diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..acaf745
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+/.vscode
+/bin
+/build
+compile_commands.json
diff --git a/Ri3D 2024.v5code b/Ri3D 2024.v5code
new file mode 100644
index 0000000..3663ce2
--- /dev/null
+++ b/Ri3D 2024.v5code	
@@ -0,0 +1 @@
+{"title":"Ri3D 2024","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"23.09.1216","sdk":"20220726_10_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/joystick.cpp","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":1,"uid":"276-4810","options":{}},"isVexFileImport":false,"robotconfig":[]}
\ No newline at end of file
diff --git a/include/joystick.cpp b/include/joystick.cpp
new file mode 100644
index 0000000..f3fe729
--- /dev/null
+++ b/include/joystick.cpp
@@ -0,0 +1,96 @@
+#include "vex.h"
+#include <cmath>
+
+
+/* 
+  this class was made by Cole Huffine class of 2024
+  lets hope rivera gives this to future classes bc
+  i think it would be useful for everyone
+*/
+
+/*
+  In order to use this class, put it in your "include" folder
+  and then put '#inlcude "joystick.cpp"' at the top of your main file
+
+  Usage:
+    If you need to get the value of a joystick fixed to account for the physical limitations
+      getLeftX();
+      getLeftY();
+      getRightX();
+      getRightY();
+
+    If you need to get the REAL value of a joystick, as inputted into the brain
+      getTrueLeftX();
+      getTrueLeftY();
+      getTrueRightX();
+      getTrueRightY();
+*/
+
+/*
+  If you want to use a second controller, or name your controller something else other than Controller1,
+  then go to all of the getTrue methods, and change the name to what you have as your config
+*/
+
+
+//this returns the sign of the value you pass in as a parameter
+//i originally made this file in java, and c++ doesnt have this
+//built in so i made it :)
+int signum(double val) {
+  return (val >= 0) ? 1 : -1;
+}
+
+
+//use these if you need to get the true value of any joystick
+double getTrueLeftX() {
+  return Controller1.Axis4.position(pct);
+}
+
+double getTrueLeftY() {
+  return Controller1.Axis3.position(pct);
+}
+
+double getTrueRightX() {
+  return Controller1.Axis1.position(pct);
+}
+
+double getTrueRightY() {
+  return Controller1.Axis2.position(pct);
+}
+
+/*
+  * This method is to fix the flawed input of a vex controller. The input is a box,
+  * both X and Y axis can go from -1 to 1. However, since the controller build physically
+  * forces the joystick into a circle, its impossible to reach the the corner of the box.
+  * This method fixes that issue.
+*/  
+double joystickFix(bool isLeft, bool isX) {
+  double root2 = sqrt(2);
+  double x = isLeft ? getTrueLeftX() : getTrueRightX();
+  double y = isLeft ? getTrueLeftY() : getTrueRightY();
+  double magnitude = sqrt(x*x + y*y);
+  double values[2] = {
+    signum(x) * fmin(fabs(x*root2), magnitude),
+    signum(y) * fmin(fabs(y*root2), magnitude)
+  };
+  return isX? values[0] : values[1];
+}
+
+
+// these return the fixed value of all of the joysticks
+double getLeftX() {
+  return joystickFix(true, true);
+}
+
+double getLeftY() {
+  return joystickFix(true, false);
+}
+
+double getRightX() {
+  return joystickFix(false, true);
+}
+
+double getRightY() {
+  return joystickFix(false, false);
+}
+
+
diff --git a/include/robot-config.h b/include/robot-config.h
new file mode 100644
index 0000000..c34fd17
--- /dev/null
+++ b/include/robot-config.h
@@ -0,0 +1,12 @@
+using namespace vex;
+
+extern brain Brain;
+
+// VEXcode devices
+
+/**
+ * Used to initialize code/tasks/devices added using tools in VEXcode Pro.
+ * 
+ * This should be called at the start of your int main function.
