diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 55b62d2..1201f93 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -6,7 +6,7 @@
 #include "Turn.h"
 #include "../Collector/CloseCollector.h"
 #include "../Collector/OpenCollector.h"
-#include "../Collector/CollectTote.h"
+#include "../Collector/RollIn.h"
 Autonomous::Autonomous(int seq){
   SmartDashboard::GetNumber("Auto Wait Time");
   switch(seq){
@@ -19,7 +19,7 @@ Autonomous::Autonomous(int seq){
       AddSequential(new Turn());
       AddParallel(new AutoDrive(0.5));
       AddParallel(new CloseCollector());
-      AddSequential(new CollectTote());
+      AddSequential(new RollIn());
       AddSequential(new Turn());
       break;
     case 1:
@@ -28,7 +28,7 @@ Autonomous::Autonomous(int seq){
       AddSequential(new AutoDrive(0.5));
       AddSequential(new Turn());
       AddSequential(new Turn());
-      AddSequential(new CollectTote());
+      AddSequential(new RollIn());
       break;
     case 2:
       // Drive forward a bit, turn around, collect tote then bin
@@ -36,7 +36,7 @@ Autonomous::Autonomous(int seq){
       AddParallel(new AutoDrive(0.5));
       AddSequential(new Turn());
       AddSequential(new Turn());
-      AddSequential(new CollectTote());
+      AddSequential(new RollIn());
       break;
     case 3:
       // Wait a desigated value, drive to Auto Zone (TM)
diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/RollIn.cpp
similarity index 57%
rename from Commands/Collector/CollectTote.cpp
rename to Commands/Collector/RollIn.cpp
index acabd4e..68c49b8 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -1,22 +1,22 @@
-#include "CollectTote.h"
-CollectTote::CollectTote() : Command("CollectTote"){
+#include "RollIn.h"
+RollIn::RollIn() : Command("RollIn"){
   Requires(DentRobot::collector);
 }
-void CollectTote::Initialize(){
-  printf("Initialized CollectTote\n");
+void RollIn::Initialize(){
+  printf("Initialized RollIn\n");
   SetTimeout(2.0);
 }
-void CollectTote::Execute(){
+void RollIn::Execute(){
   //TODO check this value to move the motors in the right direction
   DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
-bool CollectTote::IsFinished(){
+bool RollIn::IsFinished(){
   return DentRobot::collector->BoxCollected()||IsTimedOut();
 }
-void CollectTote::End(){
+void RollIn::End(){
   DentRobot::collector->MoveRollers(0.0);
 }
-void CollectTote::Interrupted(){
+void RollIn::Interrupted(){
   End();
 }
 // vim: ts=2:sw=2:et
diff --git a/Commands/Collector/CollectTote.h b/Commands/Collector/RollIn.h
similarity index 72%
rename from Commands/Collector/CollectTote.h
rename to Commands/Collector/RollIn.h
index 03074fd..8a222aa 100644
--- a/Commands/Collector/CollectTote.h
+++ b/Commands/Collector/RollIn.h
@@ -1,14 +1,14 @@
-#ifndef COLLECTTOTE_H
-#define COLLECTTOTE_H
+#ifndef ROLLIN_H
+#define ROLLIN_H
 
 #include "Commands/Command.h"
 #include "../../CommandBase.h"
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
-class CollectTote: public Command{
+class RollIn: public Command{
   public:
-    CollectTote();
+    RollIn();
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/Collector/ReleaseTote.cpp b/Commands/Collector/RollOut.cpp
similarity index 64%
rename from Commands/Collector/ReleaseTote.cpp
rename to Commands/Collector/RollOut.cpp
index 744efcb..7f7297d 100644
--- a/Commands/Collector/ReleaseTote.cpp
+++ b/Commands/Collector/RollOut.cpp
@@ -1,22 +1,22 @@
-#include "ReleaseTote.h"
-ReleaseTote::ReleaseTote() : Command("ReleaseTote"){
+#include "RollOut.h"
+RollOut::RollOut() : Command("RollOut"){
   Requires(DentRobot::collector);
 }
-void ReleaseTote::Initialize(){
+void RollOut::Initialize(){
   SetTimeout(2.0);
 }
-void ReleaseTote::Execute(){
+void RollOut::Execute(){
   //TODO check this value to move the motors in the right direction
   // Devide by 2 twice because this speed should be half the collector speed
   DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
 }
-bool ReleaseTote::IsFinished(){
+bool RollOut::IsFinished(){
   return DentRobot::collector->BoxCollected();
 }
-void ReleaseTote::End(){
+void RollOut::End(){
   DentRobot::collector->MoveRollers(0.0f);
 }
-void ReleaseTote::Interrupted(){
+void RollOut::Interrupted(){
   End();
 }
 // vim: ts=2:sw=2:et
diff --git a/Commands/Collector/ReleaseTote.h b/Commands/Collector/RollOut.h
similarity index 72%
rename from Commands/Collector/ReleaseTote.h
rename to Commands/Collector/RollOut.h
index 722680f..7143d07 100644
--- a/Commands/Collector/ReleaseTote.h
+++ b/Commands/Collector/RollOut.h
@@ -1,14 +1,14 @@
-#ifndef RELEASETOTE_H
-#define RELEASETOTE_H
+#ifndef ROLLOUT_H
+#define ROLLOUT_H
 
 #include "Commands/Command.h"
 #include "../../CommandBase.h"
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
-class ReleaseTote: public Command{
+class RollOut: public Command{
   public:
-    ReleaseTote();
+    RollOut();
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/OI.cpp b/OI.cpp
index e01e119..84abd5c 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -3,8 +3,8 @@
 #include "Commands/Elevator/Raise.h"
 #include "Commands/Collector/OpenCollector.h"
 #include "Commands/Collector/CloseCollector.h"
-#include "Commands/Collector/CollectTote.h"
-#include "Commands/Collector/ReleaseTote.h"
+#include "Commands/Collector/RollIn.h"
+#include "Commands/Collector/RollOut.h"
 
 OI::OI() {
   // Joysticks
@@ -17,8 +17,8 @@ OI::OI() {
   JoystickButton *left2=new JoystickButton(leftStick, 2);
   right1->WhileHeld(new CloseCollector());
   right2->WhileHeld(new OpenCollector());
-  left1->WhileHeld(new CollectTote());
-  left2->WhileHeld(new ReleaseTote());
+  left1->WhileHeld(new RollIn());
+  left2->WhileHeld(new RollOut());
   // Elevator
   raise=new Raise();
   lower=new Lower();