diff --git a/command/drivetrain.py b/command/drivetrain.py
index 026076b..1b32bb8 100644
--- a/command/drivetrain.py
+++ b/command/drivetrain.py
@@ -61,6 +61,7 @@ def initialize(self) -> None:
         self.table.putBoolean("DriveSwerveCustom", True)
 
     def execute(self) -> None:
+        self.subsystem.aligned=False
         dx, dy, d_theta = (
             self.subsystem.axis_dx.value * -1,
             self.subsystem.axis_dy.value * 1,
@@ -232,6 +233,7 @@ def __init__(self, subsystem: Drivetrain, poses: list[Pose2d] = None):
         self.nt = ntcore.NetworkTableInstance.getDefault().getTable("drive to pose")
 
     def initialize(self):
+        self.subsystem.aligned=False
         self.current_pose = self.subsystem.get_estimated_pose()
         pose = self.current_pose.nearest(self.poses)
 
@@ -274,11 +276,12 @@ def execute(self):
         )
 
     def isFinished(self) -> bool:
-        return (
+        self.subsystem.aligned= (
             self.x_controller.atSetpoint()
             and self.y_controller.atSetpoint()
             and self.theta_controller.atSetpoint()
         )
+        return self.subsystem.aligned
 
     def end(self, interrupted):
         self.subsystem.set_driver_centric((0, 0), 0)
diff --git a/command/wrist.py b/command/wrist.py
index d9faef6..9668384 100644
--- a/command/wrist.py
+++ b/command/wrist.py
@@ -81,10 +81,11 @@ def execute(self) -> None:
         pass
 
     def isFinished(self) -> bool:
-        return self.debouncer.calculate(
+        self.subsystem.coral_in_feed = self.debouncer.calculate(
             self.subsystem.feed_motor.get_motor_current()
             > config.back_current_threshold
         )
+        return self.subsystem.coral_in_feed
 
     def end(self, interrupted) -> None:
         if interrupted:
diff --git a/config.py b/config.py
index 4383a0e..4dc311a 100644
--- a/config.py
+++ b/config.py
@@ -82,6 +82,9 @@
 auto_translation_pid = PIDConstants(6, 0.0, 0.1)
 auto_rotation_pid = PIDConstants(5.0, 0.0, 0.0)
 
+speed_tolerance = .1 # feet_per_second
+rotation_speed_tolerance = 5 # degrees per second
+
 # odometry
 odometry_tag_distance_threshold: meters = 2.5
 
@@ -102,7 +105,9 @@
 wrist_feed_id = 15
 WRIST_FEED_CONFIG = TalonConfig(1, 0, 0, 0, 0)
 wrist_id = 14
-WRIST_CONFIG = TalonConfig(48, 0, 0, 0.06, 0, motion_magic_cruise_velocity=97.75, motion_magic_acceleration=350) # 97.75
+WRIST_CONFIG = TalonConfig(
+    48, 0, 0, 0.06, 0, motion_magic_cruise_velocity=97.75, motion_magic_acceleration=350
+)  # 97.75
 wrist_cancoder_id = 22
 wrist_encoder_zero = 0.781
 
@@ -126,7 +131,9 @@
 intake_pivot_id = 11
 intake_encoder_zero = 0.075
 INTAKE_CONFIG = TalonConfig(0, 0, 0, 0, 0, brake_mode=False)
-INTAKE_PIVOT_CONFIG = TalonConfig(2, 0, 0, -0.195, 0, motion_magic_cruise_velocity=97, brake_mode=True) # 97
+INTAKE_PIVOT_CONFIG = TalonConfig(
+    2, 0, 0, -0.195, 0, motion_magic_cruise_velocity=97, brake_mode=True
+)  # 97
 
 intake_max_angle = math.radians(60)
 intake_min_angle = math.radians(0)
@@ -146,7 +153,18 @@
 
 elevator_height_threshold = 0.1 * inches_to_meters  # placeholder
 
-ELEVATOR_CONFIG = TalonConfig(4, 0, 0.1, 0.13, 0, 0, kG=0.28, brake_mode=True, motion_magic_cruise_velocity=94, motion_magic_acceleration=300) # 94
+ELEVATOR_CONFIG = TalonConfig(
+    4,
+    0,
+    0.1,
+    0.13,
+    0,
+    0,
+    kG=0.28,
+    brake_mode=True,
+    motion_magic_cruise_velocity=94,
+    motion_magic_acceleration=300,
+)  # 94
 
