diff --git a/README.md b/README.md
index e923c7f..b62ecb5 100644
--- a/README.md
+++ b/README.md
@@ -1,60 +1,28 @@
-[![CI](https://github.com/AZ-First/Az-RBSI/actions/workflows/main.yml/badge.svg)](https://github.com/AZ-First/Az-RBSI/actions/workflows/main.yml)
+[![CI](https://github.com/Coconuts2486-FRC/FRC-2025/actions/workflows/main.yml/badge.svg)](https://github.com/Coconuts2486-FRC/FRC-2025/actions/workflows/main.yml)
 
 
-![AzFIRST Logo](https://github.com/AZ-First/Az-RBSI/blob/main/AZ-First-logo.png?raw=true)
-
-# Az-RBSI
-Arizona's Reference Build and Software Implementation for FRC Robots (read: "A-Z-ribsy")
 
 
-## Installation
 
-Installation instructions are found in the [INSTALL.md](INSTALL.md) file.  See
-the [Releases Page](https://github.com/AZ-First/Az-RBSI/releases) for details
-on the latest release, including restrictions and cautions.
 
+![Reefscape Logo](https://github.com/AZ-First/Az-RBSI/blob/main/fd_frc_reefscape_patch+frc_rgb.png?raw=true)
 
-## Purpose
-
-The purpose of Az-RBSI is to help Arizona FRC teams with:
-* Improving robot reliability / performance during “Autonomous Play”
-* Improving robot build & endurance, gameplay reliability and troubleshooting
-    skills
-* Providing a standardized robot “stack” to allow for quick software setup and
-    troubleshooting, and make it easier for Arizona teams to form effective
-    in-state alliances
+![AzFIRST Logo](https://github.com/AZ-First/Az-RBSI/blob/main/AZ-First-logo.png?raw=true)
 
+# CocoNuts Team 2486 -- 2025 REEFSCAPE Robot Code
 
-## Design Philosophy
+Drive base code built on [Az-RBSI](https://github.com/AZ-First/Az-RBSI) produced by Arizona FIRST.
 
-The Az-RBSI is centered around a "Reference Build" robot that allows for teams
-to communicate quickly and effectivly with each other about gameplay strategy
-and troubleshooting.  Additionally, the consolidation around a standard robot
-design allows for easier swapping of spare parts and programming modules.
+## Robot Name
 
-The Az-RBSI software is an outline of an FRC robot program upon which teams can
-build with their particular mechanisms and designs.  It weaves together popular
-and currently maintained FIRST- and community-sponsored software libraries to
-provide a baseline robot functionality that combines robust reliability with
-effective logging for troubleshooting.
+We haven't named our 2025 robot yet.
 
+## 2025 Competition Schedule
 
-## Library Dependencies
+Week 1 - Orange County Regional (Costa Mesa, CA)
 
-* [WPILib](https://docs.wpilib.org/en/stable/index.html) -- FIRST basic libraries
-* [AdvantageKit](
-   https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/WHAT-IS-ADVANTAGEKIT.md)
-   -- Logging
-* [CTRE Phoenix6](
-  https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/mechanisms/swerve/swerve-overview.html)
-  / [YAGSL](https://yagsl.gitbook.io/yagsl) -- Swerve drive library
-* [PathPlanner](https://pathplanner.dev/home.html) / [Choreo](
-  https://sleipnirgroup.github.io/Choreo/) -- Autonomous path planning
-* [PhotonVision](https://docs.photonvision.org/en/latest/) / [Limelight](
-  https://docs.limelightvision.io/docs/docs-limelight/getting-started/summary)
-  -- Robot vision / tracking
+Week 3 - Arizona North Regional (Flagstaff, AZ)
 
-## Further Reading
+Week 6 - South Florida Regional (Miami, FL)
 
-For tips on command-based programming, see this post:
-https://bovlb.github.io/frc-tips/commands/best-practices.html
+2025 FIRST Championship (Houston, TX)
diff --git a/fd_frc_reefscape_patch+frc_rgb.png b/fd_frc_reefscape_patch+frc_rgb.png
new file mode 100644
index 0000000..abb4b62
Binary files /dev/null and b/fd_frc_reefscape_patch+frc_rgb.png differ
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f14d761..83ff0ce 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -1,3 +1,5 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
 // Copyright (c) 2024-2025 Az-FIRST
 // http://github.com/AZ-First
 //
@@ -66,7 +68,7 @@ public final class Constants {
    * Define the various multiple robots that use this same code (e.g., COMPBOT, DEVBOT, SIMBOT,
    * etc.) and the operating modes of the code (REAL, SIM, or REPLAY)
    */
-  private static RobotType robotType = RobotType.COMPBOT;
+  private static RobotType robotType = RobotType.GEORGE;
 
   // Define swerve, auto, and vision types being used
   // NOTE: Only PHOENIX6 swerve base has been tested at this point!!!
@@ -80,7 +82,7 @@ public final class Constants {
 
   /** Enumerate the robot types (name your robots here) */
   public static enum RobotType {
-    DEVBOT, // Development / Alpha / Practice Bot
+    GEORGE, // Development / Alpha / Practice Bot
     COMPBOT, // Competition robot
     SIMBOT // Simulated robot
   }
@@ -137,7 +139,7 @@ public static final class DrivebaseConstants {
     // Theoretical free speed (m/s) at 12v applied output;
     // IMPORTANT: Follow the AdvantageKit instructions for measuring the ACTUAL maximum linear speed
     // of YOUR ROBOT, and replace the estimate here with your measured value!
-    public static final double kMaxLinearSpeed = Units.feetToMeters(18); // 18);
+    public static final double kMaxLinearSpeed = Units.feetToMeters(18);
 
     // Set 3/4 of a rotation per second as the max angular velocity (radians/sec)
     public static final double kMaxAngularSpeed = 1.5 * Math.PI;
@@ -168,38 +170,138 @@ public static final class DrivebaseConstants {
     public static final double kSteerD = 1.0;
   }
 
