diff --git a/.run/BlueAllianceBackField MeepMeep.run.xml b/.run/BlueAllianceBackField MeepMeep.run.xml
index 27b49e5..77ae553 100644
--- a/.run/BlueAllianceBackField MeepMeep.run.xml	
+++ b/.run/BlueAllianceBackField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="BlueAllianceBackField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="BlueAllianceBackField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.BlueAllianceBackField" />
diff --git a/.run/BlueAllianceMidField MeepMeep.run.xml b/.run/BlueAllianceMidField MeepMeep.run.xml
index 32cc955..303871a 100644
--- a/.run/BlueAllianceMidField MeepMeep.run.xml	
+++ b/.run/BlueAllianceMidField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="BlueAllianceMidField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="BlueAllianceMidField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.BlueAllianceMidField" />
diff --git a/.run/RedAllianceBackField MeepMeep.run.xml b/.run/RedAllianceBackField MeepMeep.run.xml
index 2d9609e..57f0459 100644
--- a/.run/RedAllianceBackField MeepMeep.run.xml	
+++ b/.run/RedAllianceBackField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="RedAllianceBackField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="RedAllianceBackField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.RedAllianceBackField" />
diff --git a/.run/RedAllianceMidField MeepMeep.run.xml b/.run/RedAllianceMidField MeepMeep.run.xml
index 9b03c63..bc33977 100644
--- a/.run/RedAllianceMidField MeepMeep.run.xml	
+++ b/.run/RedAllianceMidField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="RedAllianceMidField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="RedAllianceMidField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.RedAllianceMidField" />
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
index 2ff114c..f183239 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
@@ -15,21 +15,18 @@
 public class TeleOpMain extends LinearOpMode {
 
     // Constructors for the utils classes
-    private final DriveControls drive;
-    private final LaunchControls launch;
-    private final RampControls ramp;
-
-    public TeleOpMain(HardwareMap hardwareMap) {
-        this.drive = new DriveControls(hardwareMap);
-        this.launch = new LaunchControls(hardwareMap);
-        this.ramp = new RampControls(hardwareMap);
-    }
+    private DriveControls drive;
+    private LaunchControls launch;
+    private RampControls ramp;
 
 
     //This function is executed when this Op Mode is selected from the Driver Station
     @Override
     public void runOpMode() {
-        // Initialize the CommonControls class
+        // Create the utils classes
+        drive = new DriveControls(hardwareMap);
+        launch = new LaunchControls(hardwareMap);
+        ramp = new RampControls(hardwareMap);
 
         // The waitForStart() function will wait for the start button to begin
         // DON'T WRITE ANY CODE AFTER THE WAIT FOR START UNTIL THE "while (opModIsActive())"
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java
index 7412ad4..baa308f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java
@@ -55,7 +55,12 @@ public void setDrivePower(float controlLeftStickY) {
         setDrivePower(controlLeftStickY, 0.0f, 0.0f, 0.0f);
     }
 
-    // TODO: Create JavaDoc
+
+    // TODO: Write Unit test
+
+    /**
+     * Sets all of the drive motors' zero power behavior to BRAKE
+     */
     void setDriveBrake() {
         motors.leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         motors.rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -63,7 +68,9 @@ void setDriveBrake() {
         motors.rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
     }
 
-    // TODO: Create JavaDoc
+    /**
+     * Sets all of the drive motors' zero power behavior to FLOAT
+     */
     void setDriveFloat() {
         motors.leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
         motors.rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
@@ -71,7 +78,12 @@ void setDriveFloat() {
         motors.rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
     }
 
-    // TODO: Create JavaDoc
+    /**
+     * Function that allows for the driver to control the zero power behavior of the drive motors
+     * to either BRAKE or FLOAT float is the default if no input is given on the controller
+     *
+     * @param input Controller button input to determine if the motors should be in BRAKE or FLOAT
+     */
     public void setDriveMotorZeroPowerBehavior(boolean input) {
         if (input) {
             setDriveBrake();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java
index 4895072..ff7e62e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java
@@ -5,6 +5,9 @@
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+/**
+ * Class holds motors and servos that are used throughout the code
+ */
 public class MotorConstructor {
     /**
      * Front left drive motor
@@ -50,7 +53,7 @@ public class MotorConstructor {
     public CRServo rampServo3;
     public CRServo rampServo4;
 
-    public MotorConstructor(HardwareMap hardwareMap){
+    public MotorConstructor(HardwareMap hardwareMap) {
         // Map main Drive Motors
         leftFront = hardwareMap.get(DcMotor.class, "leftFront");
         rightFront = hardwareMap.get(DcMotor.class, "rightFront");
@@ -61,7 +64,7 @@ public MotorConstructor(HardwareMap hardwareMap){
         intake = hardwareMap.get(DcMotor.class, "intake");
 