 
 # TO CHANGE
@@ -187,7 +205,7 @@ class TargetData:
     wrist_angle: radians
     wrist_feed_on: bool
     wrist_score_on: bool
-    
+
     intake_angle: radians
     intake_in_run: bool
     intake_out_run: bool
@@ -196,7 +214,6 @@ class TargetData:
 
 
 target_positions: dict[str, TargetData] = {
-
     "IDLE": TargetData(
         elevator_idle=True,
         wrist_idle=True,
@@ -207,9 +224,8 @@ class TargetData:
         wrist_score_on=False,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "STATION_INTAKING": TargetData(
         elevator_idle=True,
         wrist_idle=False,
@@ -220,9 +236,8 @@ class TargetData:
         wrist_score_on=False,
         intake_angle=intake_coral_station_angle,
         intake_in_run=True,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "L1": TargetData(
         elevator_idle=True,
         wrist_idle=False,
@@ -233,9 +248,8 @@ class TargetData:
         wrist_score_on=True,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "L2": TargetData(
         elevator_idle=False,
         wrist_idle=False,
@@ -246,9 +260,8 @@ class TargetData:
         wrist_score_on=True,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "L3": TargetData(
         elevator_idle=False,
         wrist_idle=False,
@@ -259,9 +272,8 @@ class TargetData:
         wrist_score_on=True,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "L4": TargetData(
         elevator_idle=False,
         wrist_idle=False,
@@ -272,9 +284,8 @@ class TargetData:
         wrist_score_on=True,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "DEALGAE_HIGH": TargetData(
         elevator_idle=False,
         wrist_idle=False,
@@ -285,9 +296,8 @@ class TargetData:
         wrist_score_on=False,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "DEALGAE_LOW": TargetData(
         elevator_idle=False,
         wrist_idle=False,
@@ -298,9 +308,8 @@ class TargetData:
         wrist_score_on=False,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "SCORE_BARGE": TargetData(
         elevator_idle=False,
         wrist_idle=False,
@@ -311,9 +320,8 @@ class TargetData:
         wrist_score_on=True,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     # "SCORE_PROCESSOR_INTAKE": TargetData(
     #     elevator_idle=True,
     #     wrist_idle=True,
@@ -325,7 +333,6 @@ class TargetData:
     #     intake_in_run=False,
     #     intake_out_run=True
     # ),
-
     "SCORE_PROCESSOR_WRIST": TargetData(
         elevator_idle=True,
         wrist_idle=False,
@@ -336,9 +343,8 @@ class TargetData:
         wrist_score_on=True,
         intake_angle=0,
         intake_in_run=False,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "INTAKE_ALGAE": TargetData(
         elevator_idle=True,
         wrist_idle=True,
@@ -349,9 +355,8 @@ class TargetData:
         wrist_score_on=False,
         intake_angle=intake_algae_ground_angle,
         intake_in_run=True,
-        intake_out_run=False
+        intake_out_run=False,
     ),
-
     "CLIMB": TargetData(
         elevator_idle=True,
         wrist_idle=True,
@@ -364,5 +369,14 @@ class TargetData:
         intake_in_run=True,
         intake_out_run=False,
         intake_climb=True,
-    )
-}
\ No newline at end of file
+    ),
+}
+
+# Leds
+leds_id = 8  # placeholder
+leds_size = 27  # placeholder
+leds_spacing = 1 / 120.0  # placeholder, density of __ per meter
+leds_speed = 5
+leds_brightness = 128
+leds_saturation = 255
+leds_blink_frequency = 0.5
diff --git a/ctre_sim/CANCoder vers. H - 021 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 021 - 0 - ext.dat
new file mode 100644
index 0000000..ddcf921
Binary files /dev/null and b/ctre_sim/CANCoder vers. H - 021 - 0 - ext.dat differ
diff --git a/ctre_sim/CANCoder vers. H - 022 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 022 - 0 - ext.dat
new file mode 100644
index 0000000..78bcadb
Binary files /dev/null and b/ctre_sim/CANCoder vers. H - 022 - 0 - ext.dat differ
diff --git a/ctre_sim/Pigeon 2 - 020 - 0 - ext.dat b/ctre_sim/Pigeon 2 - 020 - 0 - ext.dat
index 5f468a6..516f948 100644
Binary files a/ctre_sim/Pigeon 2 - 020 - 0 - ext.dat and b/ctre_sim/Pigeon 2 - 020 - 0 - ext.dat differ
diff --git a/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat
index 44553d8..582771f 100644
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diff --git a/ctre_sim/Talon FX vers. C - 010 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 010 - 0 - ext.dat
index c55f10f..a7121c0 100644
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diff --git a/ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat
index b4344d8..144e92e 100644
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diff --git a/ctre_sim/Talon FX vers. C - 013 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 013 - 0 - ext.dat
index 435d205..771646c 100644
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diff --git a/ctre_sim/Talon FX vers. C - 014 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 014 - 0 - ext.dat
index 4334bc8..08deca9 100644
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diff --git a/ctre_sim/Talon FX vers. C - 015 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 015 - 0 - ext.dat
index 8a2e3ab..935c2f9 100644
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diff --git a/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat
index ddbbacc..bd88123 100644
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diff --git a/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat
index cbf9df1..54dee86 100644
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diff --git a/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat
index 55c7553..4b1dee6 100644
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diff --git a/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat
index 3f40df3..2f7bbda 100644
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diff --git a/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat
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diff --git a/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat
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diff --git a/ctre_sim/Talon FX vers. C - 08 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 08 - 0 - ext.dat
index 5d66d0e..908d8ac 100644
Binary files a/ctre_sim/Talon FX vers. C - 08 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 08 - 0 - ext.dat differ
diff --git a/ctre_sim/Talon FX vers. C - 09 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 09 - 0 - ext.dat
index 28c1d21..ba17770 100644
Binary files a/ctre_sim/Talon FX vers. C - 09 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 09 - 0 - ext.dat differ
diff --git a/pyproject.toml b/pyproject.toml
index ce25c80..7c74bfb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2025.3.1.0"
+robotpy_version = "2025.3.1.1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]
diff --git a/robot.py b/robot.py
index 6129e1b..b58587d 100644
--- a/robot.py
+++ b/robot.py
@@ -4,11 +4,11 @@
 
