diff --git a/src/HHBase.cpp b/src/HHBase.cpp
index 20fbdb7..0023bc3 100644
--- a/src/HHBase.cpp
+++ b/src/HHBase.cpp
@@ -21,6 +21,7 @@ void HHBase::DisabledPeriodic(){}
 void HHBase::AutonomousPeriodic(){
 }
 void HHBase::TeleopPeriodic(){
+  hhbot->Handler();
 }
 void HHBase::Test(){}
 START_ROBOT_CLASS(HHBase);
diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index e8a2eae..d05f564 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -28,9 +28,9 @@ void HHRobot::Handler(){
     hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
   }
   if(joystick1->GetJoystickButton(11)){
-    collector->Collect(255);
+    collector->Collect(-1.0f);
   }else if(joystick1->GetJoystickButton(12)){
-    collector->Collect(1);
+    collector->Collect(1.0f);
   }else if(joystick1->GetJoystickButton(9)){
     collector->Raise(255);
   }else if(joystick1->GetJoystickButton(10)){
diff --git a/src/classes/Collector.cpp b/src/classes/Collector.cpp
index ab1a040..919158c 100644
--- a/src/classes/Collector.cpp
+++ b/src/classes/Collector.cpp
@@ -1,22 +1,22 @@
 #include "Collector.h"
 DentCollector::DentCollector(int fl, int fr, int rl, int rr){
-  frontLeft = new Talon(fl);
-  frontRight = new Talon(fr);
+  collectorLeft = new Talon(fl);
+  collectorRight = new Talon(fr);
   raiserLeft = new Talon(rl);
   raiserRight = new Talon(rr);
 }
-void DentCollector::Collect(int power){
-  frontLeft->Set(power);
-  frontRight->Set(power);
+void DentCollector::Collect(float power){
+  collectorLeft->Set(power);
+  collectorRight->Set(power);
 }
-void DentCollector::Raise(int power){
+void DentCollector::Raise(float power){
   raiserLeft->Set(power);
   raiserRight->Set(power);
 }
 void DentCollector::Rest(){
   raiserLeft->Set(0);
   raiserRight->Set(0);
-  frontLeft->Set(0);
-  frontRight->Set(0);
+  collectorLeft->Set(0);
+  collectorRight->Set(0);
 }
 // vim: ts=2:sw=2:et
diff --git a/src/classes/Collector.h b/src/classes/Collector.h
index 386f078..f112d0a 100644
--- a/src/classes/Collector.h
+++ b/src/classes/Collector.h
@@ -4,11 +4,11 @@
 //#include ""
 class DentCollector{
   private:
-    Talon *frontLeft, *frontRight, *raiserLeft, *raiserRight;
+    Talon *collectorLeft, *collectorRight, *raiserLeft, *raiserRight;
   public:
     DentCollector(int, int, int, int);
-    void Collect(int);
-    void Raise(int);
+    void Collect(float);
+    void Raise(float);
     void Rest();
 };
 #endif