diff --git a/DentRobot.cpp b/DentRobot.cpp
index 4588bf6..d43ffb8 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -13,6 +13,9 @@ DentRobot::DentRobot(){
   elevator=new Elevator();
   binElevator=new BinElevator();
   aut=new Autonomous();
+  CameraServer::GetInstance()->SetQuality(50);
+  //the camera name (ex "cam0") can be found through the roborio web interface
+  CameraServer::GetInstance()->StartAutomaticCapture("cam0");
   printf("Initialized");
 }
 void DentRobot::RobotInit(){
diff --git a/RobotMap.h b/RobotMap.h
index d0cc6e4..8a7a765 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -8,10 +8,14 @@
 #define ELEVATOR_BOTTOM_DIO 0
 #define ELEVATOR_COLELCT_TOTE_DIO 1
 #define ELEVATOR_READY_TOTE_DIO 2
-#define ELEVATOR_COLELCT_CAN_DIO 3
-#define ELEVATOR_READY_CAN_DIO 4
 #define ELEVATOR_TOP_DIO 5
 
+// BinElevator
+#define BINELEVATOR_CAN 11
+#define BINELEVATOR_BOTTOM_DIO 6
+#define BINELEVATOR_COLELCT_BIN_DIO 7
+#define BINELEVATOR_TOP_DIO 8
+
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 2
 #define DRIVE_BACK_LEFT_CAN 3
diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index 2ada4b9..1692361 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -1,12 +1,12 @@
 #include "BinElevator.h"
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
-  motor=new CANTalon(ELEVATOR_CAN);
+  motor=new CANTalon(BINELEVATOR_CAN);
   elevatorEncoder=new Encoder(0,1,false);
   offset=0;
   height=0;
-  elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
-  elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
+  elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
+  elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
   //SetAbsoluteTolerance(0.004);
 }
 void BinElevator::InitDefaultCommand(){