diff --git a/include/Intakes.hpp b/include/Intakes.hpp
new file mode 100644
index 0000000..fa8518f
--- /dev/null
+++ b/include/Intakes.hpp
@@ -0,0 +1,5 @@
+#pragma once
+#include "api.h"
+#include "main.h"
+
+void intake_control();
\ No newline at end of file
diff --git a/include/Ports.hpp b/include/Ports.hpp
new file mode 100644
index 0000000..8f61d2e
--- /dev/null
+++ b/include/Ports.hpp
@@ -0,0 +1,4 @@
+#include "api.h"
+#include "pros/adi.hpp"
+
+extern pros::Motor intakeMotor;
\ No newline at end of file
diff --git a/include/SETTINGS.hpp b/include/SETTINGS.hpp
new file mode 100644
index 0000000..5d031b9
--- /dev/null
+++ b/include/SETTINGS.hpp
@@ -0,0 +1,6 @@
+#pragma once
+#include "api.h"
+#include "main.h"
+using namespace pros;
+
+#define intakeMotorPort 16
diff --git a/include/autons.hpp b/include/autons.hpp
new file mode 100644
index 0000000..3d7ace5
--- /dev/null
+++ b/include/autons.hpp
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "EZ-Template/drive/drive.hpp"
+
+extern Drive chassis;
+
+void drive_example();
+void turn_example();
+void drive_and_turn();
+void wait_until_change_speed();
+void swing_example();
+void combining_movements();
+void interfered_example();
+
+void default_constants();
+void one_mogo_constants();
+void two_mogo_constants();
+void exit_condition_defaults();
+void modified_exit_condition();
+
diff --git a/include/main.h b/include/main.h
index 288056e..abc2398 100644
--- a/include/main.h
+++ b/include/main.h
@@ -4,7 +4,7 @@
  * Contains common definitions and header files used throughout your PROS
  * project.
  *
- * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2021, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -22,7 +22,7 @@
  *
  * For instance, E_CONTROLLER_MASTER has a shorter name: CONTROLLER_MASTER.
  * E_CONTROLLER_MASTER is pedantically correct within the PROS styleguide, but
- * not convenient for most student programmers.
+ * not convienent for most student programmers.
  */
 #define PROS_USE_SIMPLE_NAMES
 
@@ -41,6 +41,13 @@
  */
 //#include "okapi/api.hpp"
 //#include "pros/api_legacy.h"
+#include "EZ-Template/api.hpp"
+#include "autons.hpp"
+#include "Intakes.hpp"
+
+// More includes here...
+//
+// . . .
 