-  /** Example Flywheel Mechanism Constants ********************************* */
-  public static final class FlywheelConstants {
+  /** Elevator Subsystem Constants ***************************************** */
+  public static final class ElevatorConstants {
 
-    // Mechanism idle mode
-    public static final MotorIdleMode kFlywheelIdleMode = MotorIdleMode.COAST; // BRAKE, COAST
+    // Idle Mode
+    public static final MotorIdleMode kElevatorIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
 
-    // Mechanism motor gear ratio
-    public static final double kFlywheelGearRatio = 1.5;
+    // Gear Ratio
+    public static final double kElevatorGearRatio = 10.0;
 
-    // MODE == REAL / REPLAY
-    // Feedforward constants
+    // mode real/replay
     public static final double kStaticGainReal = 0.1;
     public static final double kVelocityGainReal = 0.05;
-    // Feedback (PID) constants
-    public static final PIDConstants pidReal = new PIDConstants(1.0, 0.0, 0.0);
-
-    // MODE == SIM
-    // Feedforward constants
-    public static final double kStaticGainSim = 0.0;
-    public static final double kVelocityGainSim = 0.03;
-    // Feedback (PID) constants
-    public static final PIDConstants pidSim = new PIDConstants(1.0, 0.0, 0.0);
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
+
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
   }
 
-  /** elevator subsystem constants ***************************************** */
-  public static final class ElevatorConstants {
+  /** Coral Mechanism Subsystem Constants ********************************** */
+  public static final class CoralMechConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kCoralIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+
+    // Gear Ratio
+    public static final double kCoralGearRatio = 10.0;
+
+    // mode real/replay
+    public static final double kStaticGainReal = 0.1;
+    public static final double kVelocityGainReal = 0.05;
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
+
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
+  }
+
+  /** Intake Subsystem Constants ******************************************* */
+  public static final class IntakeConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kIntakePivotIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+    public static final MotorIdleMode kIntakeRollerIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+
+    // Gear Ratio
+    public static final double kIntakePivotGearRatio = 10.0;
+    public static final double kIntakeRollerGearRatio = 10.0;
+
+    // mode real/replay
+    public static final double kStaticGainReal = 0.1;
+    public static final double kVelocityGainReal = 0.05;
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
 
-    // idle mode //6
-    public static final MotorIdleMode kElevatorIdle = MotorIdleMode.BRAKE;
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
+  }
+
+  /** Algae Mechanism Subsystem Constants ********************************** */
+  public static final class AlgaeMechConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kAlgaePivotIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+    public static final MotorIdleMode kAlgaeRollerIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
 
-    // gear ratio
-    public static final double kElevatorGearRatio = 0.1;
+    // Gear Ratio
+    public static final double kAlgaePivotGearRatio = 10.0;
+    public static final double kAlgaeRollerGearRatio = 10.0;
 
     // mode real/replay
     public static final double kStaticGainReal = 0.1;
@@ -226,7 +328,47 @@ public static final class ElevatorConstants {
     public static final double kISim = 0;
     public static final double kDSim = 0;
 
-    // Magic motion constants
+    // Motion Magic constants
+    public static final double kVelocity = 1.4;
+    public static final double kAcceleration = 2.8;
+    public static final double kJerk = 0;
+  }
+
+  /** Climb Subsystem Constants ******************************************** */
+  public static final class ClimbConstants {
+
+    // Idle Mode
+    public static final MotorIdleMode kClimbIdle = MotorIdleMode.BRAKE; // BRAKE, COAST
+
+    // Gear Ratio
+    public static final double kClimbGearRatio = 10.0;
+
+    // mode real/replay
+    public static final double kStaticGainReal = 0.1;
+    public static final double kVelocityGainReal = 0.05;
+    // motor configs
+    public static final double kGReal = 0.3375;
+    public static final double kSReal = 0.075;
+    public static final double kVReal = 0.0018629;
+    public static final double kAReal = 0; // 0.000070378;
+    // ka kv values found from putting elevator at a perfect 90 degree and running sys id
+    public static final double kPReal = 17.983;
+    public static final double kIReal = 0;
+    public static final double kDReal = 0;
+
+    // mode sim
+    public static final double kStaticGainSim = 0.1;
+    public static final double kVelocityGainSim = 0.05;
+    // motor configs
+    public static final double kGSim = 0;
+    public static final double kSSim = 0;
+    public static final double kVSim = 0;
+    public static final double kASim = 0;
+    public static final double kPSim = 0;
+    public static final double kISim = 0;
+    public static final double kDSim = 0;
+
+    // Motion Magic constants
     public static final double kVelocity = 1.4;
     public static final double kAcceleration = 2.8;
     public static final double kJerk = 0;
@@ -242,14 +384,14 @@ public static class AccelerometerConstants {
     public static final Rotation2d kRioOrientation =
         switch (getRobot()) {
           case COMPBOT -> Rotation2d.fromDegrees(90.);
-          case DEVBOT -> Rotation2d.fromDegrees(0.);
+          case GEORGE -> Rotation2d.fromDegrees(0.);
           default -> Rotation2d.fromDegrees(0.);
         };
     // IMU can be one of Pigeon2 or NavX
     public static final Rotation2d kIMUOrientation =
         switch (getRobot()) {
           case COMPBOT -> Rotation2d.fromDegrees(0.);
-          case DEVBOT -> Rotation2d.fromDegrees(0.);
+          case GEORGE -> Rotation2d.fromDegrees(0.);
           default -> Rotation2d.fromDegrees(0.);
         };
   }
@@ -259,7 +401,12 @@ public static class OperatorConstants {
 
     // Joystick Functions
     // Set to TRUE for Drive = Left Stick, Turn = Right Stick; else FALSE
-    public static final boolean kDriveLeftTurnRight = true;
+    public static final boolean kDriveLeftTurnRight =
+        switch (getRobot()) {
+          case GEORGE -> true; // Testing
+          case COMPBOT -> false; // Kate's preference
+          case SIMBOT -> true; // Default
+        };
 
