diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/AddTelemetry.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/AddTelemetry.java
index fbedf14..3ee1895 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/AddTelemetry.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/AddTelemetry.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class AddTelemetry extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ClampOnPixel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ClampOnPixel.java
index 866d245..6a562f3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ClampOnPixel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ClampOnPixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ClampOnPixel extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
index 001eda3..bd55761 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class DriveFieldRelative extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DroneRelease.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DroneRelease.java
index e95c758..c932d78 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DroneRelease.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DroneRelease.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class DroneRelease extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ExtendSlides.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ExtendSlides.java
index cd2e1af..53eb81b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ExtendSlides.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ExtendSlides.java
@@ -1,9 +1,7 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
-import org.firstinspires.ftc.teamcode.ftc16072.Robot;
 
 public class ExtendSlides extends Node {
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeFastDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeFastDrive.java
index d132d77..0f14c3e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeFastDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeFastDrive.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MakeFastDrive extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeNormalDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeNormalDrive.java
index 78a3677..f1ec85b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeNormalDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeNormalDrive.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MakeNormalDrive extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeSlowDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeSlowDrive.java
index 0dfe5cc..8363c3c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeSlowDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeSlowDrive.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MakeSlowDrive extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveArmAndLift.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveArmAndLift.java
index 7271727..4aec8ca 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveArmAndLift.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveArmAndLift.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToIntakePosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToIntakePosition.java
index 70962b9..090c857 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToIntakePosition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToIntakePosition.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MoveLiftToIntakePosition extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToPixelGrabPosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToPixelGrabPosition.java
index 9534ad4..a07e69e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToPixelGrabPosition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToPixelGrabPosition.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MoveLiftToPixelGrabPosition extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels.java
index f920d0d..526a6c7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class PlacePixels extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels2.java
index 8488949..7abc746 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels2.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class PlacePixels2 extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePurplePixel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePurplePixel.java
index 28dbec0..c3bc111 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePurplePixel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePurplePixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class PlacePurplePixel extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ReleaseAutoPixel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ReleaseAutoPixel.java
index e8d26ee..66a1a75 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ReleaseAutoPixel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ReleaseAutoPixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ReleaseAutoPixel extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ResetGyro.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ResetGyro.java
index 9e30183..6019f98 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ResetGyro.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ResetGyro.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ResetGyro extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/RumbleGamepad.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/RumbleGamepad.java
index 31bbe46..54952d3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/RumbleGamepad.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/RumbleGamepad.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class RumbleGamepad extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetBackboardFromSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetBackboardFromSpikeTrajectory.java
index 17c5a72..fc73955 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetBackboardFromSpikeTrajectory.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetBackboardFromSpikeTrajectory.java
@@ -1,8 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import com.acmerobotics.roadrunner.trajectory.Trajectory;
-
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetLiftPosition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetLiftPosition.java
index c49eddc..b689599 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetLiftPosition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetLiftPosition.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SpikeLocationTelemetry.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SpikeLocationTelemetry.java
index 8a94bc9..14982d7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SpikeLocationTelemetry.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SpikeLocationTelemetry.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class SpikeLocationTelemetry extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateArmAndLift.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateArmAndLift.java
index 1c9bfa4..39ce1e5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateArmAndLift.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateArmAndLift.java
@@ -1,5 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.ArmControl;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateClimber.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateClimber.java
index 74b3edb..987e444 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateClimber.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateClimber.java
@@ -1,5 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class UpdateClimber extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateGrabber.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateGrabber.java
index 8281c5d..cf49a67 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateGrabber.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateGrabber.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class UpdateGrabber extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateIntake.java
index cc61343..1f7e474 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateIntake.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateIntake.java
@@ -1,5 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class UpdateIntake extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/delayAction.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/delayAction.java
index 16419de..87fb484 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/delayAction.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/delayAction.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class delayAction extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Failover.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Failover.java
similarity index 91%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Failover.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Failover.java
index 61c062a..38d2db8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Failover.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Failover.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Node.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Node.java
similarity index 82%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Node.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Node.java
index 3329d70..aec51f1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Node.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Node.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Not.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Not.java
similarity index 76%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Not.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Not.java
index 4d9d17a..82457ec 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Not.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Not.java
@@ -1,11 +1,8 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
-
 //Not reverses a value
 public class Not extends Node {
     Node child;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Parallel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Parallel.java
similarity index 88%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Parallel.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Parallel.java
index 2b8e730..2cede93 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Parallel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Parallel.java
@@ -1,5 +1,6 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 import java.util.Arrays;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Sequence.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Sequence.java
similarity index 83%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Sequence.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Sequence.java
index 693f871..5e0ad5d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Sequence.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/BaseNodes/Sequence.java
@@ -1,5 +1,6 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 import java.util.Arrays;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreNotSlidesExtended.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreNotSlidesExtended.java
index 38138fd..b26861a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreNotSlidesExtended.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreNotSlidesExtended.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class AreNotSlidesExtended extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreSlidesExtended.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreSlidesExtended.java
index 568a016..6062889 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreSlidesExtended.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreSlidesExtended.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class AreSlidesExtended  extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/EnoughTimeForCycle.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/EnoughTimeForCycle.java
index 345158a..82c3f5c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/EnoughTimeForCycle.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/EnoughTimeForCycle.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class EnoughTimeForCycle extends Node{
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1Pixel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1Pixel.java