         // Map the launcher Prototype
-        Launcher  = hardwareMap.get(DcMotor.class, "Launcher");
+        Launcher = hardwareMap.get(DcMotor.class, "Launcher");
         Launcher2 = hardwareMap.get(DcMotor.class, "Launcher2");
 
         rampServo1 = hardwareMap.get(CRServo.class, "rampServo1");
@@ -75,6 +78,11 @@ public MotorConstructor(HardwareMap hardwareMap){
         leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
         rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
 
+        // Set the direction of the launcher motor
+        Launcher.setDirection(DcMotorSimple.Direction.REVERSE);
+        Launcher2.setDirection(DcMotorSimple.Direction.REVERSE);
+
+
         // Set the direction of the intake motor
         intake.setDirection(DcMotorSimple.Direction.REVERSE);
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java
index 2de0485..4154f50 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java
@@ -3,17 +3,18 @@
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 public class RampControls {
+    private final MotorConstructor motors;
+
+    public RampControls(HardwareMap hardwareMap) {
+        this.motors = new MotorConstructor(hardwareMap);
+    }
+
     /**
      * Controls the spin direction of the intake wheel based on controller buttons
      *
      * @param intakeForwardInput Button mapped to forward input
      * @param intakeReverseInput Button mapped to reverse input
      */
-    private final MotorConstructor motors;
-
-    public RampControls(HardwareMap hardwareMap) {
-        this.motors = new MotorConstructor(hardwareMap);
-    }
     public void setIntakeDirection(boolean intakeForwardInput, boolean intakeReverseInput) {
         double intakePower = 0;
         // ^ is the XOR operator, will return true if only one variable is true
diff --git a/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java b/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java
deleted file mode 100644
index 02e040e..0000000
--- a/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java
+++ /dev/null
@@ -1,192 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verify;
-import static org.mockito.Mockito.when;
-
-import com.qualcomm.robotcore.hardware.CRServo;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.DisplayName;
-import org.junit.jupiter.api.Test;
-
-public class CommonControlsTest {
-
-    private DcMotor leftFront, rightFront, leftBack, rightBack, intake, Launcher, Launcher2;
-    private CRServo rampServo1;
-    private CRServo rampServo2;
-    private CommonControls controls;
-
-    @BeforeEach
-    void setUp() {
-        // Mock all motors
-        leftFront = mock(DcMotor.class);
-        rightFront = mock(DcMotor.class);
-        leftBack = mock(DcMotor.class);
-        rightBack = mock(DcMotor.class);
-
-        intake = mock(DcMotor.class);
-        Launcher = mock(DcMotor.class);
-        Launcher2 = mock(DcMotor.class);
-
-        rampServo1 = mock(CRServo.class);
-        rampServo2 = mock(CRServo.class);
-        CRServo rampServo3 = mock(CRServo.class);
-        CRServo rampServo4 = mock(CRServo.class);
-
-
-        // Mock HardwareMap and its nested dcMotor map
-        HardwareMap hardwareMap = mock(HardwareMap.class);
-        HardwareMap.DeviceMapping<CRServo> crServoMap = mock(HardwareMap.DeviceMapping.class);
-        HardwareMap.DeviceMapping<DcMotor> dcMotorMap = mock(HardwareMap.DeviceMapping.class);
-
-        when(hardwareMap.get(DcMotor.class, "intake")).thenReturn(intake);
-        when(hardwareMap.get(DcMotor.class, "leftFront")).thenReturn(leftFront);
-        when(hardwareMap.get(DcMotor.class, "rightFront")).thenReturn(rightFront);
-        when(hardwareMap.get(DcMotor.class, "leftBack")).thenReturn(leftBack);
-        when(hardwareMap.get(DcMotor.class, "rightBack")).thenReturn(rightBack);
-
-        when(dcMotorMap.get("leftFront")).thenReturn(leftFront);
-        when(dcMotorMap.get("rightFront")).thenReturn(rightFront);
-        when(dcMotorMap.get("leftBack")).thenReturn(leftBack);
-        when(dcMotorMap.get("rightBack")).thenReturn(rightBack);
-        when(dcMotorMap.get("Launcher")).thenReturn(Launcher);
-        when(dcMotorMap.get("Launcher2")).thenReturn(Launcher2);
-        when(crServoMap.get("rampServo1")).thenReturn(rampServo1);
-        when(crServoMap.get("rampServo2")).thenReturn(rampServo2);
-        when(crServoMap.get("rampServo3")).thenReturn(rampServo3);
-        when(crServoMap.get("rampServo4")).thenReturn(rampServo4);
-
-        // Set direction of the main drive motors
-        leftFront.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // Set the direction of the intake motor
