diff --git a/src/main/java/frc/robot/commands/states/PrepCorner.java b/src/main/java/frc/robot/commands/states/PrepCorner.java
deleted file mode 100644
index 9eac9f6..0000000
--- a/src/main/java/frc/robot/commands/states/PrepCorner.java
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.states;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class PrepCorner extends Command {
-  /** Creates a new PrepNonOutpost. */
-  public PrepCorner() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/states/PrepHub.java b/src/main/java/frc/robot/commands/states/PrepHub.java
deleted file mode 100644
index 31c794b..0000000
--- a/src/main/java/frc/robot/commands/states/PrepHub.java
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.states;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class PrepHub extends Command {
-  /** Creates a new PrepDepot. */
-  public PrepHub() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/states/PrepOpponentToAlliance.java b/src/main/java/frc/robot/commands/states/PrepOpponentToAlliance.java
deleted file mode 100644
index 5c6121a..0000000
--- a/src/main/java/frc/robot/commands/states/PrepOpponentToAlliance.java
+++ /dev/null
@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.states;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class PrepOpponentToAlliance extends Command {
-  /** Creates a new PrepOpponentToAlliance. */
-  public PrepOpponentToAlliance() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/states/PrepTower.java b/src/main/java/frc/robot/commands/states/PrepTower.java
deleted file mode 100644
index 5b100fb..0000000
--- a/src/main/java/frc/robot/commands/states/PrepTower.java
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.states;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class PrepTower extends Command {
-  /** Creates a new PrepOutpost. */
-  public PrepTower() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/states/PrepTrench.java b/src/main/java/frc/robot/commands/states/PrepTrench.java
deleted file mode 100644
index 9eb314e..0000000
--- a/src/main/java/frc/robot/commands/states/PrepTrench.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.states;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class PrepTrench extends Command {
-  /** Creates a new PrepTrench. */
-  public PrepTrench() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java
index 9c381b4..8c06822 100644
--- a/src/main/java/frc/robot/commands/states/Shooting.java
+++ b/src/main/java/frc/robot/commands/states/Shooting.java
@@ -26,7 +26,7 @@ public void initialize() {
   @Override
   public void execute() {
 
-    RobotContainer.rotorsInstance.setFlywheelSpeeds(ConstRotors.FLYWHEEL_SHOOTING_SPEED);
+    RobotContainer.rotorsInstance.setFlyWheelSpeeds(ConstRotors.FLYWHEEL_SHOOTING_SPEED);
     if (RobotContainer.rotorsInstance.isFlyWheelAtSpeed(ConstRotors.FLYWHEEL_SHOOTING_SPEED)) {
       RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.INTAKE_TRANSFER_SPEED);
       RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
diff --git a/src/main/java/frc/robot/commands/states/preps/BasePrep.java b/src/main/java/frc/robot/commands/states/preps/BasePrep.java
new file mode 100644
index 0000000..b437f43
--- /dev/null
+++ b/src/main/java/frc/robot/commands/states/preps/BasePrep.java
@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states.preps;
+
+import edu.wpi.first.units.measure.*;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Robot;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BasePrep extends Command {
+  AngularVelocity globalFlyWheelSpeed;
+  Angle globalHoodAngle;
+  RobotState globalState;
+
+  /** Creates a new BasePrep. */
+  public BasePrep(AngularVelocity flyWheelSpeed, Angle hoodAngle, RobotState state) {
+    addRequirements(RobotContainer.stateMachineInstance);
+    globalFlyWheelSpeed = flyWheelSpeed;
+    globalHoodAngle = hoodAngle;
+    globalState = state;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    RobotContainer.rotorsInstance.setFlyWheelSpeeds(globalFlyWheelSpeed);
+    RobotContainer.motionInstance.setHoodPivotAngle(globalHoodAngle);
+    RobotContainer.stateMachineInstance.setRobotState(globalState);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/states/PrepAnywhere.java b/src/main/java/frc/robot/commands/states/preps/PrepAnywhere.java
similarity index 86%
rename from src/main/java/frc/robot/commands/states/PrepAnywhere.java
rename to src/main/java/frc/robot/commands/states/preps/PrepAnywhere.java
index c40b7f7..5855253 100644
--- a/src/main/java/frc/robot/commands/states/PrepAnywhere.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepAnywhere.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands.states;
+package frc.robot.commands.states.preps;
 
 import edu.wpi.first.wpilibj2.command.Command;
 
@@ -15,15 +15,18 @@ public PrepAnywhere() {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepCorner.java b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
new file mode 100644
index 0000000..699f925
--- /dev/null
+++ b/src/main/java/frc/robot/commands/states/preps/PrepCorner.java
@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states.preps;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class PrepCorner extends BasePrep {
+  /** Creates a new PrepNonOutpost. */
+  public PrepCorner() {
+    super(ConstRotors.FLYWHEEL_CORNER_SPEED, ConstMotion.HOOD_CORNER_ANGLE, RobotState.PREP_CORNER);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepHub.java b/src/main/java/frc/robot/commands/states/preps/PrepHub.java
new file mode 100644
index 0000000..6a62554
--- /dev/null
+++ b/src/main/java/frc/robot/commands/states/preps/PrepHub.java
@@ -0,0 +1,22 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states.preps;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class PrepHub extends BasePrep {
+  /** Creates a new PrepDepot. */
+  public PrepHub() {
+
+    super(ConstRotors.FLYWHEEL_HUB_SPEED, ConstMotion.HOOD_HUB_ANGLE, RobotState.PREP_HUB);
+
+    // setState
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/states/PrepNeautralToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
similarity index 50%
rename from src/main/java/frc/robot/commands/states/PrepNeautralToAlliance.java
rename to src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
index b70ed74..425fd41 100644
--- a/src/main/java/frc/robot/commands/states/PrepNeautralToAlliance.java
+++ b/src/main/java/frc/robot/commands/states/preps/PrepNeutralToAlliance.java
@@ -2,32 +2,22 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands.states;
+package frc.robot.commands.states.preps;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class PrepNeautralToAlliance extends Command {
+public class PrepNeutralToAlliance extends BasePrep {
   /** Creates a new PrepNeautralToAlliance. */
-  public PrepNeautralToAlliance() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
+  public PrepNeutralToAlliance() {
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
+    super(ConstRotors.FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED, ConstMotion.HOOD_NEUTRAL_TO_ALLIANCE_ANGLE,
+        RobotState.PREP_NEUTRAL_TO_ALLIANCE);
 