index 492f3ef..c11e8cc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1Pixel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1Pixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class Has1Pixel extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1or2Pixels.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1or2Pixels.java
index 25e5e36..2293748 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1or2Pixels.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1or2Pixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class Has1or2Pixels extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has2Pixels.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has2Pixels.java
index dd7a592..6c6e5d1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has2Pixels.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has2Pixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class Has2Pixels extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/HasLessThan2Pixels.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/HasLessThan2Pixels.java
index ff28a00..9f2bb1b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/HasLessThan2Pixels.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/HasLessThan2Pixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class HasLessThan2Pixels extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfExtendSlideButtonPressed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfExtendSlideButtonPressed.java
index 0c93807..84774f7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfExtendSlideButtonPressed.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfExtendSlideButtonPressed.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfExtendSlideButtonPressed extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLeftTriggerPressed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLeftTriggerPressed.java
index 91c3380..0b5c615 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLeftTriggerPressed.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLeftTriggerPressed.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfLeftTriggerPressed extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java
index d695098..fe4b49d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfLiftAtBottom extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftToPixelGrabPosButtonPressed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftToPixelGrabPosButtonPressed.java
index 5b87adf..49eb146 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftToPixelGrabPosButtonPressed.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftToPixelGrabPosButtonPressed.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Failover;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfLiftToPixelGrabPosButtonPressed  extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsBackboardInRange.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsBackboardInRange.java
index e73db35..cf3de7c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsBackboardInRange.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsBackboardInRange.java
@@ -1,10 +1,10 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsBackboardInRange extends Node {
-    public double BACKBOARD_RANGE_CM = 15;
+    public double BACKBOARD_RANGE_CM = 18;
     @Override
     public State tick(QQOpMode opmode) {
         if (opmode.robot.backDistanceSensor.distanceToBackboard()<BACKBOARD_RANGE_CM){
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsControllerDriving.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsControllerDriving.java
index 484f657..3b542c1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsControllerDriving.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsControllerDriving.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsControllerDriving extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsEndgame.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsEndgame.java
index 9c6b7ae..029e20c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsEndgame.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsEndgame.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsEndgame extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLastThreeSeconds.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLastThreeSeconds.java
index deb2711..cb4cc23 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLastThreeSeconds.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLastThreeSeconds.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsLastThreeSeconds extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLeftSpike.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLeftSpike.java
index 212735e..b25f91b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLeftSpike.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLeftSpike.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.TeamPropLocation;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsRightSpike.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsRightSpike.java
index 5018e20..5509ff4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsRightSpike.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsRightSpike.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.TeamPropLocation;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/ifDroneReleaseButtonPressed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/ifDroneReleaseButtonPressed.java
index c3301c0..a8fd42f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/ifDroneReleaseButtonPressed.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/ifDroneReleaseButtonPressed.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ifDroneReleaseButtonPressed extends Node {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceBlueClose.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceBlueClose.java
new file mode 100644
index 0000000..b0a6c80
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceBlueClose.java
@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.StartPosition;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.TeamPropLocation;
+
+public class isAllianceBlueClose extends Node {
+    public Node.State tick(QQOpMode opmode) {
+        Alliance alliance = opmode.board.get(Alliance.class, "Alliance");
+        StartPosition startPosition = opmode.board.get(StartPosition.class,"StartPosition");
+
+        if (alliance == Alliance.BLUE || startPosition == StartPosition.CLOSE ){
+            return Node.State.SUCCESS;
+        }
+        return Node.State.FAILURE;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceBlueFar.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceBlueFar.java
new file mode 100644
index 0000000..2e4e3cd
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceBlueFar.java
@@ -0,0 +1,18 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.StartPosition;
+
+public class isAllianceBlueFar extends Node {
+    public State tick(QQOpMode opmode) {
+        Alliance alliance = opmode.board.get(Alliance.class, "Alliance");
+        StartPosition startPosition = opmode.board.get(StartPosition.class,"StartPosition");
+
+        if (alliance == Alliance.BLUE || startPosition == StartPosition.FAR ){
+            return State.SUCCESS;
+        }
+        return State.FAILURE;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceRedClose.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceRedClose.java
new file mode 100644
index 0000000..738881a
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceRedClose.java
@@ -0,0 +1,18 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.StartPosition;
+
+public class isAllianceRedClose extends Node {
+    public Node.State tick(QQOpMode opmode) {
+        Alliance alliance = opmode.board.get(Alliance.class, "Alliance");
+        StartPosition startPosition = opmode.board.get(StartPosition.class,"StartPosition");
+
+        if (alliance == Alliance.RED || startPosition == StartPosition.CLOSE ){
+            return Node.State.SUCCESS;
+        }
+        return Node.State.FAILURE;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceRedFar.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceRedFar.java
new file mode 100644
index 0000000..6bc9575
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isAllianceRedFar.java
@@ -0,0 +1,18 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.StartPosition;
+
+public class isAllianceRedFar extends Node {
+    public State tick(QQOpMode opmode) {
+        Alliance alliance = opmode.board.get(Alliance.class, "Alliance");
+        StartPosition startPosition = opmode.board.get(StartPosition.class,"StartPosition");
+
+        if (alliance == Alliance.RED || startPosition == StartPosition.FAR ){
+            return State.SUCCESS;
+        }
+        return State.FAILURE;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isRed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isRed.java
deleted file mode 100644
index 945acbb..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/isRed.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
-
-public class isRed {
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/AtBackboard/BCPart5LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/AtBackboard/BCPart5LeftSpikeTrajectory.java
new file mode 100644
index 0000000..7d6d9dc
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/AtBackboard/BCPart5LeftSpikeTrajectory.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.AtBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart5LeftSpikeTrajectory extends Node {
+
+    //EDIT (as of 2/18)
+    public static final int FORWARD_DISTANCE_INCHES=7;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeRight(FORWARD_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/Spike/BCPart1LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/Spike/BCPart1LeftSpikeTrajectory.java
new file mode 100644
index 0000000..6a31168
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/Spike/BCPart1LeftSpikeTrajectory.java
@@ -0,0 +1,27 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.Spike;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart1LeftSpikeTrajectory extends Node {
+    public static final int FORWARD_DISTANCE_INCHES = 23;
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder
+                        .back(FORWARD_DISTANCE_INCHES)
+                        .build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("TrajectorySequenceString", "Left Spike Trajectory 1");
+        opMode.board.add("SpikePosition", SpikePosition.LEFT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/Spike/BCPart2LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/Spike/BCPart2LeftSpikeTrajectory.java
new file mode 100644
index 0000000..ea75b02
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/Spike/BCPart2LeftSpikeTrajectory.java
@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.Spike;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart2LeftSpikeTrajectory extends Node {
+
+    public static final int LEFT_DISTANCE_INCHES = 8;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder
+                //right because robot is facing backward
+                .strafeRight(LEFT_DISTANCE_INCHES)
+                .build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("TrajectorySequenceString", "Left Spike Trajectory 2");
+
+        opMode.board.add("SpikePosition", SpikePosition.LEFT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/ToBackboard/SetRightSpikeTrajectoryPart3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/ToBackboard/BCPart3LeftSpikeTrajectory.java
similarity index 67%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/ToBackboard/SetRightSpikeTrajectoryPart3.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/ToBackboard/BCPart3LeftSpikeTrajectory.java
index fe31671..a67a178 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/ToBackboard/SetRightSpikeTrajectoryPart3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/ToBackboard/BCPart3LeftSpikeTrajectory.java
@@ -1,19 +1,20 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.ToBackboard;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.ToBackboard;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetRightSpikeTrajectoryPart3 extends Node {
+public class BCPart3LeftSpikeTrajectory extends Node {
+
     //EDIT (as of 2/18)
-    public static final int FORWARD_DISTANCE_INCHES=20;
+    public static final int RIGHT_DISTANCE_INCHES=48;
 
