diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp
index 11a51d9..848cc6e 100644
--- a/Commands/Autonomous/Turn.cpp
+++ b/Commands/Autonomous/Turn.cpp
@@ -1,7 +1,7 @@
 #include "Turn.h"
 #include "../../DentRobot.h"
 // Drive for a short while then stop. Just for testing
-Turn::Turn(int k) : Command("Turn"){
+Turn::Turn(double k) : Command("Turn"){
   Requires(DentRobot::drivetrain);
   SetTimeout(k);
 }
diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h
index b128c20..515ce44 100644
--- a/Commands/Autonomous/Turn.h
+++ b/Commands/Autonomous/Turn.h
@@ -10,7 +10,7 @@ class Turn: public Command{
   private:
     int degrees;
   public:
-    Turn(int);
+    Turn(double);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp
index 1cb292f..37a4534 100644
--- a/Commands/BinElevator/BinCloseArms.cpp
+++ b/Commands/BinElevator/BinCloseArms.cpp
@@ -4,11 +4,10 @@
 BinCloseArms::BinCloseArms() : Command("BinCloseArms"){
 }
 void BinCloseArms::Initialize(){
-  //Should never need to use this
   SetTimeout(0.5);
 }
 void BinCloseArms::Execute(){
-  DentRobot::pneumatics->SetOpen(true);
+  DentRobot::pneumatics->SetOpen(false);
 }
 bool BinCloseArms::IsFinished(){
   return true;
diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp
index c8936a4..2a415d3 100644
--- a/Commands/BinElevator/BinOpenArms.cpp
+++ b/Commands/BinElevator/BinOpenArms.cpp
@@ -4,7 +4,6 @@
 BinOpenArms::BinOpenArms() : Command("BinOpenArms"){
 }
 void BinOpenArms::Initialize(){
-  //Should never need to use this
   SetTimeout(0.5);
 }
 void BinOpenArms::Execute(){