diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index e22e12f..3b19252 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -10,7 +10,7 @@ void RollIn::Execute(){
   DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool RollIn::IsFinished(){
-  return DentRobot::collector->BoxCollected()||IsTimedOut();
+  return IsTimedOut();
 }
 void RollIn::End(){
   DentRobot::collector->MoveRollers(0.0);
diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp
index 7f7297d..82247ec 100644
--- a/Commands/Collector/RollOut.cpp
+++ b/Commands/Collector/RollOut.cpp
@@ -11,7 +11,7 @@ void RollOut::Execute(){
   DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
 }
 bool RollOut::IsFinished(){
-  return DentRobot::collector->BoxCollected();
+  return IsTimedOut();
 }
 void RollOut::End(){
   DentRobot::collector->MoveRollers(0.0f);
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 3b91bae..a8c1241 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -21,7 +21,7 @@ void Drive::Execute(){
   DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
 }
 bool Drive::IsFinished(){
-  return false;
+  return IsTimedOut();
 }
 void Drive::End(){
 }
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index fe8c589..c3a1429 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -1,24 +1,16 @@
 #include "Collector.h"
 #include "../RobotMap.h"
 
-Collector::Collector() : Subsystem("Collector") {
+Collector::Collector() : Subsystem("Collector"){
   collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
   collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
   collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
 }
-void Collector::InitDefaultCommand() {
+void Collector::InitDefaultCommand(){
 }
 void Collector::MoveRollers(double a){
   collectorMotorLeft->Set(a);
   collectorMotorBottom->Set(a);
   collectorMotorRight->Set(-a);
 }
-bool Collector::ArmSensor(){
-  // TODO: include limit switch code
-  return false;
-}
-bool Collector::BoxCollected(){
-  return false;
-  //return boxSwitch->Get();
-}
 // vim: ts=2:sw=2:et
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index c74ed35..dbddc51 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -10,8 +10,6 @@ class Collector: public Subsystem
     Collector();
     void InitDefaultCommand();
     void MoveRollers(double);
-    bool ArmSensor();
-    bool BoxCollected();
 };
 #endif
 // vim: ts=2:sw=2:et