diff --git a/.run/Run Jacoco.run.xml b/.run/Run Jacoco.run.xml
new file mode 100644
index 0000000..a2f1498
--- /dev/null
+++ b/.run/Run Jacoco.run.xml	
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Run Jacoco" type="GradleRunConfiguration" factoryName="Gradle" folderName="Unit Tests">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="TeamCode:testWithCoverage" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/DriveControlsTest.java b/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/DriveControlsTest.java
index 65d4946..8df60b5 100644
--- a/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/DriveControlsTest.java
+++ b/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/DriveControlsTest.java
@@ -17,13 +17,12 @@ public class DriveControlsTest {
     MockMotorUtil mockMotor = new MockMotorUtil();
 
     @BeforeEach
-    void motorSetup(){
+    void motorSetup() {
         mockMotor.setUp();
         driveControls = new DriveControls(mockMotor.hardwareMap);
     }
 
 
-
     @DisplayName("Pushing left stick Y fully should set all motors to 1.0")
     @Test
     void testSetDrivePower_forwardOnly() {
@@ -56,7 +55,8 @@ void testSetDrivePower_strafeRightOnly() {
 
     @DisplayName("Pushing right stick X fully should set the left motors to 1.0" +
         " and the right motors to -1.0")
-    @Test    void testSetDrivePower_turnRight() {
+    @Test
+    void testSetDrivePower_turnRight() {
         driveControls.setDrivePower(0.0f, 0.0f, -1.0f,
             0.0f);
 
@@ -86,4 +86,16 @@ void testDriveBrakeInactive() {
         verify(mockMotor.leftBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
         verify(mockMotor.rightBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
     }
+
+    @DisplayName("Go Forward when only left stick is assigned")
+    @Test
+    void testDriveForwardOnly() {
+        driveControls.setDrivePower(-1.0f);
+
+        // Expected power: all motors get 1.0
+        verify(mockMotor.leftFront).setPower(-1.0);
+        verify(mockMotor.rightFront).setPower(-1.0);
+        verify(mockMotor.leftBack).setPower(-1.0);
+        verify(mockMotor.rightBack).setPower(-1.0);
+    }
 }