diff --git a/Commands/Test/CheckDrive.cpp b/Commands/Test/CheckDrive.cpp
index 8a114b7..1104a62 100644
--- a/Commands/Test/CheckDrive.cpp
+++ b/Commands/Test/CheckDrive.cpp
@@ -12,16 +12,16 @@ void CheckDrive::Initialize(){
 }
 void CheckDrive::Execute(){
   switch(motor){
-    case DRIVE_FRONT_LEFT_CAN:
+    case DRIVE_FRONT_LEFT:
       DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTLEFT, 1);
       break;
-    case DRIVE_FRONT_RIGHT_CAN:
+    case DRIVE_FRONT_RIGHT:
       DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTRIGHT, 1);
       break;
-    case DRIVE_BACK_LEFT_CAN:
+    case DRIVE_BACK_LEFT:
       DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKLEFT, 1);
       break;
-    case DRIVE_BACK_RIGHT_CAN:
+    case DRIVE_BACK_RIGHT:
       DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKRIGHT, 1);
       break;
     default:
diff --git a/Commands/Test/CheckRobot.cpp b/Commands/Test/CheckRobot.cpp
index 871c51b..49429bd 100644
--- a/Commands/Test/CheckRobot.cpp
+++ b/Commands/Test/CheckRobot.cpp
@@ -5,9 +5,9 @@
 #include "CheckRobot.h"
 #include "CheckDrive.h"
 CheckRobot::CheckRobot(){
-  AddSequential(new CheckDrive(DRIVE_FRONT_LEFT_CAN));
-  AddSequential(new CheckDrive(DRIVE_FRONT_RIGHT_CAN));
-  AddSequential(new CheckDrive(DRIVE_BACK_LEFT_CAN));
-  AddSequential(new CheckDrive(DRIVE_BACK_RIGHT_CAN));
+  AddSequential(new CheckDrive(DRIVE_FRONT_LEFT));
+  AddSequential(new CheckDrive(DRIVE_FRONT_RIGHT));
+  AddSequential(new CheckDrive(DRIVE_BACK_LEFT));
+  AddSequential(new CheckDrive(DRIVE_BACK_RIGHT));
 }
 // vim: ts=2:sw=2:et
diff --git a/RobotMap.h b/RobotMap.h
index 2f25d55..95d7bd4 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -6,7 +6,7 @@
 #define CODE_VERSION 1.0
 
 // Elevator
-#define ELEVATOR_CAN 1
+#define ELEVATOR 1
 #define ELEVATOR_BOTTOM_DIO 9
 #define ELEVATOR_MIDDLE_DIO 8
 #define ELEVATOR_TOP_DIO 7
@@ -14,7 +14,7 @@
 #define ELEVATOR_ENCODERB 9
 
 // BinElevator
-#define BINELEVATOR_CAN 10
+#define BINELEVATOR 0
 #define BINELEVATOR_BOTTOM_DIO 6
 #define BINELEVATOR_COLELCT_BIN_DIO 7
 #define BINELEVATOR_TOP_DIO 12
@@ -24,16 +24,16 @@
 #define BINELEVATOR_SOLDENOID_TWO   7
 
 // Drivetrain
-#define DRIVE_FRONT_LEFT_CAN 8
-#define DRIVE_BACK_LEFT_CAN 3
-#define DRIVE_FRONT_RIGHT_CAN 4
-#define DRIVE_BACK_RIGHT_CAN 5
+#define DRIVE_FRONT_LEFT 8
+#define DRIVE_BACK_LEFT 3
+#define DRIVE_FRONT_RIGHT 4
+#define DRIVE_BACK_RIGHT 5
 
 // Collector
-#define COLLECTOR_RAMP_CAN 7
-#define COLLECTOR_LEFT_CAN 2
-#define COLLECTOR_BOTTOM_CAN 11
-#define COLLECTOR_RIGHT_CAN 9
+#define COLLECTOR_RAMP 7
+#define COLLECTOR_LEFT 2
+#define COLLECTOR_BOTTOM 11
+#define COLLECTOR_RIGHT 9
 #define COLLECTOR_SONAR_ANALOG 3
 
