diff --git a/TeamCode/src/main/java/codebase/actions/Action.java b/TeamCode/src/main/java/codebase/actions/Action.java
new file mode 100644
index 0000000..bab8736
--- /dev/null
+++ b/TeamCode/src/main/java/codebase/actions/Action.java
@@ -0,0 +1,9 @@
+package codebase.actions;
+
+import codebase.Loop;
+
+public interface Action extends Loop {
+    void init();
+
+    boolean isComplete();
+}
diff --git a/TeamCode/src/main/java/codebase/actions/SequentialAction.java b/TeamCode/src/main/java/codebase/actions/SequentialAction.java
new file mode 100644
index 0000000..74bff30
--- /dev/null
+++ b/TeamCode/src/main/java/codebase/actions/SequentialAction.java
@@ -0,0 +1,52 @@
+package codebase.actions;
+
+import java.util.Arrays;
+import java.util.stream.Stream;
+
+public class SequentialAction implements Action {
+
+    private ActionNode currentActionNode;
+
+    public SequentialAction(Action first, Action... rest) {
+        this.currentActionNode = new ActionNode(Stream.concat(Stream.of(first), Arrays.stream(rest)).toArray(Action[]::new));
+    }
+
+    @Override
+    public void init() {
+        currentActionNode.action.init();
+    }
+
+    @Override
+    public boolean isComplete() {
+        return this.currentActionNode == null;
+    }
+
+    @Override
+    public void loop() {
+        if (this.currentActionNode.action.isComplete()) {
+            this.currentActionNode = this.currentActionNode.next;
+        }
+
+        if (this.currentActionNode == null) {
+            return;
+        }
+
+        this.currentActionNode.action.loop();
+    }
+}
+
+class ActionNode {
+    public Action action;
+    public ActionNode next;
+
+    public ActionNode(Action[] actions) {
+        this.action = actions[0];
+
+        if (actions.length == 1) {
+            this.next = null;
+            return;
+        }
+
+        this.next = new ActionNode(Arrays.copyOfRange(actions, 1, actions.length));
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/codebase/actions/SimultaneousAction.java b/TeamCode/src/main/java/codebase/actions/SimultaneousAction.java
new file mode 100644
index 0000000..29b3090
--- /dev/null
+++ b/TeamCode/src/main/java/codebase/actions/SimultaneousAction.java
@@ -0,0 +1,61 @@
+package codebase.actions;
+
+import androidx.annotation.NonNull;
+
+import java.util.ArrayList;
+
+public class SimultaneousAction implements Action {
+
+    private final ArrayList<Action> actions;
+
+    public SimultaneousAction(Action first, Action... rest) {
+        this.actions = new ArrayList<>();
+
+        this.actions.add(first);
+
+        for (Action action : rest) {
+            this.add(action, false);
+        }
+    }
+
+    @Override
+    public void init() {
+        for (Action action : actions) {
+            action.init();
+        }
+    }
+
+    @Override
+    public boolean isComplete() {
+        for (Action action : actions) {
+            if (!action.isComplete()) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    @Override
+    public void loop() {
+        for (Action action : actions) {
+            if (!action.isComplete()) {
+                action.loop();
+            }
+        }
+    }
+
+    public void add(@NonNull Action action, boolean init) {
+        String actionName = action.getClass().getName();
+
+        for (Action a : actions) {
+            if (a.getClass().getName().equals(actionName)) {
+                throw new IllegalArgumentException("You can't add multiple of the same class of Action to SimultaneousAction.");
+            }
+        }
+        actions.add(action);
+
+        if (init) {
+            action.init();
+        }
+    }
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/codebase/actions/SleepAction.java b/TeamCode/src/main/java/codebase/actions/SleepAction.java
new file mode 100644
index 0000000..81185c8
--- /dev/null
+++ b/TeamCode/src/main/java/codebase/actions/SleepAction.java
@@ -0,0 +1,27 @@
+package codebase.actions;
+
+public class SleepAction implements Action {
+
+    private final long ms;
+
+    private long endMs;
+
+    public SleepAction(long ms) {
+        this.ms = ms;
+    }
+
+
+    @Override
+    public void init() {
+        this.endMs = System.currentTimeMillis() + this.ms;
+    }
+
+    @Override
+    public boolean isComplete() {
+        return System.currentTimeMillis() >= this.endMs;
+    }
+
+    @Override
+    public void loop() {
+    }
+}