diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index e381a4b..0ceb0af 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -1,8 +1,9 @@
 #include "HHRobot.h"
 #include "HHBase.h"
 HHRobot::HHRobot():
-  tmpMotor1(new CANTalon(0)),
-  joystick1(new Extreme3dPro(0)){
+  DriveStick(new Extreme3dPro(0)),
+  //FrontRight,FrontLeft,RearRight,RearLeft
+  RobotDrive(new MecanumDrive(40,41,42,43)){
   }
 void HHRobot::Init(){
   printf("Initing\n");
@@ -10,7 +11,6 @@ void HHRobot::Init(){
 }
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
-  tmpMotor1->Set(joystick1->GetJoystickAxis("y"));
-  SmartDashboard::PutNumber("tmp",joystick1->GetJoystickAxis("y"));
+  RobotDrive->handler(DriveStick->GetJoystickAxis("x"),DriveStick->GetJoystickAxis("y"),DriveStick->GetJoystickAxis("z"),0);
 }
 // vim: ts=2:sw=2:et
diff --git a/src/HHRobot.h b/src/HHRobot.h
index 21828fd..c1f7b60 100644
--- a/src/HHRobot.h
+++ b/src/HHRobot.h
@@ -3,10 +3,11 @@
 #include <WPILib.h>
 #include "HHBase.h"
 #include "hhlib/input/controller/Joystick.h"
+#include "hhlib/drive/MecanumDrive.h"
 class HHRobot{
   private:
-    CANTalon *tmpMotor1;
-    Extreme3dPro *joystick1;
+    Extreme3dPro *DriveStick;
+    MecanumDrive *RobotDrive;
   public:
     HHRobot();
     void Init();
diff --git a/src/Makefile b/src/Makefile
index 952e810..01fcaa2 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -1,12 +1,11 @@
+REMOTEIP=10.20.59.2
 CC=arm-frc-linux-gnueabi-g++
 CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
 LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
 SOURCES=$(shell find -type f -name "*.cpp")
 OBJECTS=$(SOURCES:.cpp=.o)
-WPILIB=/var/frc/wpilib
-EXEC=bin/FRCUserProgram
+WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram
 CLEANSER=rm -r
-REMOTEIP=10.20.59.2
 
 all : $(OBJECTS)
 	$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
@@ -15,7 +14,7 @@ all : $(OBJECTS)
 	$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
 
 clean:
-	$(CLEANSER) $(OBJECTS)
+	$(CLEANSER) $(OBJECTS) bin/FRCUserProgram
 
 deploy:
 	@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/usr/local/frc/bin/frcKillRobot.sh -t -r'
diff --git a/src/Makefile.old b/src/Makefile.old
index b265c91..01fcaa2 100644
--- a/src/Makefile.old
+++ b/src/Makefile.old
@@ -1,12 +1,11 @@
+REMOTEIP=10.20.59.2
 CC=arm-frc-linux-gnueabi-g++
 CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
 LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
 SOURCES=$(shell find -type f -name "*.cpp")
 OBJECTS=$(SOURCES:.cpp=.o)
-WPILIB=/var/frc/wpilib
-EXEC=bin/FRCUserProgram
+WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram
 CLEANSER=rm -r
-REMOTEIP=10.0.1.31
 
 all : $(OBJECTS)
 	$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
@@ -15,12 +14,10 @@ all : $(OBJECTS)
 	$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
 
 clean:
-	$(CLEANSER) $(OBJECTS)
+	$(CLEANSER) $(OBJECTS) bin/FRCUserProgram
 
 deploy:
-	@ssh -v admin@$(REMOTEIP) "rm /home/lvuser/FRCUserProgram"
-	@scp bin/FRCUserProgram admin@$(REMOTEIP)
-	@ssh -v admin@$(REMOTEIP) "/etc/profile.d/natinst-path.sh; chmod a+x /home/lvuser/FRCUserProgram; /usr/local/frc/bin/frcKillRobot.sh -t -r"
+	@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/usr/local/frc/bin/frcKillRobot.sh -t -r'
 
 putkey:
 	@test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key'
diff --git a/src/hhlib b/src/hhlib
index 17606cc..b8306e8 160000
--- a/src/hhlib
+++ b/src/hhlib
@@ -1 +1 @@
-Subproject commit 17606cc482c4cdde363c96fda0b6efd92ccdbad9
+Subproject commit b8306e85030cbd5fea1e15b60b608efc219477b1