diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index ba14f03..4f8dea5 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -1,7 +1,7 @@
 #include "AutoDrive.h"
 #include "../../DentRobot.h"
 // Drive for a short while then stop. Just for testing
-AutoDrive::AutoDrive(double duration, double xtmp=0, double ytmp=-0.75) : Command("AutoDrive"){
+AutoDrive::AutoDrive(double duration, double xtmp, double ytmp) : Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(duration);
   x=xtmp;
diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index 6fa66ef..fd0c5e3 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -10,8 +10,7 @@ class AutoDrive: public Command{
   private:
     double x, y;
   public:
-    AutoDrive(double);
-    AutoDrive(double, double, double);
+    AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp
index 848cc6e..d9a68d7 100644
--- a/Commands/Autonomous/Turn.cpp
+++ b/Commands/Autonomous/Turn.cpp
@@ -1,9 +1,8 @@
 #include "Turn.h"
 #include "../../DentRobot.h"
-// Drive for a short while then stop. Just for testing
-Turn::Turn(double k) : Command("Turn"){
+Turn::Turn(double timeout) : Command("Turn"){
   Requires(DentRobot::drivetrain);
-  SetTimeout(k);
+  SetTimeout(timeout);
 }
 void Turn::Initialize(){
 }
diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp
index 37a4534..f16cab0 100644
--- a/Commands/BinElevator/BinCloseArms.cpp
+++ b/Commands/BinElevator/BinCloseArms.cpp
@@ -1,10 +1,10 @@
 #include "BinCloseArms.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinCloseArms::BinCloseArms() : Command("BinCloseArms"){
+BinCloseArms::BinCloseArms(double timeout) : Command("BinCloseArms"){
+  SetTimeout(timeout);
 }
 void BinCloseArms::Initialize(){
-  SetTimeout(0.5);
 }
 void BinCloseArms::Execute(){
   DentRobot::pneumatics->SetOpen(false);
diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h
index b6322b9..2eee806 100644
--- a/Commands/BinElevator/BinCloseArms.h
+++ b/Commands/BinElevator/BinCloseArms.h
@@ -6,7 +6,7 @@
 
 class BinCloseArms: public Command{
   public:
-    BinCloseArms();
+    BinCloseArms(double timeout = 0.5);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp
index 336e896..cdb659e 100644
--- a/Commands/BinElevator/BinLower.cpp
+++ b/Commands/BinElevator/BinLower.cpp
@@ -1,11 +1,10 @@
 #include "BinLower.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinLower::BinLower(double t) : Command("BinLower"){
-  timeout=t;
+BinLower::BinLower(double timeout) : Command("BinLower"){
+  SetTimeout(timeout);
 }
 void BinLower::Initialize(){
-  SetTimeout(timeout);
 }
 void BinLower::Execute(){
   DentRobot::binElevator->Run(-1.0);
diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h
index 79e5286..4d97be5 100644
--- a/Commands/BinElevator/BinLower.h
+++ b/Commands/BinElevator/BinLower.h
@@ -6,7 +6,6 @@
 
 class BinLower: public Command{
   private:
-    double timeout;
   public:
     BinLower(double);
     void Initialize();
diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp
index 2a415d3..694f357 100644
--- a/Commands/BinElevator/BinOpenArms.cpp
+++ b/Commands/BinElevator/BinOpenArms.cpp
@@ -1,10 +1,10 @@
 #include "BinOpenArms.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinOpenArms::BinOpenArms() : Command("BinOpenArms"){
+BinOpenArms::BinOpenArms(double timeout) : Command("BinOpenArms"){
+  SetTimeout(timeout);
 }
 void BinOpenArms::Initialize(){
-  SetTimeout(0.5);
 }
 void BinOpenArms::Execute(){
   DentRobot::pneumatics->SetOpen(true);
diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h
index 533d71c..1e3fde0 100644
--- a/Commands/BinElevator/BinOpenArms.h
+++ b/Commands/BinElevator/BinOpenArms.h
@@ -6,7 +6,7 @@
 
