From 386e3532f82a4ab9e5bc6153c89f10ac0ac4f4af Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Mon, 12 Jan 2015 22:24:48 -0500
Subject: [PATCH 01/18] Updated for bitbucket

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index daab3dd..7dec88e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "src/hhlib"]
 	path = src/hhlib
-  url = git@github.com:team2059/hhlib.git
+  url = git@bitbucket.com:hitchhikers2059/hhlib.git

From e3e4429c9ac45db564cb0e8275a81fb94458707c Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Tue, 13 Jan 2015 11:07:06 -0500
Subject: [PATCH 02/18] Removed Debug directory

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index 5761abc..12a4c4b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 *.o
+Debug

From 51c25256959d27b2d3abc0d5b856aebe08e6c2f4 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Fri, 16 Jan 2015 19:53:25 -0500
Subject: [PATCH 03/18] Reverted back to github

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index 7dec88e..daab3dd 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "src/hhlib"]
 	path = src/hhlib
-  url = git@bitbucket.com:hitchhikers2059/hhlib.git
+  url = git@github.com:team2059/hhlib.git

From 369d572cfb22306b68fb2a61ebe89cd0b855ef70 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sun, 25 Jan 2015 08:45:33 -0500
Subject: [PATCH 04/18] Removed src folder

---
 src/HHBase.cpp => HHBase.cpp           | 0
 src/HHBase.h => HHBase.h               | 0
 src/HHRobot.cpp => HHRobot.cpp         | 0
 src/HHRobot.h => HHRobot.h             | 0
 {src/classes => classes}/Collector.cpp | 0
 {src/classes => classes}/Collector.h   | 0
 src/hhlib                              | 1 -
 7 files changed, 1 deletion(-)
 rename src/HHBase.cpp => HHBase.cpp (100%)
 rename src/HHBase.h => HHBase.h (100%)
 rename src/HHRobot.cpp => HHRobot.cpp (100%)
 rename src/HHRobot.h => HHRobot.h (100%)
 rename {src/classes => classes}/Collector.cpp (100%)
 rename {src/classes => classes}/Collector.h (100%)
 delete mode 160000 src/hhlib

diff --git a/src/HHBase.cpp b/HHBase.cpp
similarity index 100%
rename from src/HHBase.cpp
rename to HHBase.cpp
diff --git a/src/HHBase.h b/HHBase.h
similarity index 100%
rename from src/HHBase.h
rename to HHBase.h
diff --git a/src/HHRobot.cpp b/HHRobot.cpp
similarity index 100%
rename from src/HHRobot.cpp
rename to HHRobot.cpp
diff --git a/src/HHRobot.h b/HHRobot.h
similarity index 100%
rename from src/HHRobot.h
rename to HHRobot.h
diff --git a/src/classes/Collector.cpp b/classes/Collector.cpp
similarity index 100%
rename from src/classes/Collector.cpp
rename to classes/Collector.cpp
diff --git a/src/classes/Collector.h b/classes/Collector.h
similarity index 100%
rename from src/classes/Collector.h
rename to classes/Collector.h
diff --git a/src/hhlib b/src/hhlib
deleted file mode 160000
index 38a965d..0000000
--- a/src/hhlib
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 38a965dd1f7c6737f722f56c0f7940805ece9917

From 54eb368bc8d42793e1b874173539e15cb528b355 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 28 Jan 2015 18:53:06 -0500
Subject: [PATCH 05/18] Fixed hhlib

---
 .gitmodules | 6 +++---
 hhlib       | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)
 create mode 160000 hhlib

diff --git a/.gitmodules b/.gitmodules
index daab3dd..f585686 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
-[submodule "src/hhlib"]
-	path = src/hhlib
-  url = git@github.com:team2059/hhlib.git
+[submodule "hhlib"]
+	path = hhlib
+	url = git@github.com:team2059/hhlib.git
diff --git a/hhlib b/hhlib
new file mode 160000
index 0000000..787733b
--- /dev/null
+++ b/hhlib
@@ -0,0 +1 @@
+Subproject commit 787733b3d4204d061620c7906af0cf4777c47e34

From 4a4edade9fcf98920773a0713c6b1480a9b3cef3 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 28 Jan 2015 18:56:34 -0500
Subject: [PATCH 06/18] Updated gitignore

---
 .gitignore | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 12a4c4b..2af2145 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,4 @@
 *.o
-Debug
+Makefile
+wpilib
+bin

From 2951ddd321ec7a5df9135d982fa6a53dbed37870 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sun, 8 Feb 2015 11:52:17 -0500
Subject: [PATCH 07/18] Changed lower timeout

---
 Commands/Elevator/Lower.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index 35d2159..253ffd9 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -4,7 +4,7 @@
 Lower::Lower() : Command("Lower"){
 }
 void Lower::Initialize(){
-  SetTimeout(1.0);
+  SetTimeout(2.0);
 }
 void Lower::Execute(){
   DentRobot::elevator->Run(-1.0);

From e265ac785e22b27c186ec3daf2cdc2dd42c2b223 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sun, 8 Feb 2015 12:19:39 -0500
Subject: [PATCH 08/18] Removed hhlib, added bottom collector

---
 .gitmodules              | 3 ---
 RobotMap.h               | 1 +
 Subsystems/Collector.cpp | 2 ++
 Subsystems/Collector.h   | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index daab3dd..e69de29 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +0,0 @@
-[submodule "src/hhlib"]
-	path = src/hhlib
-  url = git@github.com:team2059/hhlib.git
diff --git a/RobotMap.h b/RobotMap.h
index 3e866a5..cdabc04 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -22,6 +22,7 @@
 #define COLLECTOR_WINDOW_LEFT_CAN 6
 #define COLLECTOR_WINDOW_RIGHT_CAN 7
 #define COLLECTOR_LEFT_CAN 8
+#define COLLECTOR_BOTTOM_CAN 10
 #define COLLECTOR_RIGHT_CAN 9
 
