diff --git a/MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java b/MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java
new file mode 100644
index 00000000..2d4287dc
--- /dev/null
+++ b/MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java
@@ -0,0 +1,141 @@
+package com.example.meepmeeptesting;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.noahbres.meepmeep.roadrunner.trajectorysequence.TrajectorySequence;
+import com.noahbres.meepmeep.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
+
+
+public class PurplePixelComponent extends Component {
+    private TensorFlowDetection.PropPosition propPosition;
+    public PurplePixelComponent(Robot robot, TensorFlowDetection.PropPosition propPosition) {
+        super(robot);
+        this.propPosition = propPosition;
+    }
+
+    @Override
+    public void drive() {
+        //Pose2d getRobot().getDrive().getPoseEstimate() = getRobot().getDrive().getPoseEstimate();
+        Pose2d RED_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, -2*12 - 8);
+        Pose2d BLUE_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, 2*12 + 8);
+        Pose2d RED_BOARD_TAPE_MARKS = new Pose2d(12, -2*12 - 8);
+        Pose2d BLUE_BOARD_TAPE_MARKS = new Pose2d(12, 2*12 + 8);
+
+        TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(getRobot().getDrive().getPoseEstimate());
+
+        if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_BOARD) {
+            if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
+                trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY()))
+                        .strafeLeft(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
+                trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY()))
+                        .strafeRight(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else {
+                trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY()))
+                        .forward(-8)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+
+            }
+        } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_AUDIENCE) {
+            if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
+                trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY()))
+                        .strafeLeft(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
+                trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY()))
+                        .strafeRight(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else {
+                trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY()))
+                        .forward(-8)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+
+            }
+        } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_AUDIENCE) {
+            if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
+                trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY()))
+                        .strafeLeft(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
+                trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY()))
+                        .strafeRight(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else {
+                trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY()))
+                        .forward(-8)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+
+            }
+        } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_BOARD) {
+            if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
+                trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY()))
+                        .strafeLeft(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
+                trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY()))
+                        .strafeRight(-12)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+            } else {
+                trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY()))
+                        .forward(-8)
+                        .addTemporalMarker(() -> {
+                            getRobot().dropPurplePixel(true);
+                        });
+
+
+            }
+        }
+
+
+        TrajectorySequence traj = trajB.build();
+        getRobot().getDrive().followTrajectorySequence(traj);
+
+
+//        trajBuilder = trajBuilder.lineTo(new Vector2d(startPose.getX(), -2*12 - 3));
+//                .addTemporalMarker(() -> {
+//                    Log.i("DROP", "dropping purple");
+//                    purpleServo.setPosition(1);
+//                })
+//                .waitSeconds(1)
+//                .lineTo(new Vector2d(startPose.getX(), -5 * 12+3))
+//                .turn(Math.toRadians(90))
+//                .lineTo(new Vector2d(3*12+7, -5*12+4))
+//                .build();
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java
index 386a90b0..5c285dda 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java
@@ -18,32 +18,32 @@ public PurplePixelComponent(Robot robot, TensorFlowDetection.PropPosition propPo
 
     @Override
     public void drive() {
-        Pose2d currentPose = getRobot().getDrive().getPoseEstimate();
-        Pose2d RED_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, -4*12 + 6);
-        Pose2d BLUE_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, 4*12 + 6);
-        Pose2d RED_BOARD_TAPE_MARKS = new Pose2d(12, -4*12 + 6);
-        Pose2d BLUE_BOARD_TAPE_MARKS = new Pose2d(12, 4*12 + 6);
+        //Pose2d getRobot().getDrive().getPoseEstimate() = getRobot().getDrive().getPoseEstimate();
+        Pose2d RED_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, -2*12 - 8);
+        Pose2d BLUE_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, 2*12 + 8);
+        Pose2d RED_BOARD_TAPE_MARKS = new Pose2d(12, -2*12 - 8);
+        Pose2d BLUE_BOARD_TAPE_MARKS = new Pose2d(12, 2*12 + 8);
 
-        TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(currentPose);
+        TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(getRobot().getDrive().getPoseEstimate());
 
         if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_BOARD) {
             if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
                 trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY()))
+                        .strafeLeft(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
                 trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY()))
+                        .strafeRight(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else {
                 trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() - 8))
+                        .forward(-8)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
@@ -53,21 +53,21 @@ public void drive() {
         } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_AUDIENCE) {
             if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
                 trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY()))
+                        .strafeLeft(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
                 trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY()))
+                        .strafeRight(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else {
                 trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() - 8))
+                        .forward(-8)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
@@ -77,21 +77,21 @@ public void drive() {
         } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_AUDIENCE) {
             if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
                 trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY()))
+                        .strafeLeft(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
                 trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY()))
+                        .strafeRight(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else {
                 trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() + 8))
+                        .forward(-8)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
@@ -101,21 +101,21 @@ public void drive() {
         } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_BOARD) {
             if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
                 trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY()))
+                        .strafeLeft(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
                 trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY()))
+                        .strafeRight(-12)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });
 
             } else {
                 trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY()))
-                        .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() + 8))
+                        .forward(-8)
                         .addTemporalMarker(() -> {
                             getRobot().dropPurplePixel(true);
                         });