diff --git a/docs/auton.org b/docs/auton.org
index 92ebc52..a170394 100644
--- a/docs/auton.org
+++ b/docs/auton.org
@@ -35,8 +35,22 @@
    Drives forward grabbing triball in center of field. Then pulls triball back, rotates right, and pushes two triballs towards our side. Then reverses and knocks triball into goal.
    + Opposing side
    + Scores 9 points
-   + Can counter other teams 
+   + Can counter other teams
+   + Currently a legacy auton 
 6. AUTON 6
-   Push auton. Moves 2ft backward then 0.5ft forward.
+   Push auton. Moves the same amount as auton 0 forward, then reverses.
    + Utility auton
-   
+7. AUTON 7
+   Allows us to bowl triballs off the top of the robot, then drives forward to push them into goal.
+   + Skills auton
+8. AUTON 8
+   Drives forward, grabs triball, then turns around and pushes two field triballs to other side.
+   + Opposing Side
+   + Elim auton
+   + Refined version of AUTON 5
+   + Can counter other teams
+9. AUTON 9
+   Drives forward and pushes three triballs into the goal. Also attempts to score our match load.
+   + Our side
+   + Can counter other teams
+   + Elim auton
diff --git a/src/main.cpp b/src/main.cpp
index e0360b0..f41ea2e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -9,7 +9,9 @@
 /**
  * You should add more #includes here
  */
+#include "display/lv_core/lv_obj.h"
 #include "display/lv_misc/lv_task.h"
+#include "display/lv_objx/lv_img.h"
 #include "okapi/api.hpp"
 #include "okapi/api/device/motor/abstractMotor.hpp"
 #include "okapi/api/units/QLength.hpp"
@@ -27,6 +29,62 @@
 // 1 2 3 5 //left
 // 7 8 9 10 //right
 
+// FILE HANDLE CODE:
+
+typedef FILE *pc_file_t;
+
+static lv_fs_res_t pcfs_open(void *file_p, const char *fn, lv_fs_mode_t mode) {
+    errno = 0;
+    const char *flags = "";
+    if (mode == LV_FS_MODE_WR)
+        flags = "wb";
+    else if (mode == LV_FS_MODE_RD)
+        flags = "rb";
+    else if (mode == (LV_FS_MODE_WR | LV_FS_MODE_RD))
+        flags = "a+";
+
+    char buf[256];
+    sprintf(buf, "/%s", fn);
+    pc_file_t f = fopen(buf, flags);
+
+    if (f == NULL)
+        return LV_FS_RES_UNKNOWN;
+    else {
+        fseek(f, 0, SEEK_SET);
+        pc_file_t *fp = (pc_file_t *)file_p;
+        *fp = f;
+    }
+
+    return LV_FS_RES_OK;
+}
+
+static lv_fs_res_t pcfs_close(void *file_p) {
+    pc_file_t *fp = (pc_file_t *)file_p;
+    fclose(*fp);
+    return LV_FS_RES_OK;
+}
+
+static lv_fs_res_t pcfs_read(void *file_p, void *buf, uint32_t btr,
+                             uint32_t *br) {
+    pc_file_t *fp = (pc_file_t *)file_p;
+    *br = fread(buf, 1, btr, *fp);
+    return LV_FS_RES_OK;
+}
+
+static lv_fs_res_t pcfs_seek(void *file_p, uint32_t pos) {
+    pc_file_t *fp = (pc_file_t *)file_p;
+    fseek(*fp, pos, SEEK_SET);
+    return LV_FS_RES_OK;
+}
+
+static lv_fs_res_t pcfs_tell(void *file_p, uint32_t *pos_p) {
+    pc_file_t *fp = (pc_file_t *)file_p;
+    *pos_p = ftell(*fp);
+    return LV_FS_RES_OK;
+}
+
+// end file drivers
+
 int autonpick = 0;
 int automod = 0;
 lv_res_t sa0(lv_obj_t *btn) {
@@ -125,7 +183,8 @@ bool is_held(bool *log, bool ap) {
  * to keep execution time for this mode under a few seconds.
  */
 void initialize() {
-    pros::lcd::initialize();
+    // pros::lcd::initialize();
+
     // pros::lcd::set_text(1, "Hello PROS User!");
 
