diff --git a/main.py b/main.py
index 956baec..4836620 100644
--- a/main.py
+++ b/main.py
@@ -17,9 +17,14 @@ left_motor = Motor(Ports.PORT2, GearSetting.RATIO_18_1, False)
 right_motor = Motor(Ports.PORT9, GearSetting.RATIO_18_1, True)
 top_motor = Motor(Ports.PORT8, GearSetting.RATIO_18_1, False)
 bottom_motor = Motor(Ports.PORT3, GearSetting.RATIO_18_1, True)
+flip_motor = Motor(Ports.PORT11, GearSetting.RATIO_18_1, False)
 run_bottom_motor = False
 run_invert_bottom_motor = False
-speed_modifer = 1 
+speed_modifer = 1
+flip = False
+def run_flip():
+    global flip 
+    flip = not flip
 def intake():
     top_motor.spin(FORWARD, 100, PERCENT)
     # bottom_motor.spin(FORWARD, 100, PERCENT)
@@ -40,19 +45,28 @@ def run_run_bottom_motor():
     global run_bottom_motor
     run_bottom_motor = not run_bottom_motor
 def user_control():
+    global run_bottom_motor
+    global run_invert_bottom_motor
+    global speed_modifer
+    global flip
     brain.screen.clear_screen()
     brain.screen.print("driver control")
     controller.buttonA.pressed(run_run_invert_bottom_motor)
     bottom_motor.spin(FORWARD, 100, PERCENT)
     controller.buttonY.pressed(run_run_bottom_motor)
+    controller.buttonUp.pressed(run_flip)
     # button.pressed(intake)
     # button.released(intake(False))
     # place driver control in this while loop
     brain.screen.new_line()
     while True:
-        if controller.buttonR1.pressing():
+        if flip and flip_motor.position() == 90:
+            flip_motor.spin(FORWARD, 90, DEGREES)
+        else:   
+            flip_motor.spin(REVERSE, 90, DEGREES)
+        if controller.buttonR1.pressing() and speed_modifer < 1:
             speed_modifer = speed_modifer + 0.1
-        if controller.buttonR2.pressing():
+        if controller.buttonR2.pressing() and speed_modifer > 0:
             speed_modifer = speed_modifer - 0.1
         if controller.buttonB.pressing():
             speed_modifer = 1
@@ -62,15 +76,18 @@ def user_control():
         brain.sdcard.savefile("motors/left_motor/efficiency.txt", bytearray(str(left_motor.efficiency())))
         brain.sdcard.savefile("motors/left_motor/temperature.txt", bytearray(str(left_motor.temperature())))
         if run_bottom_motor:
-            if run_invert_bottom_motor:
-                not run_invert_bottom_motor
+            # if run_invert_bottom_motor:
+            #     run_run_invert_bottom_motor()
             bottom_motor.spin(FORWARD, 100, PERCENT)
             top_motor.spin(FORWARD, 100 * speed_modifer, PERCENT)
         elif run_invert_bottom_motor:
-            if run_bottom_motor:
-                not run_bottom_motor
+            # if run_bottom_motor:
+            #     run_run_bottom_motor()
             bottom_motor.spin(REVERSE, 100, PERCENT)
             top_motor.spin(REVERSE, 100, PERCENT)
+        # elif run_invert_bottom_motor:
+        #     if run_bottom_motor:
+        #         run_run_bottom_motor()
         else:
             bottom_motor.stop()
             top_motor.stop()