 #endif
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index 365809b..f569633 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -5,6 +5,7 @@ Collector::Collector() : Subsystem("Collector") {
   windowMotorLeft=new CANTalon(COLLECTOR_WINDOW_LEFT_CAN);
   windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN);
   collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
+  collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
   collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
 }
 void Collector::InitDefaultCommand() {
@@ -15,6 +16,7 @@ void Collector::MoveArms(double a){
 }
 void Collector::MoveRollers(double a){
   collectorMotorLeft->Set(a);
+  collectorMotorBottom->Set(a);
   collectorMotorRight->Set(-a);
 }
 bool Collector::ArmSensor(){
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index 24dcc1d..d9cb6ff 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -5,7 +5,7 @@
 class Collector: public Subsystem
 {
   private:
-    CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorRight;
+    CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRight;
   public:
     Collector();
     void InitDefaultCommand();

From 4790c2d17b18f2eb13b0161441e61d9b293e593f Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sun, 8 Feb 2015 12:26:15 -0500
Subject: [PATCH 09/18] Fixed vim modelines

---
 CommandBase.cpp                       | 2 +-
 CommandBase.h                         | 2 +-
 Commands/Autonomous/AutoDrive.cpp     | 2 +-
 Commands/Autonomous/AutoDrive.h       | 2 +-
 Commands/Autonomous/Autonomous.cpp    | 2 +-
 Commands/Autonomous/Autonomous.h      | 2 +-
 Commands/Collector/CloseCollector.cpp | 2 +-
 Commands/Collector/CloseCollector.h   | 2 +-
 Commands/Collector/CollectTote.cpp    | 2 +-
 Commands/Collector/CollectTote.h      | 2 +-
 Commands/Collector/OpenCollector.cpp  | 2 +-
 Commands/Collector/OpenCollector.h    | 2 +-
 Commands/Collector/ReleaseTote.cpp    | 2 +-
 Commands/Collector/ReleaseTote.h      | 2 +-
 Commands/Drivetrain/Drive.cpp         | 2 +-
 Commands/Drivetrain/Drive.h           | 2 +-
 Commands/Elevator/Calibrate.cpp       | 2 +-
 Commands/Elevator/Calibrate.h         | 2 +-
 Commands/Elevator/Lower.cpp           | 2 +-
 Commands/Elevator/Lower.h             | 2 +-
 Commands/Elevator/Raise.cpp           | 2 +-
 Commands/Elevator/Raise.h             | 2 +-
 DentRobot.cpp                         | 2 +-
 OI.cpp                                | 2 +-
 OI.h                                  | 2 +-
 RobotMap.h                            | 2 +-
 Subsystems/Collector.cpp              | 2 +-
 Subsystems/Collector.h                | 2 +-
 Subsystems/Drivetrain.cpp             | 2 +-
 Subsystems/Drivetrain.h               | 2 +-
 Subsystems/Elevator.cpp               | 2 +-
 Subsystems/Elevator.h                 | 2 +-
 32 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/CommandBase.cpp b/CommandBase.cpp
index 90e3d27..b98ffac 100644
--- a/CommandBase.cpp
+++ b/CommandBase.cpp
@@ -16,4 +16,4 @@ void CommandBase::init(){
   elevator = new Elevator();
   oi = new OI();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/CommandBase.h b/CommandBase.h
index c1cb716..ca66699 100644
--- a/CommandBase.h
+++ b/CommandBase.h
@@ -19,4 +19,4 @@ class CommandBase: public Command {
     static OI *oi;
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index e7f85fc..b5e65df 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -20,4 +20,4 @@ void AutoDrive::End(){
 void AutoDrive::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index eaab4a2..26f2aa3 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -16,4 +16,4 @@ class AutoDrive: public Command{
     void Interrupted();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 93aced5..33bfe6e 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -6,4 +6,4 @@ Autonomous::Autonomous(){
   AddSequential(new AutoDrive());
   AddSequential(new Raise());
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h
index 88cf308..43ca69c 100644
--- a/Commands/Autonomous/Autonomous.h
+++ b/Commands/Autonomous/Autonomous.h
@@ -11,4 +11,4 @@ class Autonomous: public CommandGroup{
     Autonomous();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/CloseCollector.cpp b/Commands/Collector/CloseCollector.cpp
index 3b7a866..cd95a99 100644
--- a/Commands/Collector/CloseCollector.cpp
+++ b/Commands/Collector/CloseCollector.cpp
@@ -17,4 +17,4 @@ void CloseCollector::End(){
 void CloseCollector::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/CloseCollector.h b/Commands/Collector/CloseCollector.h
index 6be493a..cd26268 100644
--- a/Commands/Collector/CloseCollector.h
+++ b/Commands/Collector/CloseCollector.h
@@ -17,4 +17,4 @@ class CloseCollector: public Command{
 };
 
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/CollectTote.cpp
index eca5210..13c5bcc 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/CollectTote.cpp
@@ -18,4 +18,4 @@ void CollectTote::End(){
 void CollectTote::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/CollectTote.h b/Commands/Collector/CollectTote.h
index de2d7db..03074fd 100644
--- a/Commands/Collector/CollectTote.h
+++ b/Commands/Collector/CollectTote.h
@@ -17,4 +17,4 @@ class CollectTote: public Command{
 };
 
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/OpenCollector.cpp b/Commands/Collector/OpenCollector.cpp
index 1ec498e..93deb00 100644
--- a/Commands/Collector/OpenCollector.cpp
+++ b/Commands/Collector/OpenCollector.cpp
@@ -18,4 +18,4 @@ void OpenCollector::End(){
 void OpenCollector::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/OpenCollector.h b/Commands/Collector/OpenCollector.h
index 47ae5f5..2686251 100644
--- a/Commands/Collector/OpenCollector.h
+++ b/Commands/Collector/OpenCollector.h
@@ -17,4 +17,4 @@ class OpenCollector: public Command{
 };
 
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/ReleaseTote.cpp b/Commands/Collector/ReleaseTote.cpp
index e751c35..744efcb 100644
--- a/Commands/Collector/ReleaseTote.cpp
+++ b/Commands/Collector/ReleaseTote.cpp
@@ -19,4 +19,4 @@ void ReleaseTote::End(){
 void ReleaseTote::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/ReleaseTote.h b/Commands/Collector/ReleaseTote.h
index 521b7da..722680f 100644
--- a/Commands/Collector/ReleaseTote.h
+++ b/Commands/Collector/ReleaseTote.h
@@ -17,4 +17,4 @@ class ReleaseTote: public Command{
 };
 