 class BinOpenArms: public Command{
   public:
-    BinOpenArms();
+    BinOpenArms(double);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp
index 2b53e81..8ac189f 100644
--- a/Commands/BinElevator/BinRaise.cpp
+++ b/Commands/BinElevator/BinRaise.cpp
@@ -1,11 +1,10 @@
 #include "BinRaise.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinRaise::BinRaise(double t) : Command("BinRaise"){
-  timeout=t;
+BinRaise::BinRaise(double timeout) : Command("BinRaise"){
+  SetTimeout(timeout);
 }
 void BinRaise::Initialize(){
-  SetTimeout(timeout);
 }
 void BinRaise::Execute(){
   DentRobot::binElevator->Run(1.0);
diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h
index cdea982..344519b 100644
--- a/Commands/BinElevator/BinRaise.h
+++ b/Commands/BinElevator/BinRaise.h
@@ -6,7 +6,6 @@
 
 class BinRaise: public Command{
   private:
-    double timeout;
   public:
     BinRaise(double);
     void Initialize();
diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index 4d3e7c3..87ec0f9 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -1,6 +1,6 @@
 #include "RollIn.h"
-RollIn::RollIn(double k) : Command("RollIn"){
-  rawSpeed=k;
+RollIn::RollIn(double speed) : Command("RollIn"){
+  rawSpeed=speed;
 }
 void RollIn::Initialize(){
   printf("Initialized RollIn\n");
diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h
index 25e4924..90ec585 100644
--- a/Commands/Collector/RollIn.h
+++ b/Commands/Collector/RollIn.h
@@ -10,6 +10,7 @@ class RollIn: public Command{
   private:
     double rawSpeed;
   public:
+    RollIn();
     RollIn(double);
     void Initialize();
     void Execute();
diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp
index ddfdf2a..eb07ad6 100644
--- a/Commands/Collector/RollOut.cpp
+++ b/Commands/Collector/RollOut.cpp
@@ -1,9 +1,9 @@
 #include "RollOut.h"
-RollOut::RollOut() : Command("RollOut"){
+RollOut::RollOut(double timeout) : Command("RollOut"){
   Requires(DentRobot::collector);
+  SetTimeout(timeout);
 }
 void RollOut::Initialize(){
-  SetTimeout(2.0);
 }
 void RollOut::Execute(){
   //TODO check this value to move the motors in the right direction
diff --git a/Commands/Collector/RollOut.h b/Commands/Collector/RollOut.h
index 7143d07..eeb921e 100644
--- a/Commands/Collector/RollOut.h
+++ b/Commands/Collector/RollOut.h
@@ -8,7 +8,7 @@
 
 class RollOut: public Command{
   public:
-    RollOut();
+    RollOut(double timeout = 2.0);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 553302f..4354717 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -10,7 +10,7 @@ void Drive::Execute(){
   x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
   y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1);
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
-  //Code to lock the x axis when not holding button 1
+  // Lock the x axis when not holding button 1
   //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
   //  x=0;
   //}
diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index 637a88b..3b11e4f 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -1,10 +1,10 @@
 #include "Lower.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-Lower::Lower() : Command("Lower"){
+Lower::Lower(double timeout) : Command("Lower"){
+  SetTimeout(timeout);
 }
 void Lower::Initialize(){
-  SetTimeout(3.0);
 }
 void Lower::Execute(){
   DentRobot::elevator->Run(-1.0);
diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h
index 92c8535..ec0188a 100644
--- a/Commands/Elevator/Lower.h
+++ b/Commands/Elevator/Lower.h
@@ -6,7 +6,7 @@
 
 class Lower: public Command{
   public:
-    Lower();
+    Lower(double timeout=3.0);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index ce42ab8..48286c7 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -1,10 +1,10 @@
 #include "Raise.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-Raise::Raise() : Command("Raise"){
+Raise::Raise(double timeout) : Command("Raise"){
+  SetTimeout(timeout);
 }
 void Raise::Initialize(){
-  SetTimeout(3.5);
 }
 void Raise::Execute(){
   DentRobot::elevator->Run(1.0);
diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h
index b19f470..76a0ef4 100644
--- a/Commands/Elevator/Raise.h
+++ b/Commands/Elevator/Raise.h
@@ -6,7 +6,7 @@
 
 class Raise: public Command{
   public:
-    Raise();
+    Raise(double timeout=3.5);
     void Initialize();
     void Execute();
     bool IsFinished();