diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/OmegaTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/OmegaTeleOp.java
new file mode 100644
index 0000000..f013b3e
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/OmegaTeleOp.java
@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+public class OmegaTeleOp extends LinearOpMode {
+    private DcMotor topLeftMotor;
+    private DcMotor topRightMotor;
+    private DcMotor bottomLeftMotor;
+    private DcMotor bottomRightMotor;
+
+    private DcMotor trumansArm = hardwareMap.get(DcMotor.class, "arm");
+
+    @Override
+
+    public void runOpMode() throws InterruptedException {
+        topLeftMotor = hardwareMap.get(DcMotor.class,"FL");
+        topRightMotor = hardwareMap.get(DcMotor.class,"FR");
+        bottomLeftMotor = hardwareMap.get(DcMotor.class,"BL");
+        bottomRightMotor = hardwareMap.get(DcMotor.class,"BR");
+        topLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        bottomLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        while (opModeIsActive()) {
+            double y = -gamepad1.left_stick_y; // Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx2 = gamepad1.right_stick_x;
+
+            topLeftMotor.setPower(y + x + rx2);
+            bottomLeftMotor.setPower(y - x + rx2);
+            topRightMotor.setPower(y - x - rx2);
+            bottomRightMotor.setPower(y + x - rx2);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PIDLOOP.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PIDLOOP.java
new file mode 100644
index 0000000..8a7467a
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/PIDLOOP.java
@@ -0,0 +1,11 @@
+package org.firstinspires.ftc.teamcode.opmode;
+////this loop is for driving forward and backwards////
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class PIDLOOP extends LinearOpMode {
+    public void runOpMode() throws InterruptedException {
+
+    }
+}