     // Joystick Deadbands
     public static final double kDeadband = 0.1;
@@ -460,10 +607,6 @@ public static class AprilTagConstants {
     public enum AprilTagLayoutType {
       OFFICIAL("2025-official");
 
-      // SPEAKERS_ONLY("2024-speakers"),
-      // AMPS_ONLY("2024-amps"),
-      // WPI("2024-wpi");
-
       private AprilTagLayoutType(String name) {
         if (Constants.disableHAL) {
           layout = null;
@@ -517,7 +660,7 @@ public static RobotType getRobot() {
   /** Get the current robot mode */
   public static Mode getMode() {
     return switch (robotType) {
-      case DEVBOT, COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
+      case GEORGE, COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
       case SIMBOT -> Mode.SIM;
     };
   }
diff --git a/src/main/java/frc/robot/subsystems/Controls/ControlMap.txt b/src/main/java/frc/robot/ControlMap.txt
similarity index 100%
rename from src/main/java/frc/robot/subsystems/Controls/ControlMap.txt
rename to src/main/java/frc/robot/ControlMap.txt
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ddeb514..ee2ff7f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,3 +1,5 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
 // Copyright (c) 2024-2025 Az-FIRST
 // http://github.com/AZ-First
 // Copyright (c) 2021-2025 FRC 6328
@@ -34,7 +36,6 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -49,17 +50,28 @@
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.ElevatorCommand;
 import frc.robot.commands.IntakeCommand;
-import frc.robot.commands.LED.LEDCommand;
-import frc.robot.subsystems.Controls.CoralControl;
-import frc.robot.subsystems.Intake.Intake;
-import frc.robot.subsystems.Intake.IntakeIOKraken;
+import frc.robot.commands.LEDCommand;
 import frc.robot.subsystems.LED.LED;
-import frc.robot.subsystems.LED.LEDIOCandle;
+import frc.robot.subsystems.LED.LEDIO;
+import frc.robot.subsystems.LED.LEDIOCANdle;
 import frc.robot.subsystems.accelerometer.Accelerometer;
+import frc.robot.subsystems.algae_mech.AlgaeMech;
+import frc.robot.subsystems.algae_mech.AlgaeMechIO;
+import frc.robot.subsystems.algae_mech.AlgaeMechIOTalonFX;
+import frc.robot.subsystems.climber.Climb;
+import frc.robot.subsystems.climber.ClimbIO;
+import frc.robot.subsystems.climber.ClimbIOTalonFX;
+import frc.robot.subsystems.coral_mech.CoralScorer;
+import frc.robot.subsystems.coral_mech.CoralScorerIO;
+import frc.robot.subsystems.coral_mech.CoralScorerIOTalonFX;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.elevator.Elevator;
 import frc.robot.subsystems.elevator.ElevatorIO;
 import frc.robot.subsystems.elevator.ElevatorIOTalonFX;
+import frc.robot.subsystems.intake.Intake;
+import frc.robot.subsystems.intake.IntakeIO;
+import frc.robot.subsystems.intake.IntakeIOTalonFX;
+import frc.robot.subsystems.state_keeper.CoralState;
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.subsystems.vision.VisionIO;
 import frc.robot.subsystems.vision.VisionIOLimelight;
@@ -78,8 +90,6 @@
 /** This is the location for defining robot hardware, commands, and controller button bindings. */
 public class RobotContainer {
 
-  private final DigitalInput elevatorStop = new DigitalInput(0);
-  private final Trigger elevatorTrigger = new Trigger(elevatorStop::get);
   // **** This is a Pathplanner On-the-Fly Command ****/
   // Create a list of waypoints from poses. Each pose represents one waypoint.
   // The rotation component of the pose should be the direction of travel. Do not use
@@ -126,14 +136,17 @@ public class RobotContainer {
   private final Drive m_drivebase;
 
   private final Elevator m_elevator;
+  private final CoralScorer m_coralScorer;
+  private final Intake m_intake;
+  private final AlgaeMech m_algaeMech;
+  private final Climb m_climber;
+
   // These are "Virtual Subsystems" that report information but have no motors
   private final Accelerometer m_accel;
-  private final CoralControl m_coralControl = new CoralControl();
+  private final CoralState m_coralState;
   private final Vision m_vision;
   private final PowerMonitoring m_power;
-  private final Intake m_intake = new Intake(new IntakeIOKraken());
-  private final LED m_led = new LED(new LEDIOCandle());
-  private final DigitalInput lightStop = new DigitalInput(5);
+  private final LED m_led;
 
   /** Dashboard inputs ***************************************************** */
   // AutoChoosers for both supported path planning types
@@ -144,9 +157,6 @@ public class RobotContainer {
   // Input estimated battery capacity (if full, use printed value)
   private final LoggedTunableNumber batteryCapacity =
       new LoggedTunableNumber("Battery Amp-Hours", 18.0);
-  // EXAMPLE TUNABLE FLYWHEEL SPEED INPUT FROM DASHBOARD
-  private final LoggedTunableNumber flywheelSpeedInput =
-      new LoggedTunableNumber("Flywheel Speed", 1500.0);
 
   // Alerts
   private final Alert aprilTagLayoutAlert = new Alert("", AlertType.INFO);
@@ -161,9 +171,14 @@ public RobotContainer() {
     switch (Constants.getMode()) {
       case REAL:
         // Real robot, instantiate hardware IO implementations
-        // YAGSL drivebase, get config from deploy directory
         m_drivebase = new Drive();
         m_elevator = new Elevator(new ElevatorIOTalonFX());
+        m_coralScorer = new CoralScorer(new CoralScorerIOTalonFX());
+        m_intake = new Intake(new IntakeIOTalonFX());
+        m_algaeMech = new AlgaeMech(new AlgaeMechIOTalonFX());
+        m_climber = new Climb(new ClimbIOTalonFX());
+
+        // Virtual Subsystems
         m_vision =
             switch (Constants.getVisionType()) {
               case PHOTON ->
@@ -182,48 +197,53 @@ public RobotContainer() {
               default -> null;
             };
         m_accel = new Accelerometer(m_drivebase.getGyro());
-
+        m_coralState = new CoralState();
+        m_led = new LED(new LEDIOCANdle());
         break;
 