     pros::lcd::register_btn1_cb(on_center_button);
@@ -148,7 +207,7 @@ void disabled() {}
  * starts.
  */
 void competition_initialize() {
-	pros::Imu IMU(19);
+    pros::Imu IMU(19);
     IMU.reset(true);
     IMU.tare();
     pros::delay(200);
@@ -226,7 +285,7 @@ void autonomous() {
     upflap.set_value(false);
 
     pros::Imu IMU(19);
-    //IMU.reset(true);
+    // IMU.reset(true);
     IMU.tare();
     pros::delay(200);
 
@@ -247,7 +306,8 @@ void autonomous() {
         std::printf("yaw: %f\n", yaw);
         // double turn = -92 - yaw;
         double turn = 45 - yaw;
-    std:printf("turn: %f\n", turn);
+    std:
+        printf("turn: %f\n", turn);
         drive->setMaxVelocity(300);
         drive->turnAngle(turn * 1_deg);
         drive->moveDistanceAsync(4.1_ft);
@@ -316,7 +376,7 @@ void autonomous() {
                     (900 -
                      temp), //			  pull.moveRelative((1800
                             //-
-                            //std::fmod(pull.getPosition(), 1800)),
+                            // std::fmod(pull.getPosition(), 1800)),
 
                     10000000);
                 reqtopull = false;
@@ -394,9 +454,9 @@ void autonomous() {
         funnypiston.set_value(true);
         pros::delay(500);
 
-		auto starttime = Timer().millis();
-        while (Timer().millis() < starttime + 1.5_s  ) {
-            drive->getModel()->curvature(-12000 , IMU.get_rotation() * -0.04);
+        auto starttime = Timer().millis();
+        while (Timer().millis() < starttime + 1.5_s) {
+            drive->getModel()->curvature(-12000, IMU.get_rotation() * -0.04);
 
             // printf("%i\n", distforward.get());
             pros::delay(10);
@@ -406,56 +466,57 @@ void autonomous() {
         funnypiston.set_value(true);
         pros::delay(500);
 
-		drive->moveDistance(1_in);
+        drive->moveDistance(1_in);
         // drive->turnAngle(15_deg);
-        //drive->moveDistance(-3.8_ft);
-        //drive->turnAngle(90_deg);
-		bool imuholdarray[10];
-		
-		while (!is_held(imuholdarray, (abs(68.0 - IMU.get_rotation()) < 1)) ) {
-			drive->getModel()->rotate((68.0 - IMU.get_rotation()) * 0.008 );
-			pros::delay(10);
-		}
+        // drive->moveDistance(-3.8_ft);
+        // drive->turnAngle(90_deg);
+        bool imuholdarray[10];
 
-		drive->getModel()->stop();
+        while (!is_held(imuholdarray, (abs(68.0 - IMU.get_rotation()) < 1))) {
+            drive->getModel()->rotate((68.0 - IMU.get_rotation()) * 0.008);
+            pros::delay(10);
+        }
 
-		funnypiston.set_value(false);
+        drive->getModel()->stop();
+
+        funnypiston.set_value(false);
         drive->moveDistance(2_ft);
         drive->moveDistance(-2_ft);
-		funnypiston.set_value(true);
-		drive->moveDistance(2_ft);
-		drive->moveDistance(-2_ft);
-		funnypiston.set_value(false);
-		drive->turnAngle(45_deg);
+        funnypiston.set_value(true);
+        drive->moveDistance(2_ft);
         drive->moveDistance(-2_ft);
-		drive->moveDistance(1_ft);
+        funnypiston.set_value(false);
+        drive->turnAngle(45_deg);
+        drive->moveDistance(-2_ft);
+        drive->moveDistance(1_ft);
     }
 
     if (autonpick == 6) {
-        drive->setMaxVelocity(600);
-        float x = 2;
-        drive->moveDistance(x * -1_ft);
-        pros::delay(500);
+        float x = -2.7;
+        drive->moveDistanceAsync(x * 1_ft);
+        pros::delay(2500);
         drive->moveDistance(0.5_ft);
     }
 