 /**
  * If you find doing pros::Motor() to be tedious and you'd prefer just to do
diff --git a/src/Intakes.cpp b/src/Intakes.cpp
new file mode 100644
index 0000000..2ef4447
--- /dev/null
+++ b/src/Intakes.cpp
@@ -0,0 +1,16 @@
+#include "Intakes.hpp"
+#include "api.h"
+#include "main.h"
+#include "pros/misc.h"
+#include "SETTINGS.hpp"
+#include "Ports.hpp"
+
+void intake_control(){
+    bool intakeActive = false;
+    while(intakeActive == true) {
+        if (master.get_digital(pros::E_CONTROLLER_DIGITAL_L2)) {
+            intakeMotor.move_velocity(600);
+        }
+        intakeActive = !intakeActive;
+    }
+}
\ No newline at end of file
diff --git a/src/Ports.cpp b/src/Ports.cpp
new file mode 100644
index 0000000..65c884d
--- /dev/null
+++ b/src/Ports.cpp
@@ -0,0 +1,6 @@
+#include "main.h"
+#include "SETTINGS.hpp"
+#include "pros/adi.hpp"
+#include "pros/motors.h"
+
+pros::Motor intakeMotor(intakeMotorPort);
diff --git a/src/autons.cpp b/src/autons.cpp
new file mode 100644
index 0000000..c2395db
--- /dev/null
+++ b/src/autons.cpp
@@ -0,0 +1,250 @@
+#include "main.h"
+
+
+/////
+// For instalattion, upgrading, documentations and tutorials, check out website!
+// https://ez-robotics.github.io/EZ-Template/
+/////
+
+
+const int DRIVE_SPEED = 110; // This is 110/127 (around 87% of max speed).  We don't suggest making this 127.
+                             // If this is 127 and the robot tries to heading correct, it's only correcting by
+                             // making one side slower.  When this is 87%, it's correcting by making one side
+                             // faster and one side slower, giving better heading correction.
+const int TURN_SPEED  = 90;
+const int SWING_SPEED = 90;
+
+
+
+///
+// Constants
+///
+
+// It's best practice to tune constants when the robot is empty and with heavier game objects, or with lifts up vs down.
+// If the objects are light or the cog doesn't change much, then there isn't a concern here.
+
+void default_constants() {
+  chassis.set_slew_min_power(80, 80);
+  chassis.set_slew_distance(7, 7);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
+}
+
+void one_mogo_constants() {
+  chassis.set_slew_min_power(80, 80);
+  chassis.set_slew_distance(7, 7);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
+}
+
+void two_mogo_constants() {
+  chassis.set_slew_min_power(80, 80);
+  chassis.set_slew_distance(7, 7);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
+}
+
+void exit_condition_defaults() {
+  chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
+  chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
+  chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
+}
+
+void modified_exit_condition() {
+  chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
+  chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
+  chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
+}
+
+
+
+///
+// Drive Example
+///
+void drive_example() {
+  // The first parameter is target inches
+  // The second parameter is max speed the robot will drive at
+  // The third parameter is a boolean (true or false) for enabling/disabling a slew at the start of drive motions
+  // for slew, only enable it when the drive distance is greater then the slew distance + a few inches
+
+
+  chassis.set_drive_pid(24, DRIVE_SPEED, true);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(-12, DRIVE_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(-12, DRIVE_SPEED);
+  chassis.wait_drive();
+}
+
+
+
+///
+// Turn Example
+///
+void turn_example() {
+  // The first parameter is target degrees
+  // The second parameter is max speed the robot will drive at
+
+
+  chassis.set_turn_pid(90, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(0, TURN_SPEED);
+  chassis.wait_drive();
+}
+
+
+
+///
+// Combining Turn + Drive
+///
+void drive_and_turn() {
+  chassis.set_drive_pid(24, DRIVE_SPEED, true);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(-45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(0, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(-24, DRIVE_SPEED, true);
+  chassis.wait_drive();
+}
+
+
+
+///
+// Wait Until and Changing Max Speed
+///
+void wait_until_change_speed() {
+  // wait_until will wait until the robot gets to a desired position
+
+
+  // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 40
+  chassis.set_drive_pid(24, DRIVE_SPEED, true);
+  chassis.wait_until(6);
+  chassis.set_max_speed(40); // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 40 speed
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(-45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(0, TURN_SPEED);
+  chassis.wait_drive();
+
+  // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 40
+  chassis.set_drive_pid(-24, DRIVE_SPEED, true);
+  chassis.wait_until(-6);
+  chassis.set_max_speed(40); // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 40 speed
+  chassis.wait_drive();
+}
+
+
+
+///
+// Swing Example
+///
+void swing_example() {
+  // The first parameter is ez::LEFT_SWING or ez::RIGHT_SWING
+  // The second parameter is target degrees
+  // The third parameter is speed of the moving side of the drive
+
+
+  chassis.set_swing_pid(ez::LEFT_SWING, 45, SWING_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(24, DRIVE_SPEED, true);
+  chassis.wait_until(12);
+
+  chassis.set_swing_pid(ez::RIGHT_SWING, 0, SWING_SPEED);
+  chassis.wait_drive();
+}
+
+
+
+///
+// Auto that tests everything
+///
+void combining_movements() {
+  chassis.set_drive_pid(24, DRIVE_SPEED, true);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_swing_pid(ez::RIGHT_SWING, -45, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(0, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(-24, DRIVE_SPEED, true);
+  chassis.wait_drive();
+}
+
+
+
+///
+// Interference example
+///
+void tug (int attempts) {
+  for (int i=0; i<attempts-1; i++) {
+    // Attempt to drive backwards
+    printf("i - %i", i);
+    chassis.set_drive_pid(-12, 127);
+    chassis.wait_drive();
+
+    // If failsafed...
+    if (chassis.interfered) {
+      chassis.reset_drive_sensor();
+      chassis.set_drive_pid(-2, 20);
+      pros::delay(1000);
+    }
+    // If robot successfully drove back, return
+    else {
+      return;
+    }
+  }
+}
+
+// If there is no interference, robot will drive forward and turn 90 degrees. 
+// If interfered, robot will drive forward and then attempt to drive backwards. 
+void interfered_example() {
+ chassis.set_drive_pid(24, DRIVE_SPEED, true);
+ chassis.wait_drive();
+
+ if (chassis.interfered) {
+   tug(3);
+   return;
+ }
+
+ chassis.set_turn_pid(90, TURN_SPEED);
+ chassis.wait_drive();
+}
+
+
+
+// . . .
+// Make your own autonomous functions here!
+// . . .
diff --git a/src/main.cpp b/src/main.cpp
index c2fbbf5..46bebe8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,20 +1,67 @@
 #include "main.h"
+#include "SETTINGS.hpp"
+#include "EZ-Template/util.hpp"
+#include "Intakes.hpp"
+#include "autons.hpp"
+#include "pros/adi.hpp"
+#include "pros/misc.h"
+#include "pros/motors.h"
+#include "pros/motors.hpp"
+#include "pros/rtos.h"
+#include "pros/rtos.hpp"
+
+
+
+/////
+// For instalattion, upgrading, documentations and tutorials, check out website!
+// https://ez-robotics.github.io/EZ-Template/
+/////
+
+
+// Chassis constructor
+Drive chassis (
+  // Left Chassis Ports (negative port will reverse it!)
+  //   the first port is the sensored port (when trackers are not used!)
+  {15, 20}
+
+  // Right Chassis Ports (negative port will reverse it!)
+  //   the first port is the sensored port (when trackers are not used!)
+  ,{-5,-19}
+
+  // IMU Port
+  ,21
+
+  // Wheel Diameter (Remember, 4" wheels are actually 4.125!)
+  //    (or tracking wheel diameter)
+  ,3.25
+
+  // Cartridge RPM
+  //   (or tick per rotation if using tracking wheels)
+  ,600
+
+  // External Gear Ratio (MUST BE DECIMAL)
+  //    (or gear ratio of tracking wheel)
+  // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 2.333.
+  // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 0.6.
+  ,1.67
+
+  // Uncomment if using tracking wheels
+  /*
+  // Left Tracking Wheel Ports (negative port will reverse it!)
+  // ,{1, 2} // 3 wire encoder
+  // ,8 // Rotation sensor
+
+  // Right Tracking Wheel Ports (negative port will reverse it!)
+  // ,{-3, -4} // 3 wire encoder
+  // ,-9 // Rotation sensor
+  */
+
+  // Uncomment if tracking wheels are plugged into a 3 wire expander
+  // 3 Wire Port Expander Smart Port
+  // ,1
+);
+
 
