diff --git a/Project 1 Basic Romi Drive/.Glass/glass-window.json b/Project 1 Basic Romi Drive/.Glass/glass-window.json
new file mode 100644
index 0000000..37ff8ca
--- /dev/null
+++ b/Project 1 Basic Romi Drive/.Glass/glass-window.json	
@@ -0,0 +1,30 @@
+{
+  "MainWindow": {
+    "GLOBAL": {
+      "height": "960",
+      "maximized": "0",
+      "style": "0",
+      "userScale": "2",
+      "width": "1280",
+      "xpos": "-1",
+      "ypos": "-1"
+    }
+  },
+  "Window": {
+    "###NetworkTables": {
+      "Collapsed": "0",
+      "Pos": "312,346",
+      "Size": "937,231"
+    },
+    "###NetworkTables Settings": {
+      "Collapsed": "0",
+      "Pos": "37,37",
+      "Size": "307,86"
+    },
+    "Debug##Default": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "400,400"
+    }
+  }
+}
diff --git a/Project 1 Basic Romi Drive/.Glass/glass.json b/Project 1 Basic Romi Drive/.Glass/glass.json
new file mode 100644
index 0000000..0967ef4
--- /dev/null
+++ b/Project 1 Basic Romi Drive/.Glass/glass.json	
@@ -0,0 +1 @@
+{}
diff --git a/Project 1 Basic Romi Drive/.vscode/launch.json b/Project 1 Basic Romi Drive/.vscode/launch.json
index c9c9713..bf699a9 100644
--- a/Project 1 Basic Romi Drive/.vscode/launch.json	
+++ b/Project 1 Basic Romi Drive/.vscode/launch.json	
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "Project 1 Basic Romi Drive"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/Project 1 Basic Romi Drive/.vscode/tasks.json b/Project 1 Basic Romi Drive/.vscode/tasks.json
new file mode 100644
index 0000000..eb7fd53
--- /dev/null
+++ b/Project 1 Basic Romi Drive/.vscode/tasks.json	
@@ -0,0 +1,4 @@
+{
+	"version": "2.0.0",
+	"tasks": []
+}
\ No newline at end of file
diff --git a/Project 1 Basic Romi Drive/src/main/java/frc/robot/Robot.java b/Project 1 Basic Romi Drive/src/main/java/frc/robot/Robot.java
index a28c928..59398a9 100644
--- a/Project 1 Basic Romi Drive/src/main/java/frc/robot/Robot.java	
+++ b/Project 1 Basic Romi Drive/src/main/java/frc/robot/Robot.java	
@@ -19,7 +19,8 @@
 public class Robot extends TimedRobot {
 
   private final RomiDrivetrain mDrivetrain = new RomiDrivetrain();
-
+  private int controllerPort = 0;
+  private final XboxController controller = new XboxController(controllerPort);
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
@@ -52,7 +53,9 @@ public void teleopInit() {}
   
   /** This function is called periodically during operator control. HINT you code will be in this function*/
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic(){
+    mDrivetrain.arcadeDrive(controller.getY(Hand.kLeft), -1 * controller.getX(Hand.kRight));
+  }
 
   /** This function is called once when the robot is disabled. */
   @Override
@@ -87,4 +90,4 @@ public void robotPeriodic() {
   public void simulationPeriodic() {
     mDrivetrain.simulationPeriodic();
   }
-}
+}
\ No newline at end of file
diff --git a/Project 1 Basic Romi Drive/src/main/java/frc/robot/RomiDrivetrain.java b/Project 1 Basic Romi Drive/src/main/java/frc/robot/RomiDrivetrain.java
index 6d258a5..772cfc8 100644
--- a/Project 1 Basic Romi Drive/src/main/java/frc/robot/RomiDrivetrain.java	
+++ b/Project 1 Basic Romi Drive/src/main/java/frc/robot/RomiDrivetrain.java	
@@ -24,6 +24,9 @@
 import edu.wpi.first.wpiutil.math.VecBuilder;
 import edu.wpi.first.wpiutil.math.numbers.N2;
 
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+
 public class RomiDrivetrain extends SubsystemBase {
 
   // Romi Encoder Constants
@@ -43,6 +46,10 @@ public class RomiDrivetrain extends SubsystemBase {
   // Set up the differential drive controller
   private final DifferentialDrive mDiffDrive = new DifferentialDrive(mLeftMotor, mRightMotor);
 