       case SIM:
         // Sim robot, instantiate physics sim IO implementations
         m_drivebase = new Drive();
         m_elevator = new Elevator(new ElevatorIO() {}); // make elevator Io sim
+        m_coralScorer = new CoralScorer(new CoralScorerIO() {});
+        m_intake = new Intake(new IntakeIO() {});
+        m_algaeMech = new AlgaeMech(new AlgaeMechIO() {});
+        m_climber = new Climb(new ClimbIO() {});
+
+        // Virtual Subsystems
         m_vision =
             new Vision(
                 m_drivebase::addVisionMeasurement,
                 new VisionIOPhotonVisionSim(camera0Name, robotToCamera0, m_drivebase::getPose),
                 new VisionIOPhotonVisionSim(camera1Name, robotToCamera1, m_drivebase::getPose));
         m_accel = new Accelerometer(m_drivebase.getGyro());
+        m_coralState = new CoralState();
+        m_led = new LED(new LEDIO() {});
         break;
 
       default:
         // Replayed robot, disable IO implementations
         m_drivebase = new Drive();
         m_elevator = new Elevator(new ElevatorIO() {});
+        m_coralScorer = new CoralScorer(new CoralScorerIO() {});
+        m_intake = new Intake(new IntakeIO() {});
+        m_algaeMech = new AlgaeMech(new AlgaeMechIO() {});
+        m_climber = new Climb(new ClimbIO() {});
+
+        // Virtual Subsystems
         m_vision =
             new Vision(m_drivebase::addVisionMeasurement, new VisionIO() {}, new VisionIO() {});
         m_accel = new Accelerometer(m_drivebase.getGyro());
+        m_coralState = new CoralState();
+        m_led = new LED(new LEDIO() {});
         break;
     }
     // In addition to the initial battery capacity from the Dashbaord, ``PowerMonitoring`` takes all
     // the non-drivebase subsystems for which you wish to have power monitoring; DO NOT include
     // ``m_drivebase``, as that is automatically monitored.
-    m_power = new PowerMonitoring(batteryCapacity, m_elevator);
-
-    // Idk where this is suppose to go. but I think this works, just setting up auto commands
-    NamedCommands.registerCommand("L4", new ElevatorCommand(72, 40, 40, m_elevator));
-
-    NamedCommands.registerCommand("L3", new ElevatorCommand(50, 40, 40, m_elevator));
-
-    NamedCommands.registerCommand("L2", new ElevatorCommand(32, 40, 40, m_elevator));
-
-    NamedCommands.registerCommand(
-        "Bottom", new ElevatorCommand(0, 10, 20, m_elevator).until(elevatorTrigger));
-
-    NamedCommands.registerCommand("CoralScorer", (Commands.print("CoralScorer")));
-
-    NamedCommands.registerCommand("CoralDetect", (Commands.print("CoralDetect")));
+    m_power =
+        new PowerMonitoring(
+            batteryCapacity, m_elevator, m_coralScorer, m_intake, m_algaeMech, m_climber);
 
     // Set up the SmartDashboard Auto Chooser based on auto type
     switch (Constants.getAutoType()) {
@@ -267,7 +287,14 @@ public RobotContainer() {
 
   /** Use this method to define your Autonomous commands for use with PathPlanner / Choreo */
   private void defineAutoCommands() {
-    // NamedCommands.registerCommand("Zero", Commands.runOnce(() -> m_drivebase.zero()));
+
+    NamedCommands.registerCommand("L4", new ElevatorCommand(72, 40, 40, m_elevator));
+    NamedCommands.registerCommand("L3", new ElevatorCommand(50, 40, 40, m_elevator));
+    NamedCommands.registerCommand("L2", new ElevatorCommand(32, 40, 40, m_elevator));
+    NamedCommands.registerCommand(
+        "Bottom", new ElevatorCommand(0, 10, 20, m_elevator).until(m_elevator::getBottomStop));
+    NamedCommands.registerCommand("CoralScorer", (Commands.print("CoralScorer")));
+    NamedCommands.registerCommand("CoralDetect", (Commands.print("CoralDetect")));
   }
 
   // **** This is a Pathplanner Pathfinding Command ****/
@@ -321,7 +348,7 @@ private void configureBindings() {
     driverController
         .rightBumper()
         .onTrue(
-            new LEDCommand(m_led, lightStop::get)
+            new LEDCommand(m_led, m_coralScorer::getLightStop)
                 .ignoringDisable(true)
                 .until(driverController.leftBumper()));
     driverController
@@ -335,8 +362,9 @@ private void configureBindings() {
                         () -> -driveStickX.value(),
                         () -> turnStickX.value()),
                 m_drivebase));
-    driverController.a().onTrue(Commands.run(() -> m_coralControl.indexL()));
-    driverController.y().onTrue(Commands.run(() -> m_coralControl.indexR()));
+
+    driverController.a().onTrue(Commands.run(() -> m_coralState.indexL()));
+    driverController.y().onTrue(Commands.run(() -> m_coralState.indexR()));
     // Press A button -> BRAKE
     driverController
         .a()
@@ -390,38 +418,29 @@ private void configureBindings() {
                     m_drivebase)
                 .ignoringDisable(true));
 
-    // Press RIGHT BUMPER --> Run the example flywheel
+    driverController
+        .leftBumper()
+        .whileTrue(Commands.startEnd(() -> m_elevator.runVolts(-1), m_elevator::stop, m_elevator));
+    driverController
+        .rightBumper()
+        .whileTrue(Commands.startEnd(() -> m_elevator.runVolts(1), m_elevator::stop, m_elevator));
+
+    // m_elevator.setDefaultCommand(
+    //     Commands.run(
+    //         () -> m_elevator.runVolts(driverController.getRightTriggerAxis()), m_elevator));
+
+    // driverController.a().whileTrue(new ElevatorCommand(72, 40, 40, m_elevator));
     // driverController
-    //     .rightBumper()
-    //     .whileTrue(
-    //         Commands.startEnd(
-    //             () -> m_flywheel.runVelocity(flywheelSpeedInput.get()),
-    //             m_flywheel::stop,
+    //     .a()
+    //     .whileFalse(new ElevatorCommand(0, 10, 20, m_elevator).until(elevatorTrigger));
 