     @Override
     public State tick(QQOpMode opMode) {
         TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
-        TrajectorySequence sequence = builder.back(FORWARD_DISTANCE_INCHES).
+        TrajectorySequence sequence = builder.strafeRight(RIGHT_DISTANCE_INCHES).
                                             build();
         if (sequence == null){
             return State.FAILURE;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/ToBackboard/BCPart4LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/ToBackboard/BCPart4LeftSpikeTrajectory.java
new file mode 100644
index 0000000..58eb743
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/LeftSpikeTrajectory/ToBackboard/BCPart4LeftSpikeTrajectory.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+
+public class BCPart4LeftSpikeTrajectory extends Node {
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequence turn = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate())
+                .turn(Math.toRadians(-80))
+                .build();
+        if (turn == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", turn);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/AtBackboard/BCPart4MiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/AtBackboard/BCPart4MiddleSpikeTrajectory.java
new file mode 100644
index 0000000..777c7f1
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/AtBackboard/BCPart4MiddleSpikeTrajectory.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.AtBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart4MiddleSpikeTrajectory extends Node {
+    //EDIT (as of 2/18)
+    public static final int STRAFELEFT_DISTANCE_INCHES=2;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeLeft(STRAFELEFT_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/MiddleSpikeTrajectory/Spike/SetMiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/Spike/BCPart1MiddleSpikeTrajectory.java
similarity index 79%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/MiddleSpikeTrajectory/Spike/SetMiddleSpikeTrajectory.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/Spike/BCPart1MiddleSpikeTrajectory.java
index 9a0c89d..b6c3fcd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/MiddleSpikeTrajectory/Spike/SetMiddleSpikeTrajectory.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/Spike/BCPart1MiddleSpikeTrajectory.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.MiddleSpikeTrajectory.Spike;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetMiddleSpikeTrajectory extends Node {
+public class BCPart1MiddleSpikeTrajectory extends Node {
     public static final int FORWARD_DISTANCE_INCHES = 24;
     public static final int BACKWARD_DISTANCE_INCHES = 20;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/ToBackboard/BCPart2MiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/ToBackboard/BCPart2MiddleSpikeTrajectory.java
new file mode 100644
index 0000000..12b7fba
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/ToBackboard/BCPart2MiddleSpikeTrajectory.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart2MiddleSpikeTrajectory extends Node {
+    public static final int RIGHT_DISTANCE_INCHES = 38;
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder
+                .strafeRight(RIGHT_DISTANCE_INCHES).
+                build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/ToBackboard/BCPart3MiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/ToBackboard/BCPart3MiddleSpikeTrajectory.java
new file mode 100644
index 0000000..d40605c
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/MiddleSpikeTrajectory/ToBackboard/BCPart3MiddleSpikeTrajectory.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+
+public class BCPart3MiddleSpikeTrajectory extends Node {
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequence turn = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate())
+                .turn(Math.toRadians(-80))
+                .build();
+        if (turn == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", turn);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/AtBackboard/BCPart5RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/AtBackboard/BCPart5RightSpikeTrajectory.java
new file mode 100644
index 0000000..6e88647
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/AtBackboard/BCPart5RightSpikeTrajectory.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.AtBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart5RightSpikeTrajectory extends Node {
+    //EDIT (as of 2/18)
+    public static final int STRAFELEFT_DISTANCE_INCHES=8;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeLeft(STRAFELEFT_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/ToBackboard/SetLeftSpikeTrajectoryPart3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/Spike/BCPart1RightSpikeTrajectory.java
similarity index 72%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/ToBackboard/SetLeftSpikeTrajectoryPart3.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/Spike/BCPart1RightSpikeTrajectory.java
index 6e1a18b..99158a8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/ToBackboard/SetLeftSpikeTrajectoryPart3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/Spike/BCPart1RightSpikeTrajectory.java
@@ -1,15 +1,14 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.ToBackboard;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetLeftSpikeTrajectoryPart3 extends Node {
+public class BCPart1RightSpikeTrajectory extends Node {
+    public static final int FORWARD_DISTANCE_INCHES = 22;
 