 import phoenix6 as ctre
 import ntcore
-import phoenix6 as ctre
+
 import wpilib
 
 import command
-import math
+
 import config
 
 # import constants
@@ -16,7 +16,6 @@
     Robot,
     Pneumatics,
     Sensors,
-    LEDs,
     PowerDistribution,
     Field,
 )
@@ -33,7 +32,6 @@
 from wpilib import DriverStation
 
 
-
 class _Robot(wpilib.TimedRobot):
     def __init__(self):
         super().__init__()
@@ -92,7 +90,10 @@ def init_subsystems():
 
         ctre.hardware.ParentDevice.optimize_bus_utilization_for_all()
         Field.update_field_table()
-        
+
+        #alternates blue and gold on leds
+        Robot.led.set_Alternate(255,190,0,0,0,255)
+
         self.log.complete("Robot initialized")
 
     def robotPeriodic(self):
@@ -127,15 +128,24 @@ def robotPeriodic(self):
                 self.log.error(e)
                 self.nt.getTable("errors").putString("command scheduler", str(e))
                 raise e
-            
+
         # Field.odometry.disable()
         pose = Field.odometry.update()
 
-        self.nt.getTable("Odometry").putNumberArray("Estimated pose", [
-            pose.X(),
-            pose.Y(),
-            pose.rotation().radians()
-        ])
+        self.nt.getTable("Odometry").putNumberArray(
+            "Estimated pose", [pose.X(), pose.Y(), pose.rotation().radians()]
+        )
+
+        if Robot.wrist.coral_in_feed:
+            Robot.led.set_Blink(0,255,0) #if coral is in the intake, blinking green
+        elif Robot.intake.intake_running:
+            Robot.led.set_Solid(250, 106, 20) #if intake is running but coral is not yet intook, solid orange
+        elif Robot.wrist.wrist_ejecting:
+            Robot.led.set_Solid(0,200,255) #if extaking, cyan
+        elif Robot.drivetrain.is_moving() and Robot.drivetrain.aligned:
+            Robot.led.set_Solid(255,0,255) #if aligned to score, purple
+        else:
+            Robot.led.set_Alternate(255,190,0,0,0,255) #idling is blue and gold
 