+ */
+void  vexcodeInit( void );
\ No newline at end of file
diff --git a/include/vex.h b/include/vex.h
new file mode 100644
index 0000000..ad2084c
--- /dev/null
+++ b/include/vex.h
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    Module:       vex.h                                                     */
+/*    Author:       Vex Robotics                                              */
+/*    Created:      1 Feb 2019                                                */
+/*    Description:  Default header for V5 projects                            */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+//
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "v5.h"
+#include "v5_vcs.h"
+
+#include "robot-config.h"
+
+#define waitUntil(condition)                                                   \
+  do {                                                                         \
+    wait(5, msec);                                                             \
+  } while (!(condition))
+
+#define repeat(iterations)                                                     \
+  for (int iterator = 0; iterator < iterations; iterator++)
\ No newline at end of file
diff --git a/makefile b/makefile
new file mode 100644
index 0000000..acc3bca
--- /dev/null
+++ b/makefile
@@ -0,0 +1,30 @@
+# VEXcode makefile 2019_03_26_01
+
+# show compiler output
+VERBOSE = 0
+
+# include toolchain options
+include vex/mkenv.mk
+
+# location of the project source cpp and c files
+SRC_C  = $(wildcard src/*.cpp) 
+SRC_C += $(wildcard src/*.c)
+SRC_C += $(wildcard src/*/*.cpp) 
+SRC_C += $(wildcard src/*/*.c)
+
+OBJ = $(addprefix $(BUILD)/, $(addsuffix .o, $(basename $(SRC_C))) )
+
+# location of include files that c and cpp files depend on
+SRC_H  = $(wildcard include/*.h)
+
+# additional dependancies
+SRC_A  = makefile
+
+# project header file locations
+INC_F  = include
+
+# build targets
+all: $(BUILD)/$(PROJECT).bin
+
+# include build rules
+include vex/mkrules.mk
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..ff4dc4c
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,138 @@
+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    Module:       main.cpp                                                  */
+/*    Author:       C:\Users\User                                             */
+/*    Created:      Wed Mar 27 2024                                           */
+/*    Description:  V5 project                                                */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+
+// ---- START VEXCODE CONFIGURED DEVICES ----
+// Robot Configuration:
+// [Name]               [Type]        [Port(s)]
+// ---- END VEXCODE CONFIGURED DEVICES ----
+
+#include "vex.h"
+#include <cmath>
+#include "joystick.cpp"
+
+using namespace vex;
+
+competition  Competition;
+
+motor LeftDriveMotor = motor(1, ratio18_1, false);
+motor RightDriveMotor = motor(2, ratio18_1, false);
+motor FrontDriveMotor = motor(3, ratio18_1, false);
+motor BackDriveMotor = motor(4, ratio18_1, false);
+inertial Inertial = inertial(5);
+motor arm = motor(7, ratio36_1, false);
+motor deploy = motor(8, ratio18_1, false);
+motor climbMotorA = motor(9, ratio18_1, false);
+motor climbMotorB = motor(10, ratio18_1, true);
+motor_group climb = motor_group(climbMotorA, climbMotorB);
+controller Controller1 = controller(primary);
+
+
+class Drives {
+  public:
+    void static robotOirented() {
+      double yInput = getLeftY();
+      double xInput = getLeftX();
+      double turning = getTrueRightX();
+      double leftMotor = yInput + turning;
+      double rightMotor = yInput - turning;
+      double frontMotor = xInput + turning;
+      double backMotor = xInput - turning;
+
+      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
+      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
+      FrontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
+      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    }
+
+    void static autonDrive(double xIn, double yIn, double turnIn) {
+      double yInput = yIn;
+      double xInput = xIn;
+      double turning = turnIn;
+      double leftMotor = yInput + turning;
+      double rightMotor = yInput - turning;
+      double frontMotor = xInput + turning;
+      double backMotor = xInput - turning;
+
+      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
+      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
+      FrontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
+      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    }
+
+    void static fieldOriented() {
+      double headingRadians = Inertial.heading() * 3.141592/180;
+      double yInput = getLeftY();
+      double xInput = getLeftX();
+      double sineHeading = sin(headingRadians);
+      double cosHeading = cos(headingRadians);
+      double rotatedYInput = xInput * sineHeading + yInput * cosHeading;
+      double rotatedXInput = xInput * cosHeading - yInput * sineHeading;
+      double turning = getTrueRightX();
+      double leftMotor = rotatedYInput + turning;
+      double rightMotor = -rotatedYInput + turning;
+      double FrontMotor = rotatedXInput + turning;
+      double backMotor = -rotatedXInput + turning;
+
+      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
+      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
+      FrontDriveMotor.spin(fwd, FrontMotor, velocityUnits::pct);
+      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    }
+};
+
+void pre_auton(void) {
+  Inertial.setHeading(0.0, degrees);
+  Inertial.setRotation(0.0, degrees);
+  Inertial.startCalibration();
+  while(Inertial.isCalibrating()) {
+    task::sleep(10);
+  }
+  Inertial.setHeading(0.0, degrees);
+  Inertial.setRotation(0.0, degrees);
+
+  // Initializing Robot Configuration. DO NOT REMOVE!