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index dfa803b..3fe46f9 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -29,4 +29,4 @@ void Drive::End(){
 void Drive::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Drivetrain/Drive.h b/Commands/Drivetrain/Drive.h
index 17583fa..17e0ab8 100644
--- a/Commands/Drivetrain/Drive.h
+++ b/Commands/Drivetrain/Drive.h
@@ -16,4 +16,4 @@ class Drive: public Command{
     void Interrupted();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Calibrate.cpp b/Commands/Elevator/Calibrate.cpp
index 87f2c25..a55c8c4 100644
--- a/Commands/Elevator/Calibrate.cpp
+++ b/Commands/Elevator/Calibrate.cpp
@@ -23,4 +23,4 @@ void Calibrate::End(){
 void Calibrate::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Calibrate.h b/Commands/Elevator/Calibrate.h
index 5d70334..d2bb7b2 100644
--- a/Commands/Elevator/Calibrate.h
+++ b/Commands/Elevator/Calibrate.h
@@ -14,4 +14,4 @@ class Calibrate: public Command{
     void Interrupted();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index 253ffd9..c29c16f 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -23,4 +23,4 @@ void Lower::End(){
 void Lower::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h
index 3a83b57..92c8535 100644
--- a/Commands/Elevator/Lower.h
+++ b/Commands/Elevator/Lower.h
@@ -14,4 +14,4 @@ class Lower: public Command{
     void Interrupted();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 050b571..92eecc9 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -23,4 +23,4 @@ void Raise::End(){
 void Raise::Interrupted(){
   End();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h
index abc519b..b19f470 100644
--- a/Commands/Elevator/Raise.h
+++ b/Commands/Elevator/Raise.h
@@ -15,4 +15,4 @@ class Raise: public Command{
 };
 
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 77c6a8f..d0399a6 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -38,4 +38,4 @@ void DentRobot::TeleopPeriodic(){
 void DentRobot::TestPeriodic(){
 }
 START_ROBOT_CLASS(DentRobot);
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/OI.cpp b/OI.cpp
index 1a81fab..f2c7400 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -45,4 +45,4 @@ Joystick* OI::GetRightStick(){
 Joystick* OI::GetLeftStick(){
   return leftStick;
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/OI.h b/OI.h
index 6bdbe19..7f0929f 100644
--- a/OI.h
+++ b/OI.h
@@ -13,4 +13,4 @@ class OI
     Joystick* GetLeftStick();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/RobotMap.h b/RobotMap.h
index cdabc04..d0cc6e4 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -26,4 +26,4 @@
 #define COLLECTOR_RIGHT_CAN 9
 
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index f569633..fcc7959 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -27,4 +27,4 @@ bool Collector::BoxCollected(){
   return false;
   //return boxSwitch->Get();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index d9cb6ff..92262ac 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -15,4 +15,4 @@ class Collector: public Subsystem
     bool BoxCollected();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 7db8487..6440679 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -20,4 +20,4 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
   rightRear->Set((correctX + correctY - correctZ));
   leftRear->Set((-correctX + correctY + correctZ)*-1);
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h
index b4114b4..3ab69b3 100644
--- a/Subsystems/Drivetrain.h
+++ b/Subsystems/Drivetrain.h
@@ -13,4 +13,4 @@ class Drivetrain: public Subsystem{
     void DriveArcade(float, float);
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index f0ff41e..e02c4ff 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -29,4 +29,4 @@ bool Elevator::GetElevatorBottom(){
 bool Elevator::GetElevatorTop(){
   return elevatorTop->Get();
 }
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h
index 44c57de..c6facaf 100644
--- a/Subsystems/Elevator.h
+++ b/Subsystems/Elevator.h
@@ -21,4 +21,4 @@ class Elevator{
     bool GetElevatorBottom();
 };
 #endif
-// vim: ts2:sw=2:et
+// vim: ts=2:sw=2:et

From 267a720b83d2245660d1f726b68006f5448e0ac8 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sun, 8 Feb 2015 16:51:35 -0500
Subject: [PATCH 10/18] Default value changes, more working on auto

---
 Commands/Autonomous/AutoDrive.cpp     |  4 ++--
 Commands/Autonomous/Autonomous.cpp    | 17 +++++++++++++++--
 Commands/Autonomous/Turn.cpp          | 22 ++++++++++++++++++++++
 Commands/Autonomous/Turn.h            | 19 +++++++++++++++++++
 Commands/Collector/CloseCollector.cpp | 14 +++++++++++---
 Commands/Collector/CollectTote.cpp    |  3 ++-
 Commands/Collector/OpenCollector.cpp  |  7 ++++---
 Commands/Drivetrain/Drive.cpp         | 12 ++++++------
 Commands/Elevator/Lower.cpp           |  2 +-
 Commands/Elevator/Raise.cpp           |  2 +-
 OI.cpp                                | 12 ++++++------
 11 files changed, 89 insertions(+), 25 deletions(-)
 create mode 100644 Commands/Autonomous/Turn.cpp
 create mode 100644 Commands/Autonomous/Turn.h

diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index b5e65df..b7833ec 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -4,13 +4,13 @@
 // Drive for a short while then stop. Just for testing
 AutoDrive::AutoDrive() : Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
-  SetTimeout(1.0);
+  SetTimeout(0.5);
 }
 void AutoDrive::Initialize(){
 }
 void AutoDrive::Execute(){
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
-  DentRobot::drivetrain->DriveMecanum(0.5,0,0,0.9,0);
+  DentRobot::drivetrain->DriveMecanum(0.0,-.75,0.0,0.9,0.0);
 }
 bool AutoDrive::IsFinished(){
   return IsTimedOut();
diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 33bfe6e..bc64654 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -1,9 +1,22 @@
 #include "Autonomous.h"
-#include "AutoDrive.h"
 #include "../../DentRobot.h"
 #include "../Elevator/Raise.h"
+#include "../Elevator/Lower.h"
+#include "AutoDrive.h"
+#include "Turn.h"
+#include "../Collector/CloseCollector.h"
+#include "../Collector/OpenCollector.h"
+#include "../Collector/CollectTote.h"
 Autonomous::Autonomous(){
-  AddSequential(new AutoDrive());
+  //AddSequential(new Raise());
+  //AddSequential(new Lower());
+  //AddSequential(new AutoDrive());
   AddSequential(new Raise());
+  AddSequential(new Lower());
+  AddSequential(new Turn());
+  AddParallel(new AutoDrive());
+  AddParallel(new CloseCollector());
+  AddParallel(new CollectTote());
+  AddSequential(new Turn());
 }
 // vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp
new file mode 100644
index 0000000..174f6cc
--- /dev/null
+++ b/Commands/Autonomous/Turn.cpp
@@ -0,0 +1,22 @@
+#include "Turn.h"
+#include "../../DentRobot.h"
+// Drive for a short while then stop. Just for testing
+Turn::Turn() : Command("Turn"){
+  Requires(DentRobot::drivetrain);
+  SetTimeout(0.25);
+}
+void Turn::Initialize(){
+}
+void Turn::Execute(){
+  //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
+  DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.5,0.9,0.0);
+}
+bool Turn::IsFinished(){
+  return IsTimedOut();
+}
+void Turn::End(){
+}
+void Turn::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h
new file mode 100644
index 0000000..2adc701
--- /dev/null
+++ b/Commands/Autonomous/Turn.h
@@ -0,0 +1,19 @@
+#ifndef TURN_H
+#define TURN_H
+
+#include "Commands/Command.h"
+#include "../../CommandBase.h"
+#include "../../DentRobot.h"
+#include "WPILib.h"
+
+class Turn: public Command{
+  public:
+    Turn();
+    void Initialize();
+    void Execute();
+    bool IsFinished();
+    void End();
+    void Interrupted();
+};
+#endif
+// vim: ts=2:sw=2:et
diff --git a/Commands/Collector/CloseCollector.cpp b/Commands/Collector/CloseCollector.cpp
index cd95a99..2418732 100644
--- a/Commands/Collector/CloseCollector.cpp
+++ b/Commands/Collector/CloseCollector.cpp
@@ -3,13 +3,21 @@ CloseCollector::CloseCollector() : Command("CloseCollector"){
   Requires(DentRobot::collector);
 }
 void CloseCollector::Initialize(){
-  SetTimeout(0.5);
+  printf("Initialized collector: 0.5\n");
+  SetTimeout(2.5);
 }
 void CloseCollector::Execute(){
-  DentRobot::collector->MoveArms(0.2f);
+  //printf("Closing collector: -0.5f\n");
+  DentRobot::collector->MoveArms(-0.5);
+  //DentRobot::collector->MoveArms(-(-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
 }
 bool CloseCollector::IsFinished(){
-  return DentRobot::collector->ArmSensor();
+  if(DentRobot::collector->ArmSensor()||IsTimedOut()){
+    printf("Stopped Closing: %d, %d\n",DentRobot::collector->ArmSensor(), IsTimedOut());
+    return true;
+  }else{
+    return false;
+  }
 }
 void CloseCollector::End(){
   DentRobot::collector->MoveArms(0.0f);
diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/CollectTote.cpp
index 13c5bcc..acabd4e 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/CollectTote.cpp
@@ -3,6 +3,7 @@ CollectTote::CollectTote() : Command("CollectTote"){
   Requires(DentRobot::collector);
 }
 void CollectTote::Initialize(){
+  printf("Initialized CollectTote\n");
   SetTimeout(2.0);
 }
 void CollectTote::Execute(){
@@ -10,7 +11,7 @@ void CollectTote::Execute(){
   DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool CollectTote::IsFinished(){
-  return DentRobot::collector->BoxCollected();
+  return DentRobot::collector->BoxCollected()||IsTimedOut();
 }
 void CollectTote::End(){
   DentRobot::collector->MoveRollers(0.0);
diff --git a/Commands/Collector/OpenCollector.cpp b/Commands/Collector/OpenCollector.cpp
index 93deb00..5cebc3e 100644
--- a/Commands/Collector/OpenCollector.cpp
+++ b/Commands/Collector/OpenCollector.cpp
@@ -6,11 +6,12 @@ void OpenCollector::Initialize(){
   SetTimeout(0.5);
 }
 void OpenCollector::Execute(){
-  //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveArms(-0.2f);
+  DentRobot::collector->MoveArms(0.35);
+  //DentRobot::collector->MoveArms((-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
 }
 bool OpenCollector::IsFinished(){
-  return DentRobot::collector->ArmSensor();
+  //return DentRobot::collector->ArmSensor();
+  return IsTimedOut();
 }
 void OpenCollector::End(){
   DentRobot::collector->MoveArms(0.0f);
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 3fe46f9..60fa59c 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -12,12 +12,12 @@ void Drive::Execute(){
   x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
   y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
-  if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
-    x=0;
-  }
-  if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){
-    y=0;
-  }
+  //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
+  //  x=0;
+  //}
+  //if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){
+  //  y=0;
+  //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
   DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
 }
diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index c29c16f..378156d 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -4,7 +4,7 @@
 Lower::Lower() : Command("Lower"){
 }
 void Lower::Initialize(){
-  SetTimeout(2.0);
+  SetTimeout(2.5);
 }
 void Lower::Execute(){
   DentRobot::elevator->Run(-1.0);
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 92eecc9..6f900b4 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -4,7 +4,7 @@
 Raise::Raise() : Command("Raise"){
 }
 void Raise::Initialize(){
-  SetTimeout(2.5);
+  SetTimeout(3.0);
 }
 void Raise::Execute(){
   DentRobot::elevator->Run(1.0);
diff --git a/OI.cpp b/OI.cpp
index f2c7400..54c4212 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -13,12 +13,12 @@ OI::OI() {
   // Collector
   JoystickButton *right1=new JoystickButton(rightStick, 1);
   JoystickButton *right2=new JoystickButton(rightStick, 2);
-  JoystickButton *left3=new JoystickButton(leftStick, 3);
-  JoystickButton *left4=new JoystickButton(leftStick, 4);
-  right1->WhileHeld(new OpenCollector());
-  right2->WhileHeld(new CloseCollector());
-  left3->WhileHeld(new CollectTote());
-  left4->WhileHeld(new ReleaseTote());
+  JoystickButton *left1=new JoystickButton(leftStick, 1);
+  JoystickButton *left2=new JoystickButton(leftStick, 2);
+  right1->WhileHeld(new CloseCollector());
+  right2->WhileHeld(new OpenCollector());
+  left1->WhileHeld(new CollectTote());
+  left2->WhileHeld(new ReleaseTote());
   // Elevator
   Raise* raise=new Raise();
   Lower* lower=new Lower();