-	if (autonpick == 7) {
-		drive->moveDistance(-1_ft);
-		piston.set_value(true);
-		pros::delay(44500);
-		drive->moveDistance(1_ft);
-		piston.set_value(true);
-		drive->turnAngle(-45_deg);
-		funnypiston.set_value(true);
-		pros::delay(500);
-		drive->moveDistance(6.5_ft);
-		drive->turnAngle(-45_deg);
-		drive->moveDistance(1_ft);
-		drive->moveDistance(-1_ft);
-		drive->moveDistance(1_ft);
-		drive->moveDistance(-1_ft);
-	}
-	if (autonpick == 8) {
+    if (autonpick == 7) {
+        drive->moveDistance(-1_ft);
+        piston.set_value(true);
+        pros::delay(44500);
+
+        drive->moveDistance(1_ft);
+
+        piston.set_value(false);
+        drive->turnAngle(-45_deg);
+        funnypiston.set_value(true);
+        pros::delay(500);
+        drive->moveDistance(7.5_ft);
+        drive->turnAngle(-45_deg);
+        drive->moveDistance(2_ft);
+        drive->moveDistance(-2_ft);
+        drive->moveDistance(2_ft);
+        drive->moveDistance(-2_ft);
+    }
+    if (autonpick == 8) {
         pros::Distance distforward(17);
         // drive->moveDistanceAsync(500_ft);
         drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
@@ -474,9 +535,9 @@ void autonomous() {
         funnypiston.set_value(true);
         pros::delay(500);
 
-		auto starttime = Timer().millis();
-        while (Timer().millis() < starttime + 1.5_s  ) {
-            drive->getModel()->curvature(-6000 , IMU.get_rotation() * -0.04);
+        auto starttime = Timer().millis();
+        while (Timer().millis() < starttime + 1.5_s) {
+            drive->getModel()->curvature(-6000, IMU.get_rotation() * -0.04);
 
             // printf("%i\n", distforward.get());
             pros::delay(10);
@@ -486,36 +547,132 @@ void autonomous() {
         funnypiston.set_value(true);
         pros::delay(500);
 
-		drive->moveDistance(1_in);
+        drive->moveDistance(1_in);
         // drive->turnAngle(15_deg);
-        //drive->moveDistance(-3.8_ft);
-        //drive->turnAngle(90_deg);
-		bool imuholdarray[10];
-		
-		while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1)) ) {
-			drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008 );
-			pros::delay(10);
-		}
+        // drive->moveDistance(-3.8_ft);
+        // drive->turnAngle(90_deg);
+        bool imuholdarray[10];
+
+        while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1))) {
+            drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008);
+            pros::delay(10);
+        }
+
+        drive->getModel()->stop();
+
+        funnypiston.set_value(false);
+        drive->moveDistance(2_ft);
+        drive->moveDistance(-2_ft);
+        funnypiston.set_value(true);
+        drive->moveDistance(2_ft);
+        drive->moveDistance(-2_ft);
+        funnypiston.set_value(false);
+
+        // //drive->moveDistance(0_ft);
+        // pros::delay(300);
+        // drive->turnAngle(50_deg);
+        // pros::delay(300);
+        // drive->moveDistance(-1.5_ft);
+    }
+
+    if (autonpick == 9) {
+        piston.set_value(true);
+        pros::delay(300);
+        piston.set_value(false);
+        pros::Distance distforward(17);
+        // drive->moveDistanceAsync(500_ft);
+        drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
+        // piston.set_value(true);
+        // NEED TO WRTIE IMU CENTER CODE
+        // update IMU each cycle to get true rotation
+        while (distforward.get() > 300) {
+            drive->getModel()->curvature(12000, IMU.get_rotation() * -0.04);
+
+            // printf("%i\n", distforward.get());
+            pros::delay(10);
+        }
+        drive->stop();
+        funnypiston.set_value(true);
+        pros::delay(500);
+
+        drive->setMaxVelocity(200);
+        drive->moveDistance(-1_in);
+
+        bool imuholdarray[10];
+
+        drive->setMaxVelocity(600);
+
+        // while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1))) {
+        //     drive->getModel()->rotate((100.0 - IMU.get_rotation()) * 0.008);
+        //     pros::delay(10);
+        // }
+
+		drive->turnAngle(100_deg);
+
+        drive->getModel()->stop();
+
+        funnypiston.set_value(false);
+
+        drive->moveDistanceAsync(2_ft);
+
+        pros::delay(1000);
+
+        drive->moveDistance(-1_ft);
+
+        while (!is_held(imuholdarray, (abs(-110.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.008);
+            pros::delay(10);
+        }
+
+		drive->getModel()->stop();
+		while (distforward.get() > 300) {
+            drive->getModel()->curvature(12000, (IMU.get_rotation()+110) * -0.04);
+
+            // printf("%i\n", distforward.get());
+            pros::delay(10);
+        }
+        drive->stop();
+        funnypiston.set_value(true);
+        pros::delay(500);
+
+		drive->moveDistance(-1_ft);
+
+		while (!is_held(imuholdarray, (abs(75.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((75.0 - IMU.get_rotation()) * 0.008);
+            pros::delay(10);
+        }
 