-        intake.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        hardwareMap.dcMotor = dcMotorMap;
-        hardwareMap.crservo = crServoMap;
-        controls = new CommonControls(hardwareMap);
-    }
-
-    @DisplayName("Pushing left stick Y fully should set all motors to 1.0")
-    @Test
-    void testSetDrivePower_forwardOnly() {
-        // Forward input only, no strafe or rotation, full speed
-        controls.setDrivePower(-1.0f, 0.0f, 0.0f,
-            0.0f);
-
-        // Expected power: all motors get 1.0
-        verify(leftFront).setPower(-1.0);
-        verify(rightFront).setPower(-1.0);
-        verify(leftBack).setPower(-1.0);
-        verify(rightBack).setPower(-1.0);
-    }
-
-    @DisplayName("Pushing left stick Y fully should set back right and front left motors to 1.0" +
-        "and should set back left and front right motors to -1.0")
-    @Test
-    void testSetDrivePower_strafeRightOnly() {
-        controls.setDrivePower(0.0f, -1.0f, 0.0f,
-            0.0f);
-
-        // Expected power: set back right and front left motors to 1.0 and should set back left and
-        // front right motors to -1.0"
-        // Expected power: all motors get 1.0
-        verify(leftFront).setPower(1.0);
-        verify(rightFront).setPower(-1.0);
-        verify(leftBack).setPower(-1.0);
-        verify(rightBack).setPower(1.0);
-    }
-
-    @DisplayName("Pushing right stick X fully should set the left motors to 1.0" +
-        " and the right motors to -1.0")
-    @Test
-    void testSetDrivePower_turnRight() {
-        controls.setDrivePower(0.0f, 0.0f, -1.0f,
-            0.0f);
-
-        // Expected power: left motors get 1.0 and right motors get -1.0
-        verify(leftFront).setPower(1.0);
-        verify(rightFront).setPower(-1.0);
-        verify(leftBack).setPower(1.0);
-        verify(rightBack).setPower(-1.0);
-    }
-
-    @DisplayName("Intake should spin forward when forward button is pressed")
-    @Test
-    void testIntakeForward() {
-        controls.setIntakeDirection(true, false);
-        verify(intake).setPower(1.0);
-        verify(rampServo1).setPower(-1.0);
-        verify(rampServo2).setPower(1.0);
-    }
-
-    @DisplayName("Intake should spin backward when reverse button is pressed")
-    @Test
-    void testIntakeReverse() {
-        controls.setIntakeDirection(false, true);
-        verify(intake).setPower(-1.0);
-        verify(rampServo1).setPower(1.0);
-        verify(rampServo2).setPower(-1.0);
-    }
-
-    @DisplayName("Intake should not spin when direction buttons are not depressed")
-    @Test
-    void testIntakeNeutral() {
-        controls.setIntakeDirection(false, false);
-        verify(intake).setPower(0.0);
-        verify(rampServo1).setPower(-0.0);
-        verify(rampServo2).setPower(0.0);
-    }
-
-    @DisplayName("Intake should stop when both direction buttons pressed at the same time")
-    @Test
-    void testIntakeConflict() {
-        controls.setIntakeDirection(true, true);
-        verify(intake).setPower(0.0);
-        verify(rampServo1).setPower(-0.0);
-        verify(rampServo2).setPower(0.0);
-    }
-
-    @DisplayName("Launcher should spin when input given")
-    @Test
-    void testLaunchPower() {
-        controls.setLaunchPower(true);
-        verify(Launcher).setPower(controls.launchPower);
-        verify(Launcher2).setPower(-controls.launchPower);
-    }
-
-    @DisplayName("Launcher should stop when no input it given")
-    @Test
-    void testNoLaunchPower() {
-        controls.setLaunchPower(false);
-        verify(Launcher).setPower(0.0);
-        verify(Launcher2).setPower(-0.0);
-    }
-
-    @DisplayName("Set zero power behavior to brake when true")
-    @Test
-    void testDriveBrakeActive() {
-        controls.setDriveMotorZeroPowerBehavior(true);
-        verify(leftFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        verify(rightFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        verify(leftBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        verify(rightBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-    }
-
-    @DisplayName("Set zero power behavior to float when false")
-    @Test
-    void testDriveBrakeInactive() {
-        controls.setDriveMotorZeroPowerBehavior(false);
-        verify(leftFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        verify(rightFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        verify(leftBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        verify(rightBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-    }
-}