From 376305a5a7a800242e5da628564a401cfe9b0ae5 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sun, 8 Feb 2015 20:29:18 -0500
Subject: [PATCH 11/18] Removed cmath

---
 Commands/Autonomous/AutoDrive.cpp | 1 -
 Commands/Drivetrain/Drive.cpp     | 1 -
 2 files changed, 2 deletions(-)

diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index b7833ec..4d46525 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -1,5 +1,4 @@
 #include "AutoDrive.h"
-#include <cmath>
 #include "../../DentRobot.h"
 // Drive for a short while then stop. Just for testing
 AutoDrive::AutoDrive() : Command("AutoDrive"){
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 60fa59c..3b91bae 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -1,5 +1,4 @@
 #include "Drive.h"
-#include <cmath>
 #include "../../DentRobot.h"
 Drive::Drive() : Command("Drive"){
   Requires(DentRobot::drivetrain);

From b832b2b647e412b5570ec822c386bb0393d75bdc Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Mon, 9 Feb 2015 18:47:53 -0500
Subject: [PATCH 12/18] Removed .env

---
 .env | 15 ---------------
 1 file changed, 15 deletions(-)
 delete mode 100644 .env

diff --git a/.env b/.env
deleted file mode 100644
index fe3ac67..0000000
--- a/.env
+++ /dev/null
@@ -1,15 +0,0 @@
-function mb(){
-  vagrant ssh -c "cd /vagrant/src;make clean 2>&1 >/dev/null;make"
-}
-function mc(){
-  vagrant ssh -c "cd /vagrant/src;make clean 2>&1 >/dev/null"
-}
-function mk(){
-  vagrant ssh -c "cd /vagrant/src;make"
-}
-function me(){
-  vagrant ssh -c "cd /vagrant/src;make deploy"
-}
-function ma(){
-  vagrant ssh -c "cd /vagrant/src;make clean 2>&1 >/dev/null;make;make deploy"
-}

From dd0b13c4a90a0f4b45007dfd1bf1b244d1be6528 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Tue, 10 Feb 2015 20:12:41 -0500
Subject: [PATCH 13/18] Added binElevator (untested)

---
 CommandBase.cpp                               |  3 ++
 CommandBase.h                                 |  2 ++
 Commands/BinElevator/BinLower.cpp             | 26 +++++++++++++++
 .../Calibrate.h => BinElevator/BinLower.h}    |  8 ++---
 Commands/BinElevator/BinRaise.cpp             | 26 +++++++++++++++
 Commands/BinElevator/BinRaise.h               | 18 +++++++++++
 Commands/Elevator/Calibrate.cpp               | 26 ---------------
 DentRobot.cpp                                 |  2 ++
 DentRobot.h                                   |  2 ++
 Subsystems/BinElevator.cpp                    | 32 +++++++++++++++++++
 Subsystems/BinElevator.h                      | 24 ++++++++++++++
 11 files changed, 139 insertions(+), 30 deletions(-)
 create mode 100644 Commands/BinElevator/BinLower.cpp
 rename Commands/{Elevator/Calibrate.h => BinElevator/BinLower.h} (68%)
 create mode 100644 Commands/BinElevator/BinRaise.cpp
 create mode 100644 Commands/BinElevator/BinRaise.h
 delete mode 100644 Commands/Elevator/Calibrate.cpp
 create mode 100644 Subsystems/BinElevator.cpp
 create mode 100644 Subsystems/BinElevator.h

diff --git a/CommandBase.cpp b/CommandBase.cpp
index b98ffac..c4defc3 100644
--- a/CommandBase.cpp
+++ b/CommandBase.cpp
@@ -2,9 +2,11 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
+#include "Subsystems/BinElevator.h"
 Drivetrain* CommandBase::drivetrain = NULL;
 Collector* CommandBase::collector = NULL;
 Elevator* CommandBase::elevator = NULL;
+BinElevator* CommandBase::binElevator = NULL;
 OI* CommandBase::oi = NULL;
 CommandBase::CommandBase(char const *name) : Command(name) {
 }
@@ -14,6 +16,7 @@ void CommandBase::init(){
   drivetrain = new Drivetrain();
   collector = new Collector();
   elevator = new Elevator();
+  binElevator = new BinElevator();
   oi = new OI();
 }
 // vim: ts=2:sw=2:et
diff --git a/CommandBase.h b/CommandBase.h
index ca66699..7443ebd 100644
--- a/CommandBase.h
+++ b/CommandBase.h
@@ -5,6 +5,7 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
+#include "Subsystems/BinElevator.h"
 #include "OI.h"
 #include "WPILib.h"
 