 #endif
diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index ffc79ee..3f973f3 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -1,7 +1,7 @@
 #include "BinElevator.h"
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
-  motor=new CANTalon(BINELEVATOR_CAN);
+  motor=new Victor(BINELEVATOR);
   elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
   elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
   elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
index 3ff85a6..1bc7a3f 100644
--- a/Subsystems/BinElevator.h
+++ b/Subsystems/BinElevator.h
@@ -8,7 +8,7 @@
  */
 class BinElevator{
   private:
-    CANTalon *motor; //<! The bin elevator motor
+    Victor *motor; //<! The bin elevator motor
     Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
     DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
                  *elevatorTop; //<! The top bin elevator sensor (unuesd)
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index ddae882..d69610d 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -2,10 +2,10 @@
 #include "../RobotMap.h"
 
 Collector::Collector(): Subsystem("Collector"){
-  collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
-  collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
-  collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
-  collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
+  collectorMotorLeft=new Victor(COLLECTOR_LEFT);
+  collectorMotorBottom=new Victor(COLLECTOR_BOTTOM);
+  collectorMotorRamp=new Victor(COLLECTOR_RAMP);
+  collectorMotorRight=new Victor(COLLECTOR_RIGHT);
   sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
 }
 void Collector::InitDefaultCommand(){
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index 19afdfb..22ebd23 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -9,7 +9,7 @@
  */
 class Collector: public Subsystem{
   private:
-    CANTalon *collectorMotorLeft,   //<! Left collector motor
+    Victor *collectorMotorLeft,   //<! Left collector motor
              *collectorMotorBottom, //<! Bottom collctor motor
              *collectorMotorRamp,   //<! Ramp collctor motor
              *collectorMotorRight;  //<! Right collector motor
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index fa546b7..4f4dae9 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -3,10 +3,10 @@
 #include "../Commands/Drivetrain/Drive.h"
 
 Drivetrain::Drivetrain(): Subsystem("Drivetrain"){
-  rightFront = new CANTalon(DRIVE_FRONT_RIGHT_CAN);
-  leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN);
-  rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN);
-  leftRear = new CANTalon(DRIVE_BACK_LEFT_CAN);
+  rightFront = new Victor(DRIVE_FRONT_RIGHT);
+  leftFront = new Victor(DRIVE_FRONT_LEFT);
+  rightRear = new Victor(DRIVE_BACK_RIGHT);
+  leftRear = new Victor(DRIVE_BACK_LEFT);
 }
 void Drivetrain::InitDefaultCommand(){
   SetDefaultCommand(new Drive());
diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h
index e6ff9b9..47a392e 100644
--- a/Subsystems/Drivetrain.h
+++ b/Subsystems/Drivetrain.h
@@ -9,7 +9,7 @@
  */
 class Drivetrain: public Subsystem{
   private:
-    CANTalon *rightFront, //<! Front right motor
+    Victor *rightFront, //<! Front right motor
              *leftFront, //<! Front left motor
              *rightRear, //<! Back right motor
              *leftRear; //<! Back left motor
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index abba7e3..05ccd26 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -1,7 +1,7 @@
 #include "Elevator.h"
 #include "../RobotMap.h"
 Elevator::Elevator(){
-  motor=new CANTalon(ELEVATOR_CAN);
+  motor=new Victor(ELEVATOR);
   elevatorEncoder=new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
   elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
   elevatorMiddle=new DigitalInput(ELEVATOR_MIDDLE_DIO);
diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h
index 177021e..4e95906 100644
--- a/Subsystems/Elevator.h
+++ b/Subsystems/Elevator.h
@@ -7,7 +7,7 @@
  */
 class Elevator{
   private:
-    CANTalon *motor; //<! The elevator motor
+    Victor *motor; //<! The elevator motor
     Encoder *elevatorEncoder; //<! The elevator encoder (unused)
     DigitalInput *elevatorBottom, //<! The bottom elevator sensor
                  *elevatorMiddle, //<! The middle elevator sensor