         Robot.drivetrain.update_tables()
         # Sensors.cam_controller.update_tables()
@@ -148,37 +158,53 @@ def robotPeriodic(self):
     def teleopInit(self):
         OI.init()
         OI.map_controls()
-        self.scheduler.schedule(commands2.SequentialCommandGroup(
-            command.SetWrist(Robot.wrist, 0),     
-            command.SetElevator(Robot.elevator, 0),
-        ))
-        self.scheduler.schedule(commands2.SequentialCommandGroup(
+        self.scheduler.schedule(
+            commands2.SequentialCommandGroup(
+                command.SetWrist(Robot.wrist, 0),
+                command.SetElevator(Robot.elevator, 0),
+            )
+        )
+        self.scheduler.schedule(
+            commands2.SequentialCommandGroup(
                 command.DrivetrainZero(Robot.drivetrain),
-                command.DriveSwerveCustom(Robot.drivetrain)
-            ))
+                command.DriveSwerveCustom(Robot.drivetrain),
+            )
+        )
         self.log.info("Teleop initialized")
-        
 
     def teleopPeriodic(self):
         pass
 
     def autonomousInit(self):
         path = PathPlannerPath.fromChoreoTrajectory("Four L4 Left")
-        starting_pose = get_red_pose(path.getStartingHolonomicPose()) if wpilib.DriverStation.getAlliance() == wpilib.DriverStation.Alliance.kRed else path.getStartingHolonomicPose()
+        starting_pose = (
+            get_red_pose(path.getStartingHolonomicPose())
+            if wpilib.DriverStation.getAlliance() == wpilib.DriverStation.Alliance.kRed
+            else path.getStartingHolonomicPose()
+        )
         Robot.drivetrain.reset_odometry_auto(starting_pose)
-        self.scheduler.schedule(commands2.SequentialCommandGroup(
-            command.DrivetrainZero(Robot.drivetrain, starting_pose.rotation().radians()),
-            AutoBuilder.followPath(path),
-            commands2.InstantCommand(lambda: Robot.drivetrain.set_robot_centric((0, 0, 0)))
-            ))
+        self.scheduler.schedule(
+            commands2.SequentialCommandGroup(
+                command.DrivetrainZero(
+                    Robot.drivetrain, starting_pose.rotation().radians()
+                ),
+                AutoBuilder.followPath(path),
+                commands2.InstantCommand(
+                    lambda: Robot.drivetrain.set_robot_centric((0, 0, 0))
+                ),
+            )
+        )
 
         # self.scheduler.schedule(commands2.SequentialCommandGroup(
         #     command.DrivetrainZero(Robot.drivetrain),
         #     command.FindWheelRadius(Robot.drivetrain)
         # ))
 
+        #scrolling rainbow on leds
+        Robot.led.set_Rainbow_Ladder()
+
         self.log.info("Autonomous initialized")
-        
+
     def autonomousPeriodic(self):
         pass
 
diff --git a/robot_systems.py b/robot_systems.py
index 8875185..7d647ee 100644
--- a/robot_systems.py
+++ b/robot_systems.py
@@ -1,6 +1,8 @@
 import subsystem
 import sensors
-import wpilib #noqa
+import wpilib
+import config
+import wpilib  # noqa
 import config
 import constants
 from utils.field import (
@@ -27,6 +29,15 @@ class Robot:
     wrist = subsystem.Wrist()
     drivetrain = subsystem.Drivetrain()
     intake = subsystem.Intake()
+    led = subsystem.AddressableLEDStrip(
+        config.leds_id,
+        config.leds_size,
+        config.leds_speed,
+        config.leds_brightness,
+        config.leds_saturation,
+        config.leds_spacing,
+        config.leds_blink_frequency,
+    )
 
 
 class Pneumatics:
diff --git a/subsystem/__init__.py b/subsystem/__init__.py
index b0f587e..67f5179 100644
--- a/subsystem/__init__.py
+++ b/subsystem/__init__.py
@@ -1,5 +1,5 @@
 from subsystem.drivetrain import Drivetrain
+from subsystem.leds import AddressableLEDStrip
 from subsystem.intake import Intake
 from subsystem.wrist import Wrist
-from subsystem.elevator import Elevator 
-
+from subsystem.elevator import Elevator
diff --git a/subsystem/drivetrain.py b/subsystem/drivetrain.py
index 1170635..05ae261 100644
--- a/subsystem/drivetrain.py
+++ b/subsystem/drivetrain.py
@@ -98,7 +98,7 @@ def __init__(self):
         self.sim_node_states: tuple[SwerveModuleState, SwerveModuleState, SwerveModuleState, SwerveModuleState] = None
         self.node_translations: tuple[Translation2d] | None = None
         self.nt = ntcore.NetworkTableInstance.getDefault().getTable("Drivetrain")
-
+        self.aligned=False
         # auto setup
         self.pp_config = constants.auto_config
 