@@ -16,6 +17,7 @@ class CommandBase: public Command {
     static Drivetrain *drivetrain;
     static Collector *collector;
     static Elevator *elevator;
+    static BinElevator *binElevator;
     static OI *oi;
 };
 #endif
diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp
new file mode 100644
index 0000000..158f98a
--- /dev/null
+++ b/Commands/BinElevator/BinLower.cpp
@@ -0,0 +1,26 @@
+#include "BinLower.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinLower::BinLower() : Command("BinLower"){
+}
+void BinLower::Initialize(){
+  SetTimeout(2.5);
+}
+void BinLower::Execute(){
+  DentRobot::binElevator->Run(-1.0);
+}
+bool BinLower::IsFinished(){
+  if (!DentRobot::binElevator->GetElevatorBottom()||IsTimedOut()){
+    printf("Robot stoped BinLowering. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorBottom());
+    return true;
+  }else{
+    return false;
+  }
+}
+void BinLower::End(){
+  DentRobot::binElevator->Run(0.0f);
+}
+void BinLower::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Calibrate.h b/Commands/BinElevator/BinLower.h
similarity index 68%
rename from Commands/Elevator/Calibrate.h
rename to Commands/BinElevator/BinLower.h
index d2bb7b2..a3504b4 100644
--- a/Commands/Elevator/Calibrate.h
+++ b/Commands/BinElevator/BinLower.h
@@ -1,12 +1,12 @@
-#ifndef CALIBRATE_H
-#define CALIBRATE_H
+#ifndef BINLOWER_H
+#define BINLOWER_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
-class Calibrate: public Command{
+class BinLower: public Command{
   public:
-    Calibrate();
+    BinLower();
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp
new file mode 100644
index 0000000..aa765a4
--- /dev/null
+++ b/Commands/BinElevator/BinRaise.cpp
@@ -0,0 +1,26 @@
+#include "BinRaise.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinRaise::BinRaise() : Command("BinRaise"){
+}
+void BinRaise::Initialize(){
+  SetTimeout(3.0);
+}
+void BinRaise::Execute(){
+  DentRobot::binElevator->Run(1.0);
+}
+bool BinRaise::IsFinished(){
+  if (!DentRobot::binElevator->GetElevatorTop()||IsTimedOut()){
+    printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorTop());
+    return true;
+  }else{
+    return false;
+  }
+}
+void BinRaise::End(){
+  DentRobot::binElevator->Run(0.0f);
+}
+void BinRaise::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h
new file mode 100644
index 0000000..ea73454
--- /dev/null
+++ b/Commands/BinElevator/BinRaise.h
@@ -0,0 +1,18 @@
+#ifndef BINRAISE_H
+#define BINRAISE_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+class BinRaise: public Command{
+  public:
+    BinRaise();
+    void Initialize();
+    void Execute();
+    bool IsFinished();
+    void End();
+    void Interrupted();
+};
+
+#endif
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Calibrate.cpp b/Commands/Elevator/Calibrate.cpp
deleted file mode 100644
index a55c8c4..0000000
--- a/Commands/Elevator/Calibrate.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "Calibrate.h"
-#include "../../DentRobot.h"
-// Lowers elevator until it hits the limit switch then sets the height of the elevator to the height of the limit switches
-Calibrate::Calibrate() : Command("Calibrate"){
-}
-void Calibrate::Initialize(){
-}
-void Calibrate::Execute(){
-  // Lower collector until End()
-  DentRobot::elevator->Run(-0.4f);
-}
-bool Calibrate::IsFinished(){
-  if(DentRobot::elevator->GetElevatorBottom()){
-    DentRobot::elevator->ResetEncoder();
-    DentRobot::elevator->SetOffset(0.99);
-    return true;
-  }
-  return false;
-}
-void Calibrate::End(){
-  DentRobot::elevator->Run(0.0f);
-}
-void Calibrate::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et
diff --git a/DentRobot.cpp b/DentRobot.cpp
index d0399a6..4588bf6 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -4,12 +4,14 @@ OI* DentRobot::oi=NULL;
 Collector* DentRobot::collector=NULL;
 Drivetrain* DentRobot::drivetrain=NULL;
 Elevator* DentRobot::elevator=NULL;
+BinElevator* DentRobot::binElevator=NULL;
 CommandGroup* DentRobot::aut=NULL;
 DentRobot::DentRobot(){
   oi=new OI();
   collector=new Collector();
   drivetrain=new Drivetrain();
   elevator=new Elevator();
+  binElevator=new BinElevator();
   aut=new Autonomous();
   printf("Initialized");
 }
diff --git a/DentRobot.h b/DentRobot.h
index e089405..68b17ba 100644
--- a/DentRobot.h
+++ b/DentRobot.h
@@ -3,6 +3,7 @@
 #include "WPILib.h"
 #include "OI.h"
 #include "Subsystems/Elevator.h"
+#include "Subsystems/BinElevator.h"
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Commands/Autonomous/Autonomous.h"
@@ -15,6 +16,7 @@ class DentRobot: public IterativeRobot {
     static Collector* collector;
     static Drivetrain* drivetrain;
     static Elevator* elevator;
+    static BinElevator* binElevator;
     static CommandGroup* aut;
     void RobotInit();
     void DisabledPeriodic();
diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
new file mode 100644
index 0000000..2ada4b9
--- /dev/null
+++ b/Subsystems/BinElevator.cpp
@@ -0,0 +1,32 @@
+#include "BinElevator.h"
+#include "../RobotMap.h"
+BinElevator::BinElevator(){
+  motor=new CANTalon(ELEVATOR_CAN);
+  elevatorEncoder=new Encoder(0,1,false);
+  offset=0;
+  height=0;
+  elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
+  elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
+  //SetAbsoluteTolerance(0.004);
+}
+void BinElevator::InitDefaultCommand(){
+}
+void BinElevator::Run(double power){
+  motor->Set(power);
+}
+void BinElevator::SetOffset(double ht){
+  offset=ht;
+}
+void BinElevator::ResetEncoder(){
+  elevatorEncoder->Reset();
+}
+double BinElevator::GetHeight(){
+  return elevatorEncoder->Get()+offset;
+}
+bool BinElevator::GetElevatorBottom(){
+  return elevatorBottom->Get();
+}
+bool BinElevator::GetElevatorTop(){
+  return elevatorTop->Get();
+}
+// vim: ts=2:sw=2:et
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
new file mode 100644
index 0000000..5e9e72d
--- /dev/null
+++ b/Subsystems/BinElevator.h
@@ -0,0 +1,24 @@
+#ifndef BINELEVATOR_H
+#define BINELEVATOR_H
+
+#include "WPILib.h"
+#include "Commands/PIDSubsystem.h"
+class BinElevator{
+  private:
+    CANTalon *motor;
+    Encoder *elevatorEncoder;
+    static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
+    double offset, height;
+    DigitalInput *elevatorBottom, *elevatorTop;
+  public:
+    BinElevator();
+    void InitDefaultCommand();
+    void Run(double);
+    void SetOffset(double);
+    void ResetEncoder();
+    double GetHeight();
+    bool GetElevatorTop();
+    bool GetElevatorBottom();
+};
+#endif
+// vim: ts=2:sw=2:et

