diff --git a/CLOUDS/src/main.cpp b/CLOUDS/src/main.cpp
index c2fbbf5..a97076d 100644
--- a/CLOUDS/src/main.cpp
+++ b/CLOUDS/src/main.cpp
@@ -1,93 +1,70 @@
 #include "main.h"
 
-/**
- * A callback function for LLEMU's center button.
- *
- * When this callback is fired, it will toggle line 2 of the LCD text between
- * "I was pressed!" and nothing.
- */
-void on_center_button() {
-	static bool pressed = false;
-	pressed = !pressed;
-	if (pressed) {
-		pros::lcd::set_text(2, "I was pressed!");
-	} else {
-		pros::lcd::clear_line(2);
-	}
-}
+using namespace globals;
+using namespace superstruct;
+
+e_controlsch currentuser = RENU;
 
-/**
- * Runs initialization code. This occurs as soon as the program is started.
- *
- * All other competition modes are blocked by initialize; it is recommended
- * to keep execution time for this mode under a few seconds.
- */
 void initialize() {
-	pros::lcd::initialize();
-	pros::lcd::set_text(1, "Hello PROS User!");
+	ary::printScr();
+	pros::delay(500); // Ports config
 
-	pros::lcd::register_btn1_cb(on_center_button);
+	/*
+		Construct the chassis and it's constants
+		chassisInit() -> Adjusts drive curves, active brake constants, among other things 
+		configureConstants() -> Sets PID constants on the chassis
+		configureExitConditions() -> Sets default values for PID Exit conditions
+	*/
+	chassisInit();
+	configureConstants();
+	configureExitConditions();
+	
+	/*
+		Add autonomous paths to the auto selection
+	*/
+	ary::autonselector::auton_selector.add_autons({
+		Auton("Far side \n\nFar from alliance goal", near_side),
+		Auton("Far side (far from alliance goal) \n\nTo run when far from alliance GOAL", far_side),
+		Auton("Skills \n\ncloudabunga ", skills)
+	});
+
+	motorsCoast();
+
+	chassis.initialize();
+	ary::autonselector::initialize();
 }
 
-/**
- * Runs while the robot is in the disabled state of Field Management System or
- * the VEX Competition Switch, following either autonomous or opcontrol. When
- * the robot is enabled, this task will exit.
- */
 void disabled() {}
-
-/**
- * Runs after initialize(), and before autonomous when connected to the Field
- * Management System or the VEX Competition Switch. This is intended for
- * competition-specific initialization routines, such as an autonomous selector
- * on the LCD.
- *
- * This task will exit when the robot is enabled and autonomous or opcontrol
- * starts.
- */
 void competition_initialize() {}
 
-/**
- * Runs the user autonomous code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the autonomous
- * mode. Alternatively, this function may be called in initialize or opcontrol
- * for non-competition testing purposes.
- *
- * If the robot is disabled or communications is lost, the autonomous task
- * will be stopped. Re-enabling the robot will restart the task, not re-start it
- * from where it left off.
- */
-void autonomous() {}
+void autonomous() {
+	autonomousResets();
+	ary::autonselector::auton_selector.call_selected_auton();
+}
 
-/**
- * Runs the operator control code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the operator
- * control mode.
- *
- * If no competition control is connected, this function will run immediately
- * following initialize().
- *
- * If the robot is disabled or communications is lost, the
- * operator control task will be stopped. Re-enabling the robot will restart the
- * task, not resume it from where it left off.
- */
 void opcontrol() {
-	pros::Controller master(pros::E_CONTROLLER_MASTER);
-	pros::Motor left_mtr(1);
-	pros::Motor right_mtr(2);
+	disableActiveBrake();
+	opControlInit(); // Configure the chassis for driver control
 
-	while (true) {
-		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
-		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
-		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
-		int left = master.get_analog(ANALOG_LEFT_Y);
-		int right = master.get_analog(ANALOG_RIGHT_Y);
+	while (true) {	
+		/*
+			Handle controls for whoever is driving the bot at the moment, each available user a respective set of controls
+			Available Options:
+			RENU, RIA, CHRIS
+		*/
+		if (currentuser == RENU) {
+			chassis.tank_control();
+			renu_control();
+		} else if (currentuser == RIA) {
+			chassis.tank_control();
+			renu_control();
+		} else if (currentuser == CHRIS) {
+			chassis.arcade_standard(ary::SINGLE, ary::DEFAULT);
+			chris_control();
+		} else {
+			renu_control(); 
+		}
 
-		left_mtr = left;
-		right_mtr = right;
-
-		pros::delay(20);
+ 		pros::delay(ary::util::DELAY_TIME);
 	}
 }