diff --git a/src/CommandBase.cpp b/src/CommandBase.cpp
index 7c8c4d5..3d51e70 100644
--- a/src/CommandBase.cpp
+++ b/src/CommandBase.cpp
@@ -2,7 +2,6 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
-#include "Commands/Drive.h"
 #include "Commands/Collect.h"
 #include "Commands/Eject.h"
 #include "Commands/Raise.h"
diff --git a/src/Commands/Drive.cpp b/src/Commands/Drive.cpp
deleted file mode 100644
index e901aa6..0000000
--- a/src/Commands/Drive.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "Drive.h"
-Drive::Drive(){
-}
-void Drive::Initialize(){
-}
-void Drive::Execute(){
-}
-bool Drive::IsFinished(){
-  return false;
-}
-void Drive::End(){
-
-}
-void Drive::Interrupted(){
-}
diff --git a/src/Commands/Drive.h b/src/Commands/Drive.h
deleted file mode 100644
index 7d8e070..0000000
--- a/src/Commands/Drive.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef DRIVE_H
-#define DRIVE_H
-
-#include "../CommandBase.h"
-#include "WPILib.h"
-
-class Drive: public CommandBase{
-  public:
-    Drive();
-    void Initialize();
-    void Execute();
-    bool IsFinished();
-    void End();
-    void Interrupted();
-};
-
-#endif
diff --git a/src/Commands/Eject.cpp b/src/Commands/Eject.cpp
index 4ac7f59..98fdf0d 100644
--- a/src/Commands/Eject.cpp
+++ b/src/Commands/Eject.cpp
@@ -1,9 +1,11 @@
 #include "Eject.h"
+#include "../DentRobot.h"
 Eject::Eject(){
 }
 void Eject::Initialize(){
 }
 void Eject::Execute(){
+  DentRobot::collector->Set(oi->GetLeftStick()->GetThrottle());
 }
 bool Eject::IsFinished(){
   return false;
diff --git a/src/DentRobot.cpp b/src/DentRobot.cpp
index f34e638..ad9a71b 100644
--- a/src/DentRobot.cpp
+++ b/src/DentRobot.cpp
@@ -1,11 +1,16 @@
 #include "DentRobot.h"
-DentRobot::DentRobot():
-  driveCommand(new Drive()){
+OI* DentRobot::oi=NULL;
+Collector* DentRobot::collector=NULL;
+Drivetrain* DentRobot::drivetrain=NULL;
+Elevator* DentRobot::elevator=NULL;
+DentRobot::DentRobot(){
+  oi=new OI();
+  collector=new Collector();
+  drivetrain=new Drivetrain();
+  elevator=new Elevator();
   printf("Initialized");
 }
 void DentRobot::RobotInit(){
-  printf("Initializing");
-  CommandBase::init();
 }
 void DentRobot::DisabledPeriodic(){
   Scheduler::GetInstance()->Run();
diff --git a/src/DentRobot.h b/src/DentRobot.h
index 2ec1f47..cd88121 100644
--- a/src/DentRobot.h
+++ b/src/DentRobot.h
@@ -1,15 +1,18 @@
 #ifndef DENTROBOT_H
 #define DENTROBOT_H
 #include "WPILib.h"
-#include "Commands/Drive.h"
-#include "Commands/Collect.h"
-#include "Commands/Eject.h"
-#include "Commands/Raise.h"
-#include "Commands/Lower.h"
+#include "OI.h"
+#include "Subsystems/Elevator.h"
+#include "Subsystems/Drivetrain.h"
+#include "Subsystems/Collector.h"
 class DentRobot: public IterativeRobot {
 private:
   Command *driveCommand = NULL;
 public:
+  static OI* oi;
+  static Collector* collector;
+  static Drivetrain* drivetrain;
+  static Elevator* elevator;
   DentRobot();
   void RobotInit();
   void DisabledPeriodic();
diff --git a/src/Makefile b/src/Makefile
new file mode 100644
index 0000000..a1c6857
--- /dev/null
+++ b/src/Makefile
@@ -0,0 +1,27 @@
+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=/home/stonewareslord/Applications/vagrant/frc-cpp-vagrantfile/wpilib
+EXEC=bin/FRCUserProgram
+CLEANSER=rm -r
+
+all : $(OBJECTS)
+	$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
+
+%.o : %.cpp
+	$(CC) $(CFLAGS) -I$(WPILIB)/include $^ -o $@
+
+clean:
+	$(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'
+
+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'
+
+updatemakefile:
+	@curl -s https://raw.githubusercontent.com/int0x191f2/nameless/master/configure.sh | sh
diff --git a/src/OI.cpp b/src/OI.cpp
index 8425006..dc5f0f2 100644
--- a/src/OI.cpp
+++ b/src/OI.cpp
@@ -1,4 +1,20 @@
 #include "OI.h"
+#include "Commands/Lower.h"
+#include "Commands/Raise.h"
+#include "Commands/Collect.h"
+#include "Commands/Eject.h"
 