From c77ee7a548e26de638cbf2434a2d38fe2fdc25c8 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 11 Feb 2015 18:34:38 -0500
Subject: [PATCH 14/18] Added camera, fixed binelevator (untested)

---
 DentRobot.cpp              | 3 +++
 RobotMap.h                 | 8 ++++++--
 Subsystems/BinElevator.cpp | 6 +++---
 3 files changed, 12 insertions(+), 5 deletions(-)

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(){

From 0831c1084bc5a537f58cd004008df7e351dc183e Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 11 Feb 2015 19:22:59 -0500
Subject: [PATCH 15/18] Camera works, untested binelevator changes

---
 DentRobot.cpp              |  3 +--
 RobotMap.h                 |  4 ++++
 Subsystems/BinElevator.cpp |  2 +-
 Subsystems/Elevator.cpp    | 10 ++--------
 Subsystems/Elevator.h      |  2 --
 5 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/DentRobot.cpp b/DentRobot.cpp
index d43ffb8..f5eafec 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -13,8 +13,7 @@ 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()->SetQuality(25);
   CameraServer::GetInstance()->StartAutomaticCapture("cam0");
   printf("Initialized");
 }
diff --git a/RobotMap.h b/RobotMap.h
index 8a7a765..a3abe10 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -9,12 +9,16 @@
 #define ELEVATOR_COLELCT_TOTE_DIO 1
 #define ELEVATOR_READY_TOTE_DIO 2
 #define ELEVATOR_TOP_DIO 5
+#define ELEVATOR_ENCODERA 0
+#define ELEVATOR_ENCODERB 1
 
 // BinElevator
 #define BINELEVATOR_CAN 11
 #define BINELEVATOR_BOTTOM_DIO 6
 #define BINELEVATOR_COLELCT_BIN_DIO 7
 #define BINELEVATOR_TOP_DIO 8
+#define BINELEVATOR_ENCODERA 2
+#define BINELEVATOR_ENCODERB 3
 
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 2
diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index 1692361..119bfb8 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -2,7 +2,7 @@
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
   motor=new CANTalon(BINELEVATOR_CAN);
-  elevatorEncoder=new Encoder(0,1,false);
+  elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false);
   offset=0;
   height=0;
   elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index e02c4ff..9264b4a 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -2,26 +2,20 @@
 #include "../RobotMap.h"
 Elevator::Elevator(){
   motor=new CANTalon(ELEVATOR_CAN);
-  elevatorEncoder=new Encoder(0,1,false);
-  offset=0;
-  height=0;
+  elevatorEncoder=new Encoder(ELEVATOR_ENCODERA,ELEVATOR_ENCODERB,false);
   elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
   elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
-  //SetAbsoluteTolerance(0.004);
 }
 void Elevator::InitDefaultCommand(){
 }
 void Elevator::Run(double power){
   motor->Set(power);
 }
-void Elevator::SetOffset(double ht){
-  offset=ht;
-}
 void Elevator::ResetEncoder(){
   elevatorEncoder->Reset();
 }
 double Elevator::GetHeight(){
-  return elevatorEncoder->Get()+offset;
+  return elevatorEncoder->Get();
 }
 bool Elevator::GetElevatorBottom(){
   return elevatorBottom->Get();
diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h
index c6facaf..bdc0c8d 100644
--- a/Subsystems/Elevator.h
+++ b/Subsystems/Elevator.h
@@ -8,13 +8,11 @@ class Elevator{
     CANTalon *motor;
     Encoder *elevatorEncoder;
     static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
-    double offset, height;
     DigitalInput *elevatorBottom, *elevatorTop;
   public:
     Elevator();
     void InitDefaultCommand();
     void Run(double);
-    void SetOffset(double);
     void ResetEncoder();
     double GetHeight();
     bool GetElevatorTop();

From e26b7e825c50a072468a97af96b8ea1a163a00d0 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 11 Feb 2015 20:49:56 -0500
Subject: [PATCH 16/18] Updated binElevator

---
 Subsystems/BinElevator.cpp | 8 +-------
 Subsystems/BinElevator.h   | 2 --
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index 119bfb8..daff79b 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -3,25 +3,19 @@
 BinElevator::BinElevator(){
   motor=new CANTalon(BINELEVATOR_CAN);
   elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false);
-  offset=0;
-  height=0;
   elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
   elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
-  //SetAbsoluteTolerance(0.004);
 }
 void BinElevator::InitDefaultCommand(){
 }
 void BinElevator::Run(double power){
   motor->Set(power);
 }
-void BinElevator::SetOffset(double ht){
-  offset=ht;
-}
 void BinElevator::ResetEncoder(){
   elevatorEncoder->Reset();
 }
 double BinElevator::GetHeight(){
-  return elevatorEncoder->Get()+offset;
+  return elevatorEncoder->Get();
 }
 bool BinElevator::GetElevatorBottom(){
   return elevatorBottom->Get();
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
index 5e9e72d..8814152 100644
--- a/Subsystems/BinElevator.h
+++ b/Subsystems/BinElevator.h
@@ -8,13 +8,11 @@ class BinElevator{
     CANTalon *motor;
     Encoder *elevatorEncoder;
     static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
-    double offset, height;
     DigitalInput *elevatorBottom, *elevatorTop;
   public:
     BinElevator();
     void InitDefaultCommand();
     void Run(double);
-    void SetOffset(double);
     void ResetEncoder();
     double GetHeight();
     bool GetElevatorTop();

From 97c5182e889c01f8c95824bc4679844a17d6f7d1 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Thu, 12 Feb 2015 17:56:09 +0000
Subject: [PATCH 17/18] Updated makefile to create bin directory if it doesn't
 exist

---
 Makefile | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 0eee4bc..9bf4a49 100644
--- a/Makefile
+++ b/Makefile
@@ -9,6 +9,7 @@ EXEC=bin/FRCUserProgram
 CLEANSER=rm -r
 
 all : $(OBJECTS)
+	if [ ! -d bin ];then mkdir bin; fi
 	$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
 
 %.o : %.cpp
@@ -17,10 +18,10 @@ all : $(OBJECTS)
 clean:
 	$(CLEANSER) $(OBJECTS) bin/FRCUserProgram
 