-/**
- * A callback function for LLEMU's center button.
- *
- * When this callback is fired, it will toggle line 2 of the LCD text between
- * "I was pressed!" and nothing.
- */
-void on_center_button() {
-	static bool pressed = false;
-	pressed = !pressed;
-	if (pressed) {
-		pros::lcd::set_text(2, "I was pressed!");
-	} else {
-		pros::lcd::clear_line(2);
-	}
-}
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -23,18 +70,50 @@ void on_center_button() {
  * to keep execution time for this mode under a few seconds.
  */
 void initialize() {
-	pros::lcd::initialize();
-	pros::lcd::set_text(1, "Hello PROS User!");
+  // Print our branding over your terminal :D
+  ez::print_ez_template();
+  
+  pros::delay(500); // Stop the user from doing anything while legacy ports configure.
+
+  // Configure your chassis controls
+  chassis.toggle_modify_curve_with_controller(true); // Enables modifying the controller curve with buttons on the joysticks
+  chassis.set_active_brake(0); // Sets the active brake kP. We recommend 0.1.
+  chassis.set_curve_default(0, 0); // Defaults for curve. If using tank, only the first parameter is used. (Comment this line out if you have an SD card!)  
+  default_constants(); // Set the drive to your own constants from autons.cpp!
+  exit_condition_defaults(); // Set the exit conditions to your own constants from autons.cpp!
 