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
+    // Use addRequirements() here to declare subsystem dependencies.
   }
-}
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
new file mode 100644
index 0000000..4b729e7
--- /dev/null
+++ b/src/main/java/frc/robot/commands/states/preps/PrepOpponentToAlliance.java
@@ -0,0 +1,22 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states.preps;
+
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class PrepOpponentToAlliance extends BasePrep {
+  /** Creates a new PrepOpponentToAlliance. */
+  public PrepOpponentToAlliance() {
+
+    super(ConstRotors.FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED, ConstMotion.HOOD_OPPENENT_TO_ALLIANCE_ANGLE,
+        RobotState.PREP_OPPONENT_TO_ALLIANCE);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+}
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTower.java b/src/main/java/frc/robot/commands/states/preps/PrepTower.java
new file mode 100644
index 0000000..f0bbc6f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/states/preps/PrepTower.java
@@ -0,0 +1,19 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states.preps;
+
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class PrepTower extends BasePrep {
+  /** Creates a new PrepOutpost. */
+  public PrepTower() {
+
+    super(ConstRotors.FLYWHEEL_TOWER_SPEED, ConstMotion.HOOD_TOWER_ANGLE, RobotState.PREP_TOWER);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+}
diff --git a/src/main/java/frc/robot/commands/states/preps/PrepTrench.java b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
new file mode 100644
index 0000000..693211e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/states/preps/PrepTrench.java
@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states.preps;
+
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class PrepTrench extends BasePrep {
+  /** Creates a new PrepTrench. */
+  public PrepTrench() {
+
+    super(ConstRotors.FLYWHEEL_TRENCH_SPEED, ConstMotion.HOOD_TRENCH_ANGLE, RobotState.PREP_TRENCH);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+}
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java
index c011ea6..3ef98db 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstMotion.java
@@ -25,6 +25,13 @@ public class ConstMotion {
   public static final Angle HOOD_PIVOT_ANGLE = Degrees.of(14);
   public static final double STOP = 0;
   public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
+  public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13);
+  public static final Angle HOOD_CORNER_ANGLE = Units.Degrees.of(23.5);
+  public static final Angle HOOD_TOWER_ANGLE = Units.Degrees.of(14);
+  public static final Angle HOOD_HUB_ANGLE = Units.Degrees.of(9.5);
+  public static final Angle HOOD_ANYWHERE_ANGLE = Units.Degrees.of(45);
+  public static final Angle HOOD_NEUTRAL_TO_ALLIANCE_ANGLE = Units.Degrees.of(45);
+  public static final Angle HOOD_OPPENENT_TO_ALLIANCE_ANGLE = Units.Degrees.of(37);
 
   static {
 
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index 2959fa7..efe9a82 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -19,8 +19,17 @@ public class ConstRotors {
   public static final TalonFXConfiguration INTAKE_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration TRANSFER_ROLLERS_EAST_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration TRANSFER_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
+
   public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration();
+  public static final AngularVelocity FLYWHEEL_CORNER_SPEED = Units.RPM.of(4250);
+  public static final AngularVelocity FLYWHEEL_HUB_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_TRENCH_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_TOWER_SPEED = Units.RPM.of(4000);
+  public static final AngularVelocity FLYWHEEL_ANYWHERE_SPEED = Units.RPM.of(4100);
+  public static final AngularVelocity FLYWHEEL_NEUTRAL_TO_ALLIANCE_SPEED = Units.RPM.of(3700);
+  public static final AngularVelocity FLYWHEEL_OPPONENT_TO_ALLIANCE_SPEED = Units.RPM.of(6400);
+
   public static final double INTAKE_ROLLERS_SPEED = 0.5;
   public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
   // public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000);
diff --git a/src/main/java/frc/robot/subsystems/Rotors.java b/src/main/java/frc/robot/subsystems/Rotors.java
index f7608e7..51b57be 100644
--- a/src/main/java/frc/robot/subsystems/Rotors.java
+++ b/src/main/java/frc/robot/subsystems/Rotors.java
@@ -96,7 +96,7 @@ public void setTransferRollersPercentOutput(Double speed) {
     transferRollersWest.setControl(transferRollersEastFollower);
   }
 
-  public void setFlywheelSpeeds(AngularVelocity speed) {
+  public void setFlyWheelSpeeds(AngularVelocity speed) {
     flywheelTopEast.setControl(flyWheelVelocityRequest.withVelocity(speed));
     flywheelTopWest.setControl(flywheelWestFollower);
     flywheelBottomWest.setControl(flywheelWestFollower);