-    //             m_flywheel));
+    driverController
+        .rightStick()
+        .whileTrue(
+            Commands.startEnd(() -> m_elevator.setCoast(), m_elevator::setBrake, m_elevator)
+                .ignoringDisable(true));
   }
 
-  // **** This is a Pathplanner Pathfinding Command ****/
-  // public static Command pathfindAndAlignChute(){
-  //         // Since we are using a holonomic drivetrain, the rotation component of this pose
-  // // represents the goal holonomic rotation
-  // Pose2d targetPose = new Pose2d(5, 5, Rotation2d.fromDegrees(0));
-
-  // // Create the constraints to use while pathfinding
-  // PathConstraints constraints = new PathConstraints(
-  //         1.0, 1.0,
-  //         Units.degreesToRadians(540), Units.degreesToRadians(720));
-
-  //   return Commands.sequence(
-  //     AutoBuilder.pathfindToPose(Pose2d targetPose, PathConstraints.constraints)
-  //     .until(
-  //         () ->
-  //             swerve
-  //                     .getPose()
-  //                     .getTranslation()
-  //                     .getDistance(Constants.targetPoseRed.getTranslation())
-  //                 <= 2.5));
-  // }
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
diff --git a/src/main/java/frc/robot/commands/Auton.java b/src/main/java/frc/robot/commands/Auton.java
new file mode 100644
index 0000000..c596f6e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Auton.java
@@ -0,0 +1,36 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.drive.Drive;
+
+public class Auton extends Command {
+
+  private Drive drive;
+
+  public Auton(Drive drive) {
+    this.drive = drive;
+
+    addRequirements(drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+}
diff --git a/src/main/java/frc/robot/commands/Climb/ClimbExtend.java b/src/main/java/frc/robot/commands/Climb/ClimbExtend.java
deleted file mode 100644
index 308bc2a..0000000
--- a/src/main/java/frc/robot/commands/Climb/ClimbExtend.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package frc.robot.commands.Climb;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Climb.Climb;
-
-public class ClimbExtend extends Command {
-  private final Climb climb;
-
-  public ClimbExtend(Climb climb) {
-    this.climb = climb;
-  }
-
-  @Override
-  public void initialize() {
-    climb.rachetToggle(false);
-  }
-
-  @Override
-  public void execute() {
-    climb.twistToPosition(180);
-  }
-
-  @Override
-  public void end(boolean interrupted) {}
-}
diff --git a/src/main/java/frc/robot/commands/Climb/ClimbRetract.java b/src/main/java/frc/robot/commands/Climb/ClimbRetract.java
deleted file mode 100644
index e486920..0000000
--- a/src/main/java/frc/robot/commands/Climb/ClimbRetract.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package frc.robot.commands.Climb;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Climb.Climb;
-
-public class ClimbRetract extends Command {
-  private final Climb climb;
-
-  public ClimbRetract(Climb climb) {
-    this.climb = climb;
-  }
-
-  @Override
-  public void initialize() {
-    climb.rachetToggle(true);
-  }
-
-  @Override
-  public void execute() {
-    climb.twistToPosition(0);
-  }
-
-  @Override
-  public void end(boolean interrupted) {}
-}
diff --git a/src/main/java/frc/robot/commands/ClimbExtend.java b/src/main/java/frc/robot/commands/ClimbExtend.java
new file mode 100644
index 0000000..3290b54
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ClimbExtend.java
@@ -0,0 +1,38 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.climber.Climb;
+
+public class ClimbExtend extends Command {
+  private final Climb climb;
+
+  public ClimbExtend(Climb climb) {
+    this.climb = climb;
+  }
+
+  @Override
+  public void initialize() {
+    climb.rachetToggle(false);
+  }
+
+  @Override
+  public void execute() {
+    climb.twistToPosition(180);
+  }
+
+  @Override
+  public void end(boolean interrupted) {}
+}
diff --git a/src/main/java/frc/robot/commands/ClimbRetract.java b/src/main/java/frc/robot/commands/ClimbRetract.java
new file mode 100644
index 0000000..18ce1d3
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ClimbRetract.java
@@ -0,0 +1,38 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.climber.Climb;
+
+public class ClimbRetract extends Command {
+  private final Climb climb;
+
+  public ClimbRetract(Climb climb) {
+    this.climb = climb;
+  }
+
+  @Override
+  public void initialize() {
+    climb.rachetToggle(true);
+  }
+
+  @Override
+  public void execute() {
+    climb.twistToPosition(0);
+  }
+
+  @Override
+  public void end(boolean interrupted) {}
+}
diff --git a/src/main/java/frc/robot/commands/ElevatorCommand.java b/src/main/java/frc/robot/commands/ElevatorCommand.java
index 04e2d84..34910e2 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommand.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommand.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
index 844648f..672079c 100644
--- a/src/main/java/frc/robot/commands/IntakeCommand.java
+++ b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -1,7 +1,20 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Intake.Intake;
+import frc.robot.subsystems.intake.Intake;
 