-    //EDIT (as of 2/18)
-    public static final int FORWARD_DISTANCE_INCHES=20;
 
     @Override
     public State tick(QQOpMode opMode) {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/Spike/BCPart2RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/Spike/BCPart2RightSpikeTrajectory.java
new file mode 100644
index 0000000..3d70369
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/Spike/BCPart2RightSpikeTrajectory.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.Spike;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart2RightSpikeTrajectory extends Node {
+
+    public static final int RIGHT_DISTANCE_INCHES = 20;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeLeft(RIGHT_DISTANCE_INCHES)
+                        .build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/ToBackboard/BCPart3RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/ToBackboard/BCPart3RightSpikeTrajectory.java
new file mode 100644
index 0000000..7fb20b1
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/ToBackboard/BCPart3RightSpikeTrajectory.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class BCPart3RightSpikeTrajectory extends Node {
+
+    //tune
+    public static final int RIGHT_DISTANCE_INCHES = 20;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeRight(RIGHT_DISTANCE_INCHES)
+                        .build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/ToBackboard/BCPart4RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/ToBackboard/BCPart4RightSpikeTrajectory.java
new file mode 100644
index 0000000..f502de6
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/BlueClose/RightSpikeTrajectory/ToBackboard/BCPart4RightSpikeTrajectory.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+
+public class BCPart4RightSpikeTrajectory extends Node {
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequence turn = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate())
+                .turn(Math.toRadians(-80))
+                .build();
+        if (turn == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", turn);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/FollowTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/FollowTrajectory.java
similarity index 87%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/FollowTrajectory.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/FollowTrajectory.java
index a3fe08c..5d2b937 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/FollowTrajectory.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/FollowTrajectory.java
@@ -1,6 +1,6 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/AtBackboard/RCPart5LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/AtBackboard/RCPart5LeftSpikeTrajectory.java
new file mode 100644
index 0000000..663e698
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/AtBackboard/RCPart5LeftSpikeTrajectory.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.AtBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class RCPart5LeftSpikeTrajectory extends Node {
+
+    //EDIT (as of 2/18)
+    public static final int FORWARD_DISTANCE_INCHES=7;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeRight(FORWARD_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/Spike/SetLeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/Spike/RCPart1LeftSpikeTrajectory.java
similarity index 80%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/Spike/SetLeftSpikeTrajectory.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/Spike/RCPart1LeftSpikeTrajectory.java
index 13b6b8f..00d8f15 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/Spike/SetLeftSpikeTrajectory.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/Spike/RCPart1LeftSpikeTrajectory.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.Spike;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetLeftSpikeTrajectory extends Node {
+public class RCPart1LeftSpikeTrajectory extends Node {
     public static final int FORWARD_DISTANCE_INCHES = 23;
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/Spike/SetLeftSpikeTrajectoryPart2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/Spike/RCPart2LeftSpikeTrajectory.java
similarity index 80%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/Spike/SetLeftSpikeTrajectoryPart2.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/Spike/RCPart2LeftSpikeTrajectory.java
index 0a23338..72478b4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/LeftSpikeTrajectory/Spike/SetLeftSpikeTrajectoryPart2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/Spike/RCPart2LeftSpikeTrajectory.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.Spike;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetLeftSpikeTrajectoryPart2 extends Node {
+public class RCPart2LeftSpikeTrajectory extends Node {
 