 		drive->getModel()->stop();
 
 		funnypiston.set_value(false);
-        drive->moveDistance(2_ft);
-        drive->moveDistance(-2_ft);
+		
+		drive->moveDistanceAsync(3_ft);
+
+		pros::delay(1000);
+
+		drive->moveDistance(-1_ft);
+
+		while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.008);
+            pros::delay(10);
+        }
+
+		drive->getModel()->stop();
+
+		drive->moveDistance(1_ft);
+		
 		funnypiston.set_value(true);
-		drive->moveDistance(2_ft);
-		drive->moveDistance(-2_ft);
+		pros::delay(300);
+
+		drive->turnAngle(180_deg);
 		funnypiston.set_value(false);
 
-		// //drive->moveDistance(0_ft);
-		// pros::delay(300);
-		// drive->turnAngle(50_deg);
-		// pros::delay(300);
-		// drive->moveDistance(-1.5_ft);
-		}
+		drive->moveDistanceAsync(3_ft);
+		pros::delay(1000);
+		drive->moveDistanceAsync(-1_ft);
 
-	
-		
+        // piston.set_value(false);
+    }
 }
 
 /**
@@ -694,6 +851,31 @@ void opcontrol() {
     bool intakebool;
     intakebool = false;
 
+    lv_fs_drv_t pcfs_drv;                      /*A driver descriptor*/
+    memset(&pcfs_drv, 0, sizeof(lv_fs_drv_t)); /*Initialization*/
+
+    pcfs_drv.file_size = sizeof(pc_file_t); /*Set up fields...*/
+    pcfs_drv.letter = 'S';
+    pcfs_drv.open = pcfs_open;
+    pcfs_drv.close = pcfs_close;
+    pcfs_drv.read = pcfs_read;
+    pcfs_drv.seek = pcfs_seek;
+    pcfs_drv.tell = pcfs_tell;
+    lv_fs_add_drv(&pcfs_drv);
+
+    lv_obj_clean(lv_scr_act());
+
+    lv_obj_t *img_var = lv_img_create(lv_scr_act(), NULL);
+    lv_obj_t *dog_var = lv_img_create(lv_scr_act(), NULL);
+    lv_img_set_src(img_var, "S:/usd/raa.bin");
+
+    lv_obj_set_pos(img_var, 200, 0);
+    lv_obj_set_size(img_var, 200, 200);
+
+    lv_img_set_src(dog_var, "S:/usd/dog2.bin");
+    lv_obj_set_pos(dog_var, 200, 0);
+    lv_obj_set_size(dog_var, 200, 200);
+
     while (true) {
         // Tank drive with left and right sticks.
         drive->getModel()->tank(controller.getAnalog(ControllerAnalog::leftY),
@@ -753,6 +935,7 @@ void opcontrol() {
 
         if (is_tapped(funnyarr, L2.isPressed())) {
             funnypistonstatus = !funnypistonstatus;
+            lv_obj_set_hidden(dog_var, !funnypistonstatus);
         }
 
         if (is_tapped(upflaparr, R2.isPressed())) {