 public class IntakeCommand extends Command {
 
diff --git a/src/main/java/frc/robot/commands/LED/LEDCommand.java b/src/main/java/frc/robot/commands/LEDCommand.java
similarity index 50%
rename from src/main/java/frc/robot/commands/LED/LEDCommand.java
rename to src/main/java/frc/robot/commands/LEDCommand.java
index 20ba259..711c9d5 100644
--- a/src/main/java/frc/robot/commands/LED/LEDCommand.java
+++ b/src/main/java/frc/robot/commands/LEDCommand.java
@@ -1,4 +1,17 @@
-package frc.robot.commands.LED;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.LED.LED;
diff --git a/src/main/java/frc/robot/subsystems/Climb/Climb.java b/src/main/java/frc/robot/subsystems/Climb/Climb.java
deleted file mode 100644
index e85a370..0000000
--- a/src/main/java/frc/robot/subsystems/Climb/Climb.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package frc.robot.subsystems.Climb;
-
-public class Climb {
-  private ClimbIO io;
-  private boolean rachetToggle;
-
-  public Climb(ClimbIO io) {
-    this.io = io;
-    io.configPID(1, 0, 0);
-    rachetToggle = false;
-  }
-
-  public void twistToPosition(double position) {
-    io.twistMotorToPosition(position);
-  }
-
-  public void manualControl(double controlVolts) {
-    io.twistMotorVolts(controlVolts * 3);
-  }
-
-  public void rachetToggle(boolean toggleSwitch) {
-    if (rachetToggle) {
-      io.turnClimbServo(0);
-    } else {
-      io.turnClimbServo(1);
-    }
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/Climb/ClimbIO.java b/src/main/java/frc/robot/subsystems/Climb/ClimbIO.java
deleted file mode 100644
index 121dfb3..0000000
--- a/src/main/java/frc/robot/subsystems/Climb/ClimbIO.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package frc.robot.subsystems.Climb;
-
-public interface ClimbIO {
-
-  public default void turnClimbServo(double position) {}
-
-  public default void twistMotorToPosition(double positionInRotations) {}
-
-  public default void configPID(double kP, double kI, double kD) {}
-
-  public default void twistMotorVolts(double volts) {}
-}
diff --git a/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorer.java b/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorer.java
deleted file mode 100644
index 45bc971..0000000
--- a/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorer.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package frc.robot.subsystems.CoralScorer;
-
-import frc.robot.util.RBSISubsystem;
-
-public class CoralScorer extends RBSISubsystem {
-  private final CoralScorerIO io;
-
-  public CoralScorer(CoralScorerIO io) {
-    this.io = io;
-  }
-
-  public void runVolts(double volts) {
-    io.setVolts(volts);
-  }
-
-  public void setVelocity(double velocity) {
-    io.setVelocity(velocity);
-  }
-
-  public void stop() {
-    io.stop();
-  }
-
-  @Override
-  public int[] getPowerPorts() {
-    return io.powerPorts;
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerIO.java b/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerIO.java
deleted file mode 100644
index 1580e61..0000000
--- a/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerIO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package frc.robot.subsystems.CoralScorer;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface CoralScorerIO {
-
-  @AutoLog
-  public static class IntakeIOInputs {}
-
-  public final int[] powerPorts = {};
-
-  public default void setVolts(double volts) {}
-
-  public default void stop() {}
-
-  public default void setVelocity(double velocity) {}
-}
diff --git a/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerTalonFXIO.java b/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerTalonFXIO.java
deleted file mode 100644
index c108c7e..0000000
--- a/src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerTalonFXIO.java
+++ /dev/null
@@ -1,3 +0,0 @@
-package frc.robot.subsystems.CoralScorer;
-
-public class CoralScorerTalonFXIO {}
diff --git a/src/main/java/frc/robot/subsystems/LED/LED.java b/src/main/java/frc/robot/subsystems/LED/LED.java
index 7e7ccce..e7db1b0 100644
--- a/src/main/java/frc/robot/subsystems/LED/LED.java
+++ b/src/main/java/frc/robot/subsystems/LED/LED.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.subsystems.LED;
 
 import frc.robot.util.RBSISubsystem;
diff --git a/src/main/java/frc/robot/subsystems/LED/LEDIO.java b/src/main/java/frc/robot/subsystems/LED/LEDIO.java
index 67310f9..a532c18 100644
--- a/src/main/java/frc/robot/subsystems/LED/LEDIO.java
+++ b/src/main/java/frc/robot/subsystems/LED/LEDIO.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.subsystems.LED;
 
 public interface LEDIO {
diff --git a/src/main/java/frc/robot/subsystems/LED/LEDIOCandle.java b/src/main/java/frc/robot/subsystems/LED/LEDIOCANdle.java
similarity index 78%
rename from src/main/java/frc/robot/subsystems/LED/LEDIOCandle.java
rename to src/main/java/frc/robot/subsystems/LED/LEDIOCANdle.java
index f3693b2..c64f6c2 100644
--- a/src/main/java/frc/robot/subsystems/LED/LEDIOCandle.java
+++ b/src/main/java/frc/robot/subsystems/LED/LEDIOCANdle.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.subsystems.LED;
 
 import com.ctre.phoenix.led.CANdle;
@@ -6,13 +19,13 @@
 import com.ctre.phoenix.led.TwinkleOffAnimation;
 import com.ctre.phoenix.led.TwinkleOffAnimation.TwinkleOffPercent;
 
-public class LEDIOCandle implements LEDIO {
+public class LEDIOCANdle implements LEDIO {
   CANdle candle = new CANdle(1);
   CANdleConfiguration config = new CANdleConfiguration();
   private boolean red;
   private double i = 0;
 