     public static final int LEFT_DISTANCE_INCHES = 8;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/ToBackboard/RCPart3LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/ToBackboard/RCPart3LeftSpikeTrajectory.java
new file mode 100644
index 0000000..4b5ea14
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/ToBackboard/RCPart3LeftSpikeTrajectory.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class RCPart3LeftSpikeTrajectory extends Node {
+
+    //EDIT (as of 2/18)
+    public static final int FORWARD_DISTANCE_INCHES=44;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeLeft(FORWARD_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/ToBackboard/RCPart4LeftSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/ToBackboard/RCPart4LeftSpikeTrajectory.java
new file mode 100644
index 0000000..5fc6dbd
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/LeftSpikeTrajectory/ToBackboard/RCPart4LeftSpikeTrajectory.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+
+public class RCPart4LeftSpikeTrajectory extends Node {
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequence turn = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate())
+                .turn(Math.toRadians(-80))
+                .build();
+        if (turn == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", turn);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/AtBackboard/RCPart4MiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/AtBackboard/RCPart4MiddleSpikeTrajectory.java
new file mode 100644
index 0000000..7a914dc
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/AtBackboard/RCPart4MiddleSpikeTrajectory.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.AtBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class RCPart4MiddleSpikeTrajectory extends Node {
+    //EDIT (as of 2/18)
+    public static final int STRAFELEFT_DISTANCE_INCHES=2;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeRight(STRAFELEFT_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/MiddleSpikeTrajectory/ToBackboard/SetMiddleSpikeTrajectoryPart2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/Spike/RCPart1MiddleSpikeTrajectory.java
similarity index 79%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/MiddleSpikeTrajectory/ToBackboard/SetMiddleSpikeTrajectoryPart2.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/Spike/RCPart1MiddleSpikeTrajectory.java
index 84493ab..e477a99 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/MiddleSpikeTrajectory/ToBackboard/SetMiddleSpikeTrajectoryPart2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/Spike/RCPart1MiddleSpikeTrajectory.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.MiddleSpikeTrajectory.ToBackboard;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetMiddleSpikeTrajectoryPart2 extends Node {
+public class RCPart1MiddleSpikeTrajectory extends Node {
     public static final int FORWARD_DISTANCE_INCHES = 24;
     public static final int BACKWARD_DISTANCE_INCHES = 20;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/ToBackboard/RCPart2MiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/ToBackboard/RCPart2MiddleSpikeTrajectory.java
new file mode 100644
index 0000000..58d1002
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/ToBackboard/RCPart2MiddleSpikeTrajectory.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class RCPart2MiddleSpikeTrajectory extends Node {
+    public static final int RIGHT_DISTANCE_INCHES = 39;
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder
+                .strafeRight(RIGHT_DISTANCE_INCHES).
+                build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/ToBackboard/RCPart3MiddleSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/ToBackboard/RCPart3MiddleSpikeTrajectory.java
new file mode 100644
index 0000000..03fe9cb
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/MiddleSpikeTrajectory/ToBackboard/RCPart3MiddleSpikeTrajectory.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+
+public class RCPart3MiddleSpikeTrajectory extends Node {
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequence turn = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate())
+                .turn(Math.toRadians(80))
+                .build();
+        if (turn == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", turn);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/AtBackboard/RCPart5RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/AtBackboard/RCPart5RightSpikeTrajectory.java
new file mode 100644
index 0000000..547da03
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/AtBackboard/RCPart5RightSpikeTrajectory.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.AtBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class RCPart5RightSpikeTrajectory extends Node {
+    //EDIT (as of 2/18)
+    public static final int STRAFELEFT_DISTANCE_INCHES=6;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeLeft(STRAFELEFT_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/Spike/SetRightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/Spike/RCPart1RightSpikeTrajectory.java
similarity index 78%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/Spike/SetRightSpikeTrajectory.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/Spike/RCPart1RightSpikeTrajectory.java
index 3b593fb..fd660a1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/Spike/SetRightSpikeTrajectory.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/Spike/RCPart1RightSpikeTrajectory.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.Spike;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetRightSpikeTrajectory extends Node {
+public class RCPart1RightSpikeTrajectory extends Node {
     public static final int FORWARD_DISTANCE_INCHES = 20;
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/Spike/SetRightSpikeTrajectoryPart2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/Spike/RCPart2RightSpikeTrajectory.java
similarity index 78%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/Spike/SetRightSpikeTrajectoryPart2.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/Spike/RCPart2RightSpikeTrajectory.java
index fba0880..b8f3d07 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/RightSpikeTrajectory/Spike/SetRightSpikeTrajectoryPart2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/Spike/RCPart2RightSpikeTrajectory.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.Spike;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.Spike;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
 import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
 