+  // Set up Xbox Controller
+  final int controllerPort = 0;
+  XboxController controller = new XboxController(controllerPort);
+
 
   // SIMULATION STUFF
 
@@ -70,7 +77,7 @@ public RomiDrivetrain() {
 
   /**
    * Commands the drivetrain through an arcade drive style. HINT: this is useful for your purposes.
-   * @param xaxisSpeed The speed at which the robot goes forward and backward. Should be a number between -1 and 1.
+   * @param xaxisSpeed  The speed at which the robot goes forward and backward. Should be a number between -1 and 1.
    * @param zaxisRotate The speed at which the spins clockwise and counterclockwise. Should be a number between -1 and 1.
    */
   public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
diff --git a/Project 2 Basic State Machine/.vscode/launch.json b/Project 2 Basic State Machine/.vscode/launch.json
index c9c9713..8ae9ccd 100644
--- a/Project 2 Basic State Machine/.vscode/launch.json	
+++ b/Project 2 Basic State Machine/.vscode/launch.json	
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "Project 2 Basic State Machine"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/Project 2 Basic State Machine/src/main/java/frc/robot/Robot.java b/Project 2 Basic State Machine/src/main/java/frc/robot/Robot.java
index a28c928..1aaed7a 100644
--- a/Project 2 Basic State Machine/src/main/java/frc/robot/Robot.java	
+++ b/Project 2 Basic State Machine/src/main/java/frc/robot/Robot.java	
@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.RomiDrivetrain.RomiState;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.GenericHID.Hand;
 
@@ -19,6 +20,8 @@
 public class Robot extends TimedRobot {
 
   private final RomiDrivetrain mDrivetrain = new RomiDrivetrain();
+  private int controllerPort = 0;
+  private final XboxController controller = new XboxController(controllerPort);
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -52,7 +55,22 @@ public void teleopInit() {}
   
   /** This function is called periodically during operator control. HINT you code will be in this function*/
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+    mDrivetrain.arcadeDrive(controller.getX(Hand.kLeft), controller.getY(Hand.kRight));
+
+    if (controller.getXButtonPressed()) {
+      mDrivetrain.setState(RomiState.SLOW);
+    }
+
+    if (controller.getYButtonPressed()) {
+      mDrivetrain.setState(RomiState.NORMAL);
+    }
+
+    if (controller.getBButtonPressed()) {
+      mDrivetrain.setState(RomiState.FAST);
+    }
+
+  }
 
   /** This function is called once when the robot is disabled. */
   @Override
diff --git a/Project 2 Basic State Machine/src/main/java/frc/robot/RomiDrivetrain.java b/Project 2 Basic State Machine/src/main/java/frc/robot/RomiDrivetrain.java
index 6d258a5..a9a004a 100644
--- a/Project 2 Basic State Machine/src/main/java/frc/robot/RomiDrivetrain.java	
+++ b/Project 2 Basic State Machine/src/main/java/frc/robot/RomiDrivetrain.java	
@@ -57,7 +57,7 @@ public class RomiDrivetrain extends SubsystemBase {
 
   private final DifferentialDriveOdometry mOdometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(0));
 
-
+  
 
   /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
@@ -68,13 +68,40 @@ public RomiDrivetrain() {
     resetEncoders();
   }
 
+  //Normal Speed of Romi
+  private RomiState state = RomiState.NORMAL;
+
   /**
    * Commands the drivetrain through an arcade drive style. HINT: this is useful for your purposes.
    * @param xaxisSpeed The speed at which the robot goes forward and backward. Should be a number between -1 and 1.
    * @param zaxisRotate The speed at which the spins clockwise and counterclockwise. Should be a number between -1 and 1.
    */
+
+   public enum RomiState {
+     SLOW, NORMAL, FAST
+   }
+
+   public void setState(RomiState state){
+     this.state = state;
+   }
+
   public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
-    mDiffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+    switch (state) {
+      case SLOW:
+      System.out.println("The Romi is in Slow Mode");
+      mDiffDrive.arcadeDrive(xaxisSpeed * 0.5, zaxisRotate * 0.5);
+      break;
+
+      case NORMAL:
+      System.out.println("The Romi is in Normal Mode");
+      mDiffDrive.arcadeDrive(xaxisSpeed * 0.75, zaxisRotate * 0.75);
+      break;
+
+      case FAST:
+      System.out.println("The Romi is in Fast Mode");
+      mDiffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+      break;
+    }
   }
 