@@ -255,6 +255,10 @@ def get_estimated_pose(self) -> Pose2d:
         pose = self.odometry_estimator.getEstimatedPosition()
         return pose
     
+    def is_moving(self)->bool:
+        speeds=self.get_speeds()
+        return abs(speeds.vx_fps)>config.speed_tolerance or abs(speeds.vy_fps)>config.speed_tolerance or abs(speeds.omega_dps)>config.rotation_speed_tolerance
+    
     def get_speeds(self) -> ChassisSpeeds:
         return self.chassis_speeds
 
diff --git a/subsystem/leds.py b/subsystem/leds.py
new file mode 100644
index 0000000..3b6194c
--- /dev/null
+++ b/subsystem/leds.py
@@ -0,0 +1,110 @@
+from wpilib import AddressableLED, SmartDashboard, Color, LEDPattern
+import math
+from toolkit.subsystem import Subsystem
+import ntcore
+
+
+class AddressableLEDStrip(Subsystem):
+    def __init__(
+        self,
+        id: int,
+        size: int,
+        speed: int,
+        brightness: int,
+        saturation: int,
+        spacing: int,
+        blink_frequency: float,
+    ):
+        self.size = size
+        self.id = id
+        self.speed = speed
+        self.brightness = brightness
+        self.saturation = saturation
+        self.LEDSpacing = spacing
+        self.blink_frequency = blink_frequency  # seconds
+        self.pattern = None
+        self.mode = "None"
+
+    def init(self):
+        """
+        initialize new LED strip connected to PWM port
+        """
+        self.led = AddressableLED(self.id)
+
+        self.ledBuffer = [self.led.LEDData() for i in range(self.size)]
+        self.enable()
+        # self.led.set_brightness(self.brightness)
+        # self.led.set_speed(self.speed)
+        SmartDashboard.putBoolean("LEDs Initialized", True)
+
+    def enable(self):
+        """
+        be sure to enable
+        """
+        self.led.start()
+
+    def disable(self):
+        self.led.stop()
+        self.mode = "None"
+
+    def set_brightness(self, brightness: float):
+        self.brightness = brightness
+
+    def set_speed(self, speed: float):
+        self.speed = speed
+
+    def get_led_data(self):
+        return [self.led.LEDData() for i in range(self.size)].copy()
+
+    def get_current_type(self):
+        # return self.pattern/mode
+        pass
+
+    def set_Solid(self, r: int, g: int, b: int):
+        self.pattern = LEDPattern.solid(Color(g / 255, r / 255, b / 255))
+        self.mode = f"Solid r:{r} g:{g} b:{b}"
+
+    def set_Alternate(self, r1: int, g1: int, b1: int, r2: int, g2: int, b2: int):
+        self.alternate = []
+        # red and green are switched for an unknown reason
+        for i in range(self.size):
+            if i % 2 == 0:
+                self.alternate.append(
+                    (i / self.size, Color(g1 / 255, r1 / 255, b1 / 255))
+                )
+            elif i % 2 == 1:
+                self.alternate.append(
+                    (i / self.size, Color(g2 / 255, r2 / 255, b2 / 255))
+                )
+
+        self.pattern = LEDPattern.steps(self.alternate)
+        self.mode = f"Alternate"
+
+    def set_Rainbow_Ladder(self):
+        """
+        creates a scrolling rainbow on LEDs
+        """
+        self.rainbow = LEDPattern.rainbow(self.saturation, self.brightness)
+
+        self.pattern = self.rainbow.scrollAtAbsoluteSpeed(self.speed, self.LEDSpacing)
+        self.mode = "Rainbow Ladder"
+
+    def set_Blink(self, r: int, g: int, b: int):
+        self.base = LEDPattern.solid((r / 255, g / 255, b / 255))
+        self.pattern = self.base.blink(self.blink_frequency)
+        self.mode = f"Blink r:{r} g:{g} b:{b}"
+
+    def periodic(self):
+        self.update_tables()
+        if not self.mode == "None":
+
+            def set_pattern_writer(i: int, my_color: Color) -> None:
+                self.ledBuffer[i].setLED(my_color)
+
+            ledreader = LEDPattern.LEDReader(self.ledBuffer.__getitem__, self.size)
+            self.pattern.applyTo(ledreader, set_pattern_writer)
+            self.led.setData(self.ledBuffer)
+
+    def update_tables(self):
+        self.table = ntcore.NetworkTableInstance.getDefault().getTable("LEDS")
+        self.table.putString("mode", self.mode)