-	pros::lcd::register_btn1_cb(on_center_button);
+  // These are already defaulted to these buttons, but you can change the left/right curve buttons here!
+  // chassis.set_left_curve_buttons (pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT); // If using tank, only the left side is used. 
+  // chassis.set_right_curve_buttons(pros::E_CONTROLLER_DIGITAL_Y,    pros::E_CONTROLLER_DIGITAL_A);
+
+  // Autonomous Selector using LLEMU
+  ez::as::auton_selector.add_autons({
+    Auton("Example Drive\n\nDrive forward and come back.", drive_example),
+    Auton("Example Turn\n\nTurn 3 times.", turn_example),
+    Auton("Drive and Turn\n\nDrive forward, turn, come back. ", drive_and_turn),
+    Auton("Drive and Turn\n\nSlow down during drive.", wait_until_change_speed),
+    Auton("Swing Example\n\nSwing, drive, swing.", swing_example),
+    Auton("Combine all 3 movements", combining_movements),
+    Auton("Interference\n\nAfter driving forward, robot performs differently if interfered or not.", interfered_example),
+  });
+
+  // Initialize chassis and auton selector
+  chassis.initialize();
+  ez::as::initialize();
 }
 
+
+
 /**
  * Runs while the robot is in the disabled state of Field Management System or
  * the VEX Competition Switch, following either autonomous or opcontrol. When
  * the robot is enabled, this task will exit.
  */
-void disabled() {}
+void disabled() {
+  // . . .
+}
+
+
 
 /**
  * Runs after initialize(), and before autonomous when connected to the Field
@@ -45,7 +124,11 @@ void disabled() {}
  * This task will exit when the robot is enabled and autonomous or opcontrol
  * starts.
  */
-void competition_initialize() {}
+void competition_initialize() {
+  // . . .
+}
+
+
 
 /**
  * Runs the user autonomous code. This function will be started in its own task
@@ -58,7 +141,16 @@ void competition_initialize() {}
  * will be stopped. Re-enabling the robot will restart the task, not re-start it
  * from where it left off.
  */
-void autonomous() {}
+void autonomous() {
+  chassis.reset_pid_targets(); // Resets PID targets to 0
+  chassis.reset_gyro(); // Reset gyro position to 0
+  chassis.reset_drive_sensor(); // Reset drive sensors to 0
+  chassis.set_drive_brake(MOTOR_BRAKE_HOLD); // Set motors to hold.  This helps autonomous consistency.
+  chassis.right_velocity();
+  ez::as::auton_selector.call_selected_auton(); // Calls selected auton from autonomous selector.
+}
+
+
 
 /**
  * Runs the operator control code. This function will be started in its own task
@@ -73,21 +165,24 @@ void autonomous() {}
  * operator control task will be stopped. Re-enabling the robot will restart the
  * task, not resume it from where it left off.
  */
+
 void opcontrol() {
-	pros::Controller master(pros::E_CONTROLLER_MASTER);
-	pros::Motor left_mtr(1);
-	pros::Motor right_mtr(2);
-
-	while (true) {
-		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
-		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
-		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
-		int left = master.get_analog(ANALOG_LEFT_Y);
-		int right = master.get_analog(ANALOG_RIGHT_Y);
-
-		left_mtr = left;
-		right_mtr = right;
-
-		pros::delay(20);
-	}
-}
+  // This is preference to what you like to drive on.
+  chassis.set_drive_brake(MOTOR_BRAKE_COAST);
+
+  while (true) {
+
+    //chassis.tank(); // Tank control
+    chassis.arcade_standard(ez::SPLIT); // Standard split arcade
+    // chassis.arcade_standard(ez::SINGLE); // Standard single arcade
+    // chassis.arcade_flipped(ez::SPLIT); // Flipped split arcade
+    // chassis.arcade_flipped(ez::SINGLE); // Flipped single arcade
+
+    // . . .
+    // Put more user control code here!
+    // . . .
+    // pros::Task IntakeControlTask(Intake);
+    pros::Task IntakeControlTask(intake_control);
+    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
+  }
+}
\ No newline at end of file