   public void resetEncoders() {
diff --git a/Project 3 Command Based/src/main/java/frc/robot/RobotContainer.java b/Project 3 Command Based/src/main/java/frc/robot/RobotContainer.java
index 24e0011..98bd6c1 100644
--- a/Project 3 Command Based/src/main/java/frc/robot/RobotContainer.java	
+++ b/Project 3 Command Based/src/main/java/frc/robot/RobotContainer.java	
@@ -6,9 +6,14 @@
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+import edu.wpi.first.wpilibj.XboxController.Button;
 import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.RomiDrivetrain;
+import frc.robot.subsystems.RomiDrivetrain.RomiState;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -19,6 +24,8 @@
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final RomiDrivetrain m_romiDrivetrain = new RomiDrivetrain();
+  private int controllerPort = 0;
+  private final XboxController controller = new XboxController(controllerPort);
 
   private final ExampleCommand m_autoCommand = new ExampleCommand(m_romiDrivetrain);
 
@@ -26,6 +33,17 @@ public class RobotContainer {
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
+
+    // Configure default commands
+    // Set the default drive command to split-stick arcade drive
+    m_romiDrivetrain.setDefaultCommand(
+        // A split-stick arcade command, with forward/backward controlled by the left
+        // hand, and turning controlled by the right.
+        new RunCommand(
+            () ->
+                m_romiDrivetrain.arcadeDrive(
+                    -controller.getX(Hand.kLeft), -1 * controller.getY(Hand.kRight)),
+            m_romiDrivetrain));
   }
 
   /**
@@ -34,7 +52,27 @@ public RobotContainer() {
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {}
+  private void configureButtonBindings() {
+
+    new JoystickButton(controller, Button.kX.value)
+    .whenPressed(
+                () -> {
+                  m_romiDrivetrain.setState(RomiState.SLOW);
+                }, m_romiDrivetrain);
+    
+    new JoystickButton(controller, Button.kY.value)
+    .whenPressed(
+                () -> {
+                  m_romiDrivetrain.setState(RomiState.NORMAL);
+                }, m_romiDrivetrain);
+
+    new JoystickButton(controller, Button.kB.value)
+    .whenPressed(
+                () -> {
+                  m_romiDrivetrain.setState(RomiState.FAST);
+                }, m_romiDrivetrain);
+
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
diff --git a/Project 3 Command Based/src/main/java/frc/robot/subsystems/RomiDrivetrain.java b/Project 3 Command Based/src/main/java/frc/robot/subsystems/RomiDrivetrain.java
index f78405e..6c9d4e7 100644
--- a/Project 3 Command Based/src/main/java/frc/robot/subsystems/RomiDrivetrain.java	
+++ b/Project 3 Command Based/src/main/java/frc/robot/subsystems/RomiDrivetrain.java	
@@ -25,6 +25,7 @@ public class RomiDrivetrain extends SubsystemBase {
 
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
+  
 
   /** Creates a new RomiDrivetrain. */
   public RomiDrivetrain() {
@@ -34,8 +35,33 @@ public RomiDrivetrain() {
     resetEncoders();
   }
 
+  private RomiState state = RomiState.NORMAL;
+
+  public enum RomiState {
+    SLOW, NORMAL, FAST
+  }
+
+  public void setState(RomiState state) {
+    this.state = state;
+  }
+
   public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
-    m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+    switch (state) {
+      case SLOW:
+      System.out.println("The Romi is in" + state + "  mode");
+      m_diffDrive.arcadeDrive(xaxisSpeed * 0.5, zaxisRotate * 0.5);
+      break;
+
+      case NORMAL:
+      System.out.println("The Romi is in" + state + "  mode");
+      m_diffDrive.arcadeDrive(xaxisSpeed * 0.75, zaxisRotate * 0.75);
+      break;
+
+      case FAST:
+      System.out.println("The Romi is in" + state + "  mode");
+      m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+      break;
+    }
   }
 
   public void resetEncoders() {
diff --git a/Project 4/Project 4.2 Basic Autonomous/src/main/java/frc/robot/RobotContainer.java b/Project 4/Project 4.2 Basic Autonomous/src/main/java/frc/robot/RobotContainer.java
index 811aa55..f68fc76 100644
--- a/Project 4/Project 4.2 Basic Autonomous/src/main/java/frc/robot/RobotContainer.java	
+++ b/Project 4/Project 4.2 Basic Autonomous/src/main/java/frc/robot/RobotContainer.java	
@@ -25,12 +25,22 @@ public class RobotContainer {
   private final RomiDrivetrain m_romiDrivetrain = new RomiDrivetrain();
 