-  public LEDIOCandle() {
+  public LEDIOCANdle() {
     red = false;
     config.stripType = LEDStripType.RGB; // set the strip type to RGB
     config.brightnessScalar = 0.5; // dim the LEDs to half brightness
diff --git a/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMech.java b/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMech.java
new file mode 100644
index 0000000..c40b250
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMech.java
@@ -0,0 +1,38 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.algae_mech;
+
+import frc.robot.util.RBSISubsystem;
+import org.littletonrobotics.junction.Logger;
+
+public class AlgaeMech extends RBSISubsystem {
+
+  private final AlgaeMechIO io;
+  private final AlgaeMechIOInputsAutoLogged inputs = new AlgaeMechIOInputsAutoLogged();
+
+  public AlgaeMech(AlgaeMechIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("AlgaeMech", inputs);
+  }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIO.java b/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIO.java
new file mode 100644
index 0000000..1608a3d
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIO.java
@@ -0,0 +1,35 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.algae_mech;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface AlgaeMechIO {
+
+  public final int[] powerPorts = {};
+
+  @AutoLog
+  public static class AlgaeMechIOInputs {
+    public double positionRad = 0.0;
+    public double velocityRadPerSec = 0.0;
+    public double appliedVolts = 0.0;
+    public double[] currentAmps = new double[] {};
+  }
+
+  public default void updateInputs(AlgaeMechIOInputs inputs) {}
+
+  public default void setCoast() {}
+
+  public default void setBrake() {}
+}
diff --git a/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIOTalonFX.java b/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIOTalonFX.java
new file mode 100644
index 0000000..47e1436
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/algae_mech/AlgaeMechIOTalonFX.java
@@ -0,0 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.algae_mech;
+
+public class AlgaeMechIOTalonFX implements AlgaeMechIO {}
diff --git a/src/main/java/frc/robot/subsystems/climber/Climb.java b/src/main/java/frc/robot/subsystems/climber/Climb.java
new file mode 100644
index 0000000..bc3c4d4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/climber/Climb.java
@@ -0,0 +1,48 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.climber;
+
+import frc.robot.util.RBSISubsystem;
+
+public class Climb extends RBSISubsystem {
+  private ClimbIO io;
+  private boolean rachetToggle;
+
+  public Climb(ClimbIO io) {
+    this.io = io;
+    io.configPID(1, 0, 0);
+    rachetToggle = false;
+  }
+
+  public void twistToPosition(double position) {
+    io.twistMotorToPosition(position);
+  }
+
+  public void manualControl(double controlVolts) {
+    io.twistMotorVolts(controlVolts * 3);
+  }
+
+  public void rachetToggle(boolean toggleSwitch) {
+    if (rachetToggle) {
+      io.turnClimbServo(0);
+    } else {
+      io.turnClimbServo(1);
+    }
+  }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimbIO.java b/src/main/java/frc/robot/subsystems/climber/ClimbIO.java
new file mode 100644
index 0000000..5b24f9b
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/climber/ClimbIO.java
@@ -0,0 +1,38 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.climber;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface ClimbIO {
+
+  public final int[] powerPorts = {};
+
+  @AutoLog
+  public static class ClimbIOInputs {}
+
+  public default void updateInputs(ClimbIOInputs inputs) {}
+
+  public default void turnClimbServo(double position) {}
+
+  public default void twistMotorToPosition(double positionInRotations) {}
+
+  public default void configPID(double kP, double kI, double kD) {}
+
+  public default void twistMotorVolts(double volts) {}
+
+  public default void setCoast() {}
+
+  public default void setBrake() {}
+}
diff --git a/src/main/java/frc/robot/subsystems/Climb/ClimbIOTalonFX.java b/src/main/java/frc/robot/subsystems/climber/ClimbIOTalonFX.java
similarity index 64%
rename from src/main/java/frc/robot/subsystems/Climb/ClimbIOTalonFX.java
rename to src/main/java/frc/robot/subsystems/climber/ClimbIOTalonFX.java
index 9d8bdf0..0577794 100644
--- a/src/main/java/frc/robot/subsystems/Climb/ClimbIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/climber/ClimbIOTalonFX.java
@@ -1,4 +1,17 @@
-package frc.robot.subsystems.Climb;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.climber;
 
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
@@ -12,6 +25,8 @@ public class ClimbIOTalonFX implements ClimbIO {
   private final Servo climbExtender = new Servo(CANandPowerPorts.CLIMB_SERVO);
   private final TalonFX climber = new TalonFX(CANandPowerPorts.CLIMB.getDeviceNumber());
 
+  public final int[] powerPorts = {CANandPowerPorts.CLIMB.getPowerPort()};
+
   public ClimbIOTalonFX() {
     var climbConfig = new TalonFXConfiguration();
     climbConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
diff --git a/src/main/java/frc/robot/subsystems/coral_mech/CoralScorer.java b/src/main/java/frc/robot/subsystems/coral_mech/CoralScorer.java
new file mode 100644
index 0000000..0e02f64
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/coral_mech/CoralScorer.java
@@ -0,0 +1,45 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.coral_mech;
+
+import frc.robot.util.RBSISubsystem;
+
+public class CoralScorer extends RBSISubsystem {
+  private final CoralScorerIO io;
+
+  public CoralScorer(CoralScorerIO io) {
+    this.io = io;
+  }
+
+  public void runVolts(double volts) {
+    io.setVolts(volts);
+  }
+
+  public void setVelocity(double velocity) {
+    io.setVelocity(velocity);
+  }
+
+  public void stop() {
+    io.stop();
+  }
+
+  public boolean getLightStop() {
+    return io.getLightStop();
+  }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIO.java b/src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIO.java
new file mode 100644
index 0000000..23c08ee
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIO.java
@@ -0,0 +1,41 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.coral_mech;
+
+import frc.robot.subsystems.algae_mech.AlgaeMechIO.AlgaeMechIOInputs;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface CoralScorerIO {
+
+  public final int[] powerPorts = {};
+
+  @AutoLog
+  public static class CoralScorerIOInputs {}
+
+  public default void updateInputs(AlgaeMechIOInputs inputs) {}
+
+  public default void setVolts(double volts) {}
+
+  public default void stop() {}
+
+  public default boolean getLightStop() {
+    return false;
+  }
+
+  public default void setVelocity(double velocity) {}
+
+  public default void setCoast() {}
+
+  public default void setBrake() {}
+}
diff --git a/src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIOTalonFX.java b/src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIOTalonFX.java
new file mode 100644
index 0000000..7d395b4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/coral_mech/CoralScorerIOTalonFX.java
@@ -0,0 +1,29 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.coral_mech;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import frc.robot.Constants.CANandPowerPorts;
+
+public class CoralScorerIOTalonFX implements CoralScorerIO {
+
+  private final DigitalInput lightStop = new DigitalInput(5);
+
+  public final int[] powerPorts = {CANandPowerPorts.CORAL_MECH.getPowerPort()};
+
+  @Override
+  public boolean getLightStop() {
+    return lightStop.get();
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
index bfdbe0e..52ea2e8 100644
--- a/src/main/java/frc/robot/subsystems/elevator/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.subsystems.elevator;
 
 import static edu.wpi.first.units.Units.Seconds;
@@ -65,6 +78,10 @@ public void periodic() {
     Logger.processInputs("Elevator", inputs);
   }
 