 OI::OI() {
+  leftStick=new Joystick(0);
+  rightStick=new Joystick(1);
+  JoystickButton *left10=new JoystickButton(leftStick, 10);
+  JoystickButton *left11=new JoystickButton(leftStick, 11);
+  left10->WhenPressed(new Eject());
+  left11->WhenPressed(new Collect());
+}
+Joystick* OI::GetRightStick(){
+  return rightStick;
+}
+Joystick* OI::GetLeftStick(){
+  return leftStick;
 }
diff --git a/src/OI.h b/src/OI.h
index 01b5823..e89ec0a 100644
--- a/src/OI.h
+++ b/src/OI.h
@@ -6,7 +6,10 @@
 class OI
 {
   private:
+    Joystick *leftStick, *rightStick;
   public:
     OI();
+    Joystick* GetRightStick();
+    Joystick* GetLeftStick();
 };
 #endif
diff --git a/src/Subsystems/Collector.cpp b/src/Subsystems/Collector.cpp
index 443c99d..9180975 100644
--- a/src/Subsystems/Collector.cpp
+++ b/src/Subsystems/Collector.cpp
@@ -2,6 +2,12 @@
 #include "../RobotMap.h"
 
 Collector::Collector() : Subsystem("Collector") {
+  motor1=new Talon(0);
+  motor2=new Talon(1);
 }
 void Collector::InitDefaultCommand() {
 }
+void Collector::Set(float power){
+  motor1->Set(power);
+  motor2->Set(power);
+}
diff --git a/src/Subsystems/Collector.h b/src/Subsystems/Collector.h
index c9026ce..9308d15 100644
--- a/src/Subsystems/Collector.h
+++ b/src/Subsystems/Collector.h
@@ -5,8 +5,10 @@
 class Collector: public Subsystem
 {
   private:
+    Talon *motor1, *motor2;
   public:
     Collector();
     void InitDefaultCommand();
+    void Set(float);
 };
 #endif
diff --git a/src/Subsystems/Drivetrain.cpp b/src/Subsystems/Drivetrain.cpp
index c152a4a..da53fde 100644
--- a/src/Subsystems/Drivetrain.cpp
+++ b/src/Subsystems/Drivetrain.cpp
@@ -1,14 +1,14 @@
 #include "Drivetrain.h"
 #include "../RobotMap.h"
 
-Drivetrain::Drivetrain() : Subsystem("Drivetrain") {
+Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
   frontLeft=new Talon(0);
   frontRight=new Talon(1);
   backLeft=new Talon(2);
   backRight=new Talon(3);
   drive=new RobotDrive(frontLeft, frontRight, backLeft, backRight);
 }
-void Drivetrain::InitDefaultCommand() {
+void Drivetrain::InitDefaultCommand(){
 }
 void Drivetrain::DriveMecanum(float x, float y, float rotation){
   drive->MecanumDrive_Cartesian(x, y, rotation);
diff --git a/src/Subsystems/Elevator.cpp b/src/Subsystems/Elevator.cpp
index cf37a88..2aa7368 100644
--- a/src/Subsystems/Elevator.cpp
+++ b/src/Subsystems/Elevator.cpp
@@ -1,12 +1,13 @@
 #include "Elevator.h"
 #include "../RobotMap.h"
-Elevator::Elevator() : PIDSubsystem("Elevator", kP_real, kI_real, 0.0){
+//Elevator::Elevator() : PIDSubsystem("Elevator", kP_real, kI_real, 0.0){
+Elevator::Elevator() : Subsystem("Elevator"){
   pot=new AnalogPotentiometer(0);
   leftMotor=new Talon(1);
   rightMotor=new Talon(0);
-  SetAbsoluteTolerance(0.004);
+  //SetAbsoluteTolerance(0.004);
 }
-void Elevator::InitDefaultCommand() {
+void Elevator::InitDefaultCommand(){
 }
 float Elevator::GetPotValue(){
   return pot->Get();
diff --git a/src/Subsystems/Elevator.h b/src/Subsystems/Elevator.h
index 2ed8c01..9108aa5 100644
--- a/src/Subsystems/Elevator.h
+++ b/src/Subsystems/Elevator.h
@@ -2,9 +2,9 @@
 #define ELEVATOR_H
 
 #include "WPILib.h"
-#include "Commands/PIDSubsystem.h"
-class Elevator: public PIDSubsystem
-{
+//#include "Commands/PIDSubsystem.h"
+//class Elevator: public PIDSubsystem{
+class Elevator: public Subsystem{
   private:
     AnalogPotentiometer *pot;
     Talon *leftMotor, *rightMotor;