   // You will need to set this up.
-  private final SequentialCommandGroup mCommand = new SequentialCommandGroup();
+  private final SequentialCommandGroup mCommand = new SequentialCommandGroup(
+    new InstantCommand(
+      () ->
+      m_romiDrivetrain.setForwardSpeed(0.5), m_romiDrivetrain),
+      new WaitCommand(5),
+
+    new InstantCommand(
+      () ->
+      m_romiDrivetrain.setForwardSpeed(0), m_romiDrivetrain));
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
+
+
   }
 
   /**
diff --git a/Project 5 Closed Loop Control/.vscode/launch.json b/Project 5 Closed Loop Control/.vscode/launch.json
index c9c9713..c965272 100644
--- a/Project 5 Closed Loop Control/.vscode/launch.json	
+++ b/Project 5 Closed Loop Control/.vscode/launch.json	
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "Project 5 Closed Loop Control"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/Project 5 Closed Loop Control/src/main/java/frc/robot/Constants.java b/Project 5 Closed Loop Control/src/main/java/frc/robot/Constants.java
index 033c72d..e30670a 100644
--- a/Project 5 Closed Loop Control/src/main/java/frc/robot/Constants.java	
+++ b/Project 5 Closed Loop Control/src/main/java/frc/robot/Constants.java	
@@ -12,4 +12,8 @@
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {}
+public final class Constants {
+    public static double kP = 10;
+    public static double kI = 0;
+    public static double kD = 10;
+}
diff --git a/Project 5 Closed Loop Control/src/main/java/frc/robot/RobotContainer.java b/Project 5 Closed Loop Control/src/main/java/frc/robot/RobotContainer.java
index 12363b3..f0eb50a 100644
--- a/Project 5 Closed Loop Control/src/main/java/frc/robot/RobotContainer.java	
+++ b/Project 5 Closed Loop Control/src/main/java/frc/robot/RobotContainer.java	
@@ -7,12 +7,9 @@
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.XboxController;
-import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.RomiDrivetrain;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -30,6 +27,14 @@ public class RobotContainer {
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
 
+    m_autoCommand = new PIDCommand(
+      new PIDController(Constants.kP, Constants.kI, Constants.kD),
+      m_romiDrivetrain::getDistanceInch,
+      10.0,
+      useOutput -> m_romiDrivetrain.setForwardSpeed(useOutput),
+      m_romiDrivetrain
+    );
+
     // Configure the button bindings
     configureButtonBindings();
   }
diff --git a/Project 5 Closed Loop Control/src/main/java/frc/robot/commands/ExampleCommand.java b/Project 5 Closed Loop Control/src/main/java/frc/robot/commands/ExampleCommand.java
index d0b185c..d4fe533 100644
--- a/Project 5 Closed Loop Control/src/main/java/frc/robot/commands/ExampleCommand.java	
+++ b/Project 5 Closed Loop Control/src/main/java/frc/robot/commands/ExampleCommand.java	
@@ -9,16 +9,12 @@
 
 /** An example command that uses an example subsystem. */
 public class ExampleCommand extends CommandBase {
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final RomiDrivetrain m_subsystem;
-
   /**
    * Creates a new ExampleCommand.
    *
    * @param subsystem The subsystem used by this command.
    */
   public ExampleCommand(RomiDrivetrain subsystem) {
-    m_subsystem = subsystem;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(subsystem);
   }
diff --git a/introduction.txt b/introduction.txt
index 482e223..9e7390a 100644
--- a/introduction.txt
+++ b/introduction.txt
@@ -1,2 +1,3 @@
-Name: 
-Fact: 
+Name: Kumar Samyak
+Fact: rfr
+y