-public class SetRightSpikeTrajectoryPart2 extends Node {
+public class RCPart2RightSpikeTrajectory extends Node {
 
     public static final int RIGHT_DISTANCE_INCHES = 20;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/ToBackboard/RCPart3RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/ToBackboard/RCPart3RightSpikeTrajectory.java
new file mode 100644
index 0000000..c9aa961
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/ToBackboard/RCPart3RightSpikeTrajectory.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder;
+
+public class RCPart3RightSpikeTrajectory extends Node {
+    //EDIT (as of 2/18)
+    public static final int STRAFELEFT_DISTANCE_INCHES=28;
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate());
+        TrajectorySequence sequence = builder.strafeLeft(STRAFELEFT_DISTANCE_INCHES).
+                                            build();
+        if (sequence == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", sequence);
+        opMode.board.add("SpikePosition", SpikePosition.RIGHT);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/ToBackboard/RCPart4RightSpikeTrajectory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/ToBackboard/RCPart4RightSpikeTrajectory.java
new file mode 100644
index 0000000..16a221c
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/RedClose/RightSpikeTrajectory/ToBackboard/RCPart4RightSpikeTrajectory.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.ToBackboard;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;
+import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence;
+
+public class RCPart4RightSpikeTrajectory extends Node {
+
+
+    @Override
+    public State tick(QQOpMode opMode) {
+        TrajectorySequence turn = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate())
+                .turn(Math.toRadians(-80))
+                .build();
+        if (turn == null){
+            return State.FAILURE;
+        }
+        opMode.board.add("TrajectorySequence", turn);
+        opMode.board.add("SpikePosition", SpikePosition.MIDDLE);
+        return State.SUCCESS;
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/trajectories.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/trajectories.md
similarity index 100%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/Trajectories/trajectories.md
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trajectories/trajectories.md
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/CycleAndPark.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/CycleAndPark.java
index a15055a..b22e538 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/CycleAndPark.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/CycleAndPark.java
@@ -40,11 +40,8 @@
 |  [followTrajectory]
 |  [setLocationPlacing] */
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.FollowTrajectory;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.EnoughTimeForCycle;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Failover;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Sequence;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Sequence;
 
 public class CycleAndPark {
     public static Node root(){
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/PushbotTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/PushbotTeleop.java
index 36defdc..8b1dd3f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/PushbotTeleop.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/PushbotTeleop.java
@@ -4,8 +4,8 @@
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.ResetGyro;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.UpdateClimber;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.UpdateIntake;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Parallel;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Parallel;
 
 /*
 http://behaviortrees.ftcteams.com/
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpikeAutoTree.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpikeAutoTree.java
index d3d205d..93ba4b3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpikeAutoTree.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpikeAutoTree.java
@@ -2,20 +2,42 @@
 
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.SpikeLocationTelemetry;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.ReleaseAutoPixel;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.FollowTrajectory;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.Spike.SetLeftSpikeTrajectory;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.Spike.SetLeftSpikeTrajectoryPart2;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.ToBackboard.SetLeftSpikeTrajectoryPart3;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.MiddleSpikeTrajectory.ToBackboard.SetMiddleSpikeTrajectoryPart2;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.Spike.SetRightSpikeTrajectoryPart2;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.MiddleSpikeTrajectory.Spike.SetMiddleSpikeTrajectory;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.Spike.SetRightSpikeTrajectory;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.ToBackboard.SetRightSpikeTrajectoryPart3;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.isAllianceBlueClose;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.isAllianceRedClose;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.FollowTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.AtBackboard.BCPart5LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.Spike.BCPart1LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.Spike.BCPart2LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.ToBackboard.BCPart3LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.LeftSpikeTrajectory.ToBackboard.BCPart4LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.AtBackboard.BCPart4MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.ToBackboard.BCPart2MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.ToBackboard.BCPart3MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.AtBackboard.BCPart5RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.Spike.BCPart2RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.MiddleSpikeTrajectory.Spike.BCPart1MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.Spike.BCPart1RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.ToBackboard.BCPart3RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.BlueClose.RightSpikeTrajectory.ToBackboard.BCPart4RightSpikeTrajectory;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IsLeftSpike;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IsRightSpike;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Failover;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Sequence;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Failover;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Sequence;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.AtBackboard.RCPart5LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.Spike.RCPart1LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.Spike.RCPart2LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.ToBackboard.RCPart3LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.LeftSpikeTrajectory.ToBackboard.RCPart4LeftSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.AtBackboard.RCPart4MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.Spike.RCPart1MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.ToBackboard.RCPart2MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.MiddleSpikeTrajectory.ToBackboard.RCPart3MiddleSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.AtBackboard.RCPart5RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.Spike.RCPart1RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.Spike.RCPart2RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.ToBackboard.RCPart3RightSpikeTrajectory;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trajectories.RedClose.RightSpikeTrajectory.ToBackboard.RCPart4RightSpikeTrajectory;
 