+  vexcodeInit();
+}
+
+void usercontrol(void) {
+  while(true) {
+    Drives::fieldOriented();
+
+    //zeroes inertial sensor
+    if(Controller1.ButtonY.pressing()) {
+      Inertial.setHeading(0.0, degrees);
+      Inertial.setRotation(0.0, degrees);
+      Inertial.startCalibration();
+      while (Inertial.isCalibrating()) {
+          task::sleep(10);
+      }
+      Inertial.setHeading(0.0, degrees);
+      Inertial.setRotation(0.0, degrees);
+    }
+
+  }
+}
+
+void auton(void) {
+  Drives::autonDrive(0.0, 0.5, 0);
+  task::sleep(4000);
+  Drives::autonDrive(0.0, 0.0, 0);
+}
+
+int main() {
+  pre_auton();
+  
+  Competition.autonomous(auton);
+  Competition.drivercontrol(usercontrol);
+   
+  while(true) {
+    task::sleep(10);
+  }
+
+}
diff --git a/src/robot-config.cpp b/src/robot-config.cpp
new file mode 100644
index 0000000..d2402ee
--- /dev/null
+++ b/src/robot-config.cpp
@@ -0,0 +1,23 @@
+#include "vex.h"
+
+using namespace vex;
+using signature = vision::signature;
+using code = vision::code;
+
+// A global instance of brain used for printing to the V5 Brain screen
+brain  Brain;
+
+// VEXcode device constructors
+
+// VEXcode generated functions
+
+
+
+/**
+ * Used to initialize code/tasks/devices added using tools in VEXcode Pro.
+ * 
+ * This should be called at the start of your int main function.
+ */
+void vexcodeInit( void ) {
+  // nothing to initialize
+}
\ No newline at end of file
diff --git a/vex/mkenv.mk b/vex/mkenv.mk
new file mode 100644
index 0000000..f420da0
--- /dev/null
+++ b/vex/mkenv.mk
@@ -0,0 +1,101 @@
+# VEXcode mkenv.mk 2019_06_06_01
+
+# macros to help with windows paths that include spaces
+sp :=
+sp +=
+qs = $(subst ?,$(sp),$1)
+sq = $(subst $(sp),?,$1)
+
+# default platform and build location
+PLATFORM  = vexv5
+BUILD     = build
+
+# version for clang headers
+ifneq ("$(origin HEADERS)", "command line")
+HEADERS = 8.0.0
+endif
+
+# Project name passed from app
+ifeq ("$(origin P)", "command line")
+PROJECT   = $(P)
+else
+PROJECT   = $(notdir $(call sq,$(abspath ${CURDIR})))
+endif
+
+# Toolchain path passed from app
+ifeq ("$(origin T)", "command line")
+TOOLCHAIN = $(T)
+endif
+ifndef TOOLCHAIN
+TOOLCHAIN = ${HOME}/sdk
+endif
+
+# Verbose flag passed from app
+ifeq ("$(origin V)", "command line")
+BUILD_VERBOSE=$(V)
+endif
+
+# allow verbose to be set by makefile if not set by app
+ifndef BUILD_VERBOSE
+ifndef VERBOSE
+BUILD_VERBOSE = 0
+else
+BUILD_VERBOSE = $(VERBOSE)
+endif
+endif
+
+# use verbose flag
+ifeq ($(BUILD_VERBOSE),0)
+Q = @
+else
+Q =
+endif
+
+# compile and link tools
+CC      = clang
+CXX     = clang
+OBJCOPY = arm-none-eabi-objcopy
+SIZE    = arm-none-eabi-size
