diff --git a/OI.cpp b/OI.cpp
index dc49b63..545da24 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -18,12 +18,16 @@ OI::OI() {
   JoystickButton *right4=new JoystickButton(rightStick, 4);
   JoystickButton *right5=new JoystickButton(rightStick, 5);
   JoystickButton *right6=new JoystickButton(rightStick, 6);
+  JoystickButton *right7=new JoystickButton(rightStick, 7);
+  JoystickButton *right8=new JoystickButton(rightStick, 8);
   right1->WhenPressed(new OpenCollector());
   right2->WhenPressed(new CloseCollector());
   right3->WhenPressed(new CollectTote());
   right4->WhenPressed(new ReleaseTote());
   right5->WhenPressed(new StartCompressing());
   right6->WhenPressed(new StopCompressing());
+  right7->WhenPressed(new Raise());
+  right8->WhenPressed(new Lower());
 }
 Joystick* OI::GetRightStick(){
   return rightStick;
diff --git a/RobotMap.h b/RobotMap.h
index 294feab..bd596cf 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -4,22 +4,22 @@
 #include "WPILib.h"
 
 // Elevator
-#define ELEVATOR_CAN 0
+#define ELEVATOR_CAN 1
 
 // Drivetrain
-#define DRIVE_FRONT_LEFT_CAN 41
-#define DRIVE_BACK_LEFT_CAN 43
-#define DRIVE_FRONT_RIGHT_CAN 40
-#define DRIVE_BACK_RIGHT_CAN 42
+#define DRIVE_FRONT_LEFT_CAN 2
+#define DRIVE_BACK_LEFT_CAN 3
+#define DRIVE_FRONT_RIGHT_CAN 4
+#define DRIVE_BACK_RIGHT_CAN 5
 
 // Collector
-#define COLLECTOR_WINDOW_LEFT_CAN 50
-#define COLLECTOR_WINDOW_RIGHT_CAN 51
-#define COLLECTOR_LEFT_CAN 52
-#define COLLECTOR_RIGHT_CAN 53
+#define COLLECTOR_WINDOW_LEFT_CAN 6
+#define COLLECTOR_WINDOW_RIGHT_CAN 7
+#define COLLECTOR_LEFT_CAN 8
+#define COLLECTOR_RIGHT_CAN 9
 #define COLLECTOR_BOXSWITCH_DIO 9
 
 // Compressor
-#define COMPRESSOR_CAN 31
+#define COMPRESSOR_CAN 10
 
 #endif
diff --git a/TODO.txt b/TODO.txt
new file mode 100644
index 0000000..a386c8a
--- /dev/null
+++ b/TODO.txt
@@ -0,0 +1,4 @@
+Release for all buttons does not work
+raise is pushed, elevator raises, lower is pushed, elevator lowers, raise is pushed, no effect
+lower is pushed, elevator lowers, raise is pushed, no effect
+dos compressor on compressor start or stop