 public class SpikeAutoTree {
 /*
@@ -34,52 +56,158 @@ public static Node root(){
         return new Sequence(
                 //shows spike location
                 new SpikeLocationTelemetry(),
-                //checks and sets trajectory for each spike position
-                //goes to tape
+                //sets red/blue, close/far
                 new Failover(
-                        new Sequence(
-                                new IsLeftSpike(),
-                                new SetLeftSpikeTrajectory(),
-                                new FollowTrajectory(),
-                                new SetLeftSpikeTrajectoryPart2(),
-                                new FollowTrajectory()
+                    //Sets BlueClose
+                    new Sequence(
+                            new isAllianceBlueClose(),
+                            //checks and sets trajectory for each spike position
+                            //goes to tape
+                            new Failover(
+                                    new Sequence(
+                                            new IsLeftSpike(),
+                                            new BCPart1LeftSpikeTrajectory(),
+                                            new FollowTrajectory(),
+                                            new BCPart2LeftSpikeTrajectory(),
+                                            new FollowTrajectory()
 
-                        ),
-                        new Sequence(
-                                new IsRightSpike(),
-                                new SetRightSpikeTrajectory(),
-                                new FollowTrajectory(),
-                                new SetRightSpikeTrajectoryPart2(),
-                                new FollowTrajectory()
-                        ),
-                        new Sequence(
-                            new SetMiddleSpikeTrajectory(),
-                            new FollowTrajectory()
-                        )
-                ),
+                                    ),
+                                    new Sequence(
+                                            new IsRightSpike(),
+                                            new BCPart1RightSpikeTrajectory(),
+                                            new FollowTrajectory(),
+                                            new BCPart2RightSpikeTrajectory(),
+                                            new FollowTrajectory()
+                                    ),
+                                    new Sequence(
+                                        new BCPart1MiddleSpikeTrajectory(),
+                                        new FollowTrajectory()
+                                    )
+                            ),
 
-                //Move servo to release purple pixel
-                new ReleaseAutoPixel(),
-                //set trajectory to backboard from tape location
-                new Failover(
-                        new Sequence(
-                                new IsLeftSpike(),
-                                new SetLeftSpikeTrajectoryPart3(),
-                                new FollowTrajectory()
-                        ),
-                        new Sequence(
-                                new IsRightSpike(),
-                                new SetRightSpikeTrajectoryPart3(),
-                                new FollowTrajectory()
-                        ),
-                        new Sequence(
-                                new SetMiddleSpikeTrajectoryPart2(),
-                                new FollowTrajectory()
-                        )
-                ),
-                //follow backboard trajectory
-                new FollowTrajectory()
+                            //Move servo to release purple pixel
+                            new ReleaseAutoPixel(),
+                            //set trajectory to backboard from tape location
+                            new Failover(
+                                    new Sequence(
+                                            new IsLeftSpike(),
+                                            new BCPart3LeftSpikeTrajectory(),
+                                            new FollowTrajectory(),
+                                            new BCPart4LeftSpikeTrajectory(),
+                                            new FollowTrajectory()
+                                    ),
+                                    new Sequence(
+                                            new IsRightSpike(),
+                                            new BCPart3RightSpikeTrajectory(),
+                                            new FollowTrajectory(),
+                                            new BCPart4RightSpikeTrajectory(),
+                                            new FollowTrajectory()
+                                    ),
+                                    new Sequence(
+                                            new BCPart2MiddleSpikeTrajectory(),
+                                            new FollowTrajectory(),
+                                            new BCPart3MiddleSpikeTrajectory(),
+                                            new FollowTrajectory()
+                                    )
+                            ),
+
+                            //follow actions at backboard
+                            //Adjust left/right according to spike
+                            new Failover(
+                                    new Sequence(
+                                            new IsLeftSpike(),
+                                            new BCPart5LeftSpikeTrajectory(),
+                                            new FollowTrajectory()
+
+                                    ),
+                                    new Sequence(
+                                            new IsRightSpike(),
+                                            new BCPart5RightSpikeTrajectory(),
+                                            new FollowTrajectory()
+                                    ),
+                                    new Sequence(
+                                            new BCPart4MiddleSpikeTrajectory(),
+                                            new FollowTrajectory()
+                                    )
+                            )
+                    ),
+                    //red close
+                    new Sequence(
+                            new isAllianceRedClose(),
+                                    //checks and sets trajectory for each spike position
+                                    //goes to tape
+                                    new Failover(
+                                            new Sequence(
+                                                    new IsLeftSpike(),
+                                                    new RCPart1LeftSpikeTrajectory(),
+                                                    new FollowTrajectory(),
+                                                    new RCPart2LeftSpikeTrajectory(),
+                                                    new FollowTrajectory()
+
+                                            ),
+                                            new Sequence(
+                                                    new IsRightSpike(),
+                                                    new RCPart1RightSpikeTrajectory(),
+                                                    new FollowTrajectory(),
+                                                    new RCPart2RightSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            ),
+                                            new Sequence(
+                                                    new RCPart1MiddleSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            )
+                                    ),
+
+                                    //Move servo to release purple pixel
+                                    new ReleaseAutoPixel(),
+                                    //set trajectory to backboard from tape location
+                                    new Failover(
+                                            new Sequence(
+                                                    new IsLeftSpike(),
+                                                    new RCPart3LeftSpikeTrajectory(),
+                                                    new FollowTrajectory(),
+                                                    new RCPart4LeftSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            ),
+                                            new Sequence(
+                                                    new IsRightSpike(),
+                                                    new RCPart3RightSpikeTrajectory(),
+                                                    new FollowTrajectory(),
+                                                    new RCPart4RightSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            ),
+                                            new Sequence(
+                                                    new RCPart2MiddleSpikeTrajectory(),
+                                                    new FollowTrajectory(),
+                                                    new RCPart3MiddleSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            )
+                                    ),
+
+                                    //follow actions at backboard
+                                    //Adjust according to spike
+                                    new Failover(
+                                            new Sequence(
+                                                    new IsLeftSpike(),
+                                                    new RCPart5LeftSpikeTrajectory(),
+                                                    new FollowTrajectory()
+
+                                            ),
+                                            new Sequence(
+                                                    new IsRightSpike(),
+                                                    new RCPart5RightSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            ),
+                                            new Sequence(
+                                                    new RCPart4MiddleSpikeTrajectory(),
+                                                    new FollowTrajectory()
+                                            )
+                                    )
 
