(GamepadKeys.Button.B)) {
+//            gamepad1.rumble(300);
+//        } else if (controller2.isDown(GamepadKeys.Button.B)){
+//            this.robot.getClaw().open();
+//        } else if (controller2.wasJustReleased(GamepadKeys.Button.B)){
+//            this.robot.getClaw().close();
+//        }
+////Hang
+//        if (hang) {
+//            this.robot.getHang().hang();
+//        } else if (hangRelease){
+//            this.robot.getHang().hangRelease();
+//        } else if (hangPlane) {
+//            this.robot.getHang().hangPlane();
+//        }
+//
+//        int Position = this.robot.getHang().hangRight.getCurrentPosition();
+//        telemetry.addData("position",(Position));
+//        telemetry.update();
+//
+////Plane
+//        if (plane) {
+//            this.robot.getPlane().planeLaunch();
+//        }else {
+//            this.robot.getPlane().planeLock();
+//        }
+//
     }
-}
\ No newline at end of file
+}