+LINK    = arm-none-eabi-ld
+ARCH    = arm-none-eabi-ar
+ECHO    = @echo
+DEFINES = -DVexV5
+
+# platform specific macros
+ifeq ($(OS),Windows_NT)
+$(info windows build for platform $(PLATFORM))
+SHELL = cmd.exe
+MKDIR = md "$(@D)" 2> nul || :
+RMDIR = rmdir /S /Q
+CLEAN = $(RMDIR) $(BUILD) 2> nul || :
+else
+$(info unix build for platform $(PLATFORM))
+MKDIR = mkdir -p "$(@D)" 2> /dev/null || :
+RMDIR = rm -rf
+CLEAN = $(RMDIR) $(BUILD) 2> /dev/null || :
+endif
+
+# toolchain include and lib locations
+TOOL_INC  = -I"$(TOOLCHAIN)/$(PLATFORM)/clang/$(HEADERS)/include" -I"$(TOOLCHAIN)/$(PLATFORM)/gcc/include"  -I"$(TOOLCHAIN)/$(PLATFORM)/gcc/include/c++/4.9.3"  -I"$(TOOLCHAIN)/$(PLATFORM)/gcc/include/c++/4.9.3/arm-none-eabi/armv7-ar/thumb"
+TOOL_LIB  = -L"$(TOOLCHAIN)/$(PLATFORM)/gcc/libs"
+
+# compiler flags
+CFLAGS_CL = -target thumbv7-none-eabi -fshort-enums -Wno-unknown-attributes -U__INT32_TYPE__ -U__UINT32_TYPE__ -D__INT32_TYPE__=long -D__UINT32_TYPE__='unsigned long' 
+CFLAGS_V7 = -march=armv7-a -mfpu=neon -mfloat-abi=softfp
+CFLAGS    = ${CFLAGS_CL} ${CFLAGS_V7} -Os -Wall -Werror=return-type -ansi -std=gnu99 $(DEFINES)
+CXX_FLAGS = ${CFLAGS_CL} ${CFLAGS_V7} -Os -Wall -Werror=return-type -fno-rtti -fno-threadsafe-statics -fno-exceptions  -std=gnu++11 -ffunction-sections -fdata-sections $(DEFINES)
+
+# linker flags
+LNK_FLAGS = -nostdlib -T "$(TOOLCHAIN)/$(PLATFORM)/lscript.ld" -R "$(TOOLCHAIN)/$(PLATFORM)/stdlib_0.lib" -Map="$(BUILD)/$(PROJECT).map" --gc-section -L"$(TOOLCHAIN)/$(PLATFORM)" ${TOOL_LIB}
+
+# future statuc library
+PROJECTLIB = lib$(PROJECT)
+ARCH_FLAGS = rcs
+
+# libraries
+LIBS =  --start-group -lv5rt -lstdc++ -lc -lm -lgcc --end-group
+
+# include file paths
+INC += $(addprefix -I, ${INC_F})
+INC += -I"$(TOOLCHAIN)/$(PLATFORM)/include"
+INC += ${TOOL_INC}
diff --git a/vex/mkrules.mk b/vex/mkrules.mk
new file mode 100644
index 0000000..a45bbdc
--- /dev/null
+++ b/vex/mkrules.mk
@@ -0,0 +1,32 @@
+# VEXcode mkrules.mk 2019_03_26_01
+
+# compile C files
+$(BUILD)/%.o: %.c $(SRC_H)
+	$(Q)$(MKDIR)
+	$(ECHO) "CC  $<"
+	$(Q)$(CC) $(CFLAGS) $(INC) -c -o $@ $<
+	
+# compile C++ files
+$(BUILD)/%.o: %.cpp $(SRC_H) $(SRC_A)
+	$(Q)$(MKDIR)
+	$(ECHO) "CXX $<"
+	$(Q)$(CXX) $(CXX_FLAGS) $(INC) -c -o $@ $<
+	
+# create executable 
+$(BUILD)/$(PROJECT).elf: $(OBJ)
+	$(ECHO) "LINK $@"
+	$(Q)$(LINK) $(LNK_FLAGS) -o $@ $^ $(LIBS)
+	$(Q)$(SIZE) $@
+
+# create binary 
+$(BUILD)/$(PROJECT).bin: $(BUILD)/$(PROJECT).elf
+	$(Q)$(OBJCOPY) -O binary $(BUILD)/$(PROJECT).elf $(BUILD)/$(PROJECT).bin
+
+# create archive
+$(BUILD)/$(PROJECTLIB).a: $(OBJ)
+	$(Q)$(ARCH) $(ARCH_FLAGS) $@ $^
+
+# clean project
+clean:
+	$(info clean project)
+	$(Q)$(CLEAN)