+                    )
+                    //blue far
+                    //red far
+                )
         );
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
index b9aa1e8..48d4fda 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
@@ -18,11 +18,11 @@
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IsBackboardInRange;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IsControllerDriving;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.ifDroneReleaseButtonPressed;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Failover;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Not;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Parallel;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Sequence;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Failover;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Not;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Parallel;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Sequence;
 
 /*
 http://behaviortrees.ftcteams.com/
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Lift.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Lift.java
index 9277fa5..d339b68 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Lift.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Lift.java
@@ -35,7 +35,7 @@ public enum LiftPositions{
         TOP_POSITION
 
     }
-    public static final int ARE_SLIDES_EXTENDED_BOUNDARY = 800;
+    public static final int ARE_SLIDES_EXTENDED_BOUNDARY = 600;
 
     private LiftPositions manipulatorPosition;
     private static final int LIFT_POSITION_SAFETY_BOTTOM = -50;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Placement.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Placement.java
index 10ec9b6..a860d35 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Placement.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Placement.java
@@ -12,8 +12,8 @@
 public class Placement implements Mechanism{
     public static final double LEFT_SERVO_GRAB_POSITION = 0.63;
     public static final double LEFT_SERVO_EJECT_POSITION = 0.4;
-    public static final double RIGHT_SERVO_GRAB_POSITION = .4;
-    public static final double RIGHT_SERVO_EJECT_POSITION = .7;
+    public static final double RIGHT_SERVO_GRAB_POSITION = .44;
+    public static final double RIGHT_SERVO_EJECT_POSITION = .6;
 
     Servo rightPlacementServo;
     Servo leftPlacementServo;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/CompTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/CompTeleOp.java
index c2ebc00..1f8489b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/CompTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/CompTeleOp.java
@@ -1,6 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees.PushbotTeleop;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees.TeleopTree;
 @com.qualcomm.robotcore.eventloop.opmode.TeleOp
 public class CompTeleOp extends  QQOpMode{
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeAutoBase.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeAutoBase.java
index ce23c0a..d933b4d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeAutoBase.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeAutoBase.java
@@ -1,10 +1,7 @@
 package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
 
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees.SpikeAutoTree;
-import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
 
 abstract public class SpikeAutoBase extends VisionBase{
     Node root = SpikeAutoTree.root();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeTrajectories/BlueClose_SpikeAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeTrajectories/BlueClose_SpikeAuto.java
index 16d15cb..f718f08 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeTrajectories/BlueClose_SpikeAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/SpikeTrajectories/BlueClose_SpikeAuto.java
@@ -2,9 +2,6 @@
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees.SpikeAutoTree;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees.TeleopTree;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.SpikeAutoBase;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.StartPosition;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/ArmControl.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/ArmControl.java
index 1b75927..758f4f9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/ArmControl.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/ArmControl.java
@@ -3,7 +3,7 @@
 import org.firstinspires.ftc.teamcode.ftc16072.Robot;
 
 public class ArmControl {
-   public final int SAFE_POSITION = 800;
+   public final int SAFE_POSITION = 600;
 
     public void updateArm (Robot robot){
         if (robot.lift.currentPosition() > SAFE_POSITION){
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/DebugTree.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/DebugTree.java
index 816baaa..1217a3c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/DebugTree.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/DebugTree.java
@@ -2,7 +2,7 @@
 
 import androidx.annotation.NonNull;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 
 import java.util.LinkedList;
 import java.util.List;