+  public boolean getBottomStop() {
+    return io.getBottomStop();
+  }
+
   public void setPosistion(double posistion) {
     io.setPosistion(posistion);
   }
@@ -110,4 +127,9 @@ public void setCoast() {
   public void setBrake() {
     io.setBrake();
   }
+
+  @Override
+  public int[] getPowerPorts() {
+    return io.powerPorts;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
index d5bf3b7..e617d6d 100644
--- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.subsystems.elevator;
 
 import java.util.function.BooleanSupplier;
@@ -15,12 +28,16 @@ public static class ElevatorIOInputs {
     public double[] currentAmps = new double[] {};
   }
 
-  public default void setPosistion(double posistion) {}
-
   public default void updateInputs(ElevatorIOInputs inputs) {}
 
+  public default void setPosistion(double posistion) {}
+
   public default void stop() {}
 
+  public default boolean getBottomStop() {
+    return false;
+  }
+
   public default void configure(
       double Kg,
       double Ks,
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
index 66d0fb5..bf9a11d 100644
--- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
@@ -1,3 +1,16 @@
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
 package frc.robot.subsystems.elevator;
 
 import static frc.robot.Constants.ElevatorConstants.*;
@@ -14,11 +27,14 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.Constants.CANandPowerPorts;
 import java.util.function.BooleanSupplier;
 
 public class ElevatorIOTalonFX implements ElevatorIO {
 
+  private final DigitalInput elevatorStop = new DigitalInput(0);
+
   // motor called in
   private final TalonFX elevatorMotor =
       new TalonFX(CANandPowerPorts.ELEVATOR.getDeviceNumber(), CANandPowerPorts.ELEVATOR.getBus());
@@ -99,6 +115,11 @@ public void limit(BooleanSupplier limitSwitch) {
     if (limitSwitch.getAsBoolean()) {}
   }
 
+  @Override
+  public boolean getBottomStop() {
+    return elevatorStop.get();
+  }
+
   @Override
   public void setCoast() {
     elevatorMotor.setNeutralMode(NeutralModeValue.Coast);
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
similarity index 73%
rename from src/main/java/frc/robot/subsystems/Intake/Intake.java
rename to src/main/java/frc/robot/subsystems/intake/Intake.java
index 0fbf3bb..a883bb8 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -1,4 +1,17 @@
-package frc.robot.subsystems.Intake;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.intake;
 
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.units.Units.Volts;
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
similarity index 56%
rename from src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
rename to src/main/java/frc/robot/subsystems/intake/IntakeIO.java
index fe86e87..bf104f0 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -1,4 +1,17 @@
-package frc.robot.subsystems.Intake;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.intake;
 
 import org.littletonrobotics.junction.AutoLog;
 
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIOSpark.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSpark.java
similarity index 59%
rename from src/main/java/frc/robot/subsystems/Intake/IntakeIOSpark.java
rename to src/main/java/frc/robot/subsystems/intake/IntakeIOSpark.java
index 3fa7d11..2a125aa 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIOSpark.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSpark.java
@@ -1,4 +1,17 @@
-package frc.robot.subsystems.Intake;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.intake;
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.spark.SparkClosedLoopController;
diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIOKraken.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
similarity index 80%
rename from src/main/java/frc/robot/subsystems/Intake/IntakeIOKraken.java
rename to src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
index 4aab918..d455dec 100644
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIOKraken.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
@@ -1,4 +1,17 @@
-package frc.robot.subsystems.Intake;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.intake;
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
@@ -12,7 +25,7 @@
 import edu.wpi.first.units.measure.Voltage;
 import frc.robot.Constants.CANandPowerPorts;
 
-public class IntakeIOKraken implements IntakeIO {
+public class IntakeIOTalonFX implements IntakeIO {
 
   private final TalonFX intakeRoller =
       new TalonFX(CANandPowerPorts.INTAKE_ROLLER.getDeviceNumber());
@@ -31,7 +44,7 @@ public class IntakeIOKraken implements IntakeIO {
   private final StatusSignal<Voltage> pivotAppliedVolts = intakePivot.getMotorVoltage();
   private final StatusSignal<Current> pivotCurrent = intakePivot.getSupplyCurrent();
 
-  public IntakeIOKraken() {}
+  public IntakeIOTalonFX() {}
 
   @Override
   public void updateInputs(IntakeIOInputs inputs) {
diff --git a/src/main/java/frc/robot/subsystems/Controls/CoralControl.java b/src/main/java/frc/robot/subsystems/state_keeper/CoralState.java
similarity index 62%
rename from src/main/java/frc/robot/subsystems/Controls/CoralControl.java
rename to src/main/java/frc/robot/subsystems/state_keeper/CoralState.java
index 79e65c0..e06d8a1 100644
--- a/src/main/java/frc/robot/subsystems/Controls/CoralControl.java
+++ b/src/main/java/frc/robot/subsystems/state_keeper/CoralState.java
@@ -1,14 +1,27 @@
-package frc.robot.subsystems.Controls;
+// Copyright (c) 2025 FRC 2486
+// http://github.com/Coconuts2486-FRC
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.subsystems.state_keeper;
 
 import frc.robot.util.VirtualSubsystem;
 
-public class CoralControl extends VirtualSubsystem {
+public class CoralState extends VirtualSubsystem {
   // scoreStates[0] stores horizontal state
   // scoreStates[1] stores vertical state
   // scoreStates[2] stores left or right state
   private int[] scoreStates;
 
-  public CoralControl() {
+  public CoralState() {
     scoreStates[0] = 0;
     scoreStates[1] = 0;
     scoreStates[2] = 0;