diff --git a/WeRobot-Code.java b/WeRobot-Code.java
index 0a75d64..fbe41f4 100644
--- a/WeRobot-Code.java
+++ b/WeRobot-Code.java
@@ -6,10 +6,15 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
-@TeleOp
+@TeleOp(name="WeRobot: FGC2023 OpMode", group="WeRobot")
 public class DualDrive extends LinearOpMode {
-  private DcMotor rightmotor;
-  private DcMotor leftmotor;
+  private DcMotor flm;
+  private DcMotor frm;
+  private DcMotor brm;
+  private DcMotor blm;
+  private DcMotor moissonmotor;
+  private DcMotor launchermotor;
+  private DcMotor mountmotor;
 
   @Override
   public void runOpMode() {
@@ -17,23 +22,23 @@ public class DualDrive extends LinearOpMode {
         double y;
 	float g2x;
 	boolean ismoissonactive=false;
-	boolean a;
-	boolean y;
+	boolean ga;
+	boolean gy;
 	boolean preva =false;
-        flm = hardwareMap.get(DcMotor.class, "0");
-        frm = hardwareMap.get(DcMotor.class, "1");
-	blm = hardwareMap.get(DcMotor.class, "2");
-	brm = hardwareMap.get(DcMotor.class, "3");
-	moissonmotor = hardwareMap.get(DcMotor.class, "4");        
-	launchermotor = hardwareMap.get(DcMotor.class, "5");
-	mountmotor = hardwareMap.get(DcMotor.class, "6");
+        flm = hardwareMap.get(DcMotor.class, "flm");
+        frm = hardwareMap.get(DcMotor.class, "frm");
+	blm = hardwareMap.get(DcMotor.class, "blm");
+	brm = hardwareMap.get(DcMotor.class, "brm");
+	moissonmotor = hardwareMap.get(DcMotor.class, "msn");        
+	launchermotor = hardwareMap.get(DcMotor.class, "lnc");
+	mountmotor = hardwareMap.get(DcMotor.class, "mnt");
         waitForStart();
 
         while (opModeIsActive()) {
             x = gamepad1.left_stick_x;
             y = -gamepad1.left_stick_y;
 	    a = gamepad1.a; 
-	    gy = gamepad.y;
+	    gy = gamepad1.y;
 	    if(a & !preva){
 		    ismoissonactive=!ismoissonactive;
 		    preva=true;
@@ -67,7 +72,7 @@ public class DualDrive extends LinearOpMode {
     }
 }
 public class Robot{
-	public void moves(x,y,flm,frm,blm,brm){
+	public void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
 		float approx = 0.15;
 		boolean xnozero = (x<-approx || x>approx);
 		boolean ynozero = (y<-approx || y>approx);
@@ -93,13 +98,14 @@ public class Robot{
 		}
 
 	}
-	public void diagonal(x,y,flm,frm,blm,brm){
+	public void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
 		if(x>0){
 			if(y>0){
 				// North East
 				Robot.movement(flm,frm,blm,brm,[1,0,0,1]);
 
-			}else{
+			}
+			else{
 				//South East
 				Robot.movement(flm,frm,blm,brm,[0,-1,-1,0]);
 			}
@@ -114,7 +120,7 @@ public class Robot{
 			}
 		}
 	}
-	public void horizontal(x,flm,frm,blm,brm){
+	public void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
 		if(x>0){
 			Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]);
 		}else{
@@ -124,7 +130,7 @@ public class Robot{
 			
 
 	}
-	public void vertical(y,flm,frm,blm,brm){
+	public void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
 		if(y>0){
 			Robot.movement(flm,frm,blm,brm,[1,1,1,1]);
 		}else{
@@ -132,13 +138,13 @@ public class Robot{
 		}
 
 	}
-	public void movement(flm,frm,blm,brm,list){
+	public void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){
 		flm.setPower(list[0]);
 		frm.setPower(list[1]);
 		blm.setPower(list[2]);
 		brm.setPower(list[3]);
 	}
-	public void Rotations(g2x,flm,frm,blm,brm){
+	public void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
 		float approx = 0.15;
 		boolean xnozero = (g2x<-approx || g2x>approx);
 		if(xnozero){