-deploy:
+deploy: all
 	@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram'
 
-debug:
+debug: all
 	@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh'
 
 putkey:

From 09fe0ca9c657e145d7657dea342121adba18d954 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Thu, 12 Feb 2015 21:18:48 -0500
Subject: [PATCH 18/18] Removed HH* files, changed auto, implemented encoder
 (untested)

---
 Commands/Autonomous/Autonomous.cpp |  5 ++--
 Commands/Elevator/Raise.cpp        |  4 +++
 DentRobot.cpp                      | 12 ++++++--
 HHBase.cpp                         | 28 ------------------
 HHBase.h                           | 26 -----------------
 HHRobot.cpp                        | 46 ------------------------------
 HHRobot.h                          | 19 ------------
 OI.cpp                             |  4 +--
 OI.h                               |  2 ++
 Subsystems/Elevator.cpp            | 12 ++++++++
 Subsystems/Elevator.h              |  3 ++
 11 files changed, 34 insertions(+), 127 deletions(-)
 delete mode 100644 HHBase.cpp
 delete mode 100644 HHBase.h
 delete mode 100644 HHRobot.cpp
 delete mode 100644 HHRobot.h

diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index bc64654..0d0df58 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -8,11 +8,10 @@
 #include "../Collector/OpenCollector.h"
 #include "../Collector/CollectTote.h"
 Autonomous::Autonomous(){
-  //AddSequential(new Raise());
-  //AddSequential(new Lower());
-  //AddSequential(new AutoDrive());
   AddSequential(new Raise());
   AddSequential(new Lower());
+  AddParallel(new OpenCollector());
+  AddParallel(new CloseCollector());
   AddSequential(new Turn());
   AddParallel(new AutoDrive());
   AddParallel(new CloseCollector());
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 6f900b4..cd8885f 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -18,6 +18,10 @@ bool Raise::IsFinished(){
   }
 }
 void Raise::End(){
+  // If the elevator is at the top
+  if(DentRobot::elevator->GetElevatorTop()){
+    DentRobot::elevator->SetUseEncoder(true);
+  }
   DentRobot::elevator->Run(0.0f);
 }
 void Raise::Interrupted(){
diff --git a/DentRobot.cpp b/DentRobot.cpp
index f5eafec..e801009 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -1,4 +1,5 @@
 #include "DentRobot.h"
+#include "OI.h"
 #include "Commands/Autonomous/Autonomous.h"
 OI* DentRobot::oi=NULL;
 Collector* DentRobot::collector=NULL;
@@ -32,12 +33,17 @@ void DentRobot::AutonomousPeriodic(){
   Scheduler::GetInstance()->Run();
 }
 void DentRobot::TeleopInit(){
-  //if (aut != NULL){
-  //  aut->Cancel();
-  //}
+  if (aut != NULL){
+    aut->Cancel();
+  }
 }
 void DentRobot::TeleopPeriodic(){
   Scheduler::GetInstance()->Run();
+  // TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
+  if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
+    // Raise the elevator if it dips below elevatorTop
+    oi->raise->Start();
+  }
 }
 void DentRobot::TestPeriodic(){
 }
diff --git a/HHBase.cpp b/HHBase.cpp
deleted file mode 100644
index 0023bc3..0000000
--- a/HHBase.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include "HHBase.h"
-#include <iostream>
-#include <fstream>
-#include <stdexcept>
-#include <map>
-HHBase::HHBase():
-  hhbot(new HHRobot()){
-    printf("Done\n");
-  }
-void HHBase::RobotInit(){
-}
-void HHBase::DisabledInit(){}
-void HHBase::AutonomousInit(){
-}
-void HHBase::TeleopInit(){
-}
-void HHBase::DisabledContinuous(){}
-void HHBase::AutonomousContinuous(){}
-void HHBase::TeleopContinuous(){}
-void HHBase::DisabledPeriodic(){}
-void HHBase::AutonomousPeriodic(){
-}
-void HHBase::TeleopPeriodic(){
-  hhbot->Handler();
-}
-void HHBase::Test(){}
-START_ROBOT_CLASS(HHBase);
-// vim: ts=2:sw=2:et
diff --git a/HHBase.h b/HHBase.h
deleted file mode 100644
index c4e66e2..0000000
--- a/HHBase.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef __HH_BASE_H__
-#define __HH_BASE_H__
-#include <WPILib.h>
-#include <string>
-#include "HHRobot.h"
-//Because this is the first header to be included, classes need to be declared here
-class HHRobot;
-class HHBase : public IterativeRobot{
-  private:
-	HHRobot *hhbot;
-  public:
-    HHBase();
-    void RobotInit();
-    void DisabledInit();
-    void AutonomousInit();
-    void TeleopInit();
-    void DisabledContinuous();
-    void AutonomousContinuous();
-    void TeleopContinuous();
-    void DisabledPeriodic();
-    void AutonomousPeriodic();
-    void TeleopPeriodic();
-    void Test();
-};
-#endif
-// vim: ts=2:sw=2:et
diff --git a/HHRobot.cpp b/HHRobot.cpp
deleted file mode 100644
index 1020bc1..0000000
--- a/HHRobot.cpp
+++ /dev/null
@@ -1,46 +0,0 @@
-#include "HHRobot.h"
-#include "HHBase.h"
-HHRobot::HHRobot():
-  hhdrive(new RobotDrive(2,0,3,1)),
-  gyro(new Gyro(1)),
-  collector(new DentCollector(4, 5, 6, 7)),
-  driveStick(new Extreme3dPro(0)){
-    hhdrive->SetExpiration(0.1);
-    hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
-    hhdrive->SetInvertedMotor(RobotDrive::kRearLeftMotor,true);
-  }
-void HHRobot::Init(){
-  printf("Initing\n");
-  printf("Code Version: %f\n",0000.1);
-  gyro->Reset();
-}
-//Main function used to handle periodic tasks on the robot
-void HHRobot::Handler(){
-  const float Kp = 0.3;
-  if(driveStick->GetJoystickButton(1)==1){
-    hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), 0, driveStick->GetJoystickAxis("x"));
-  }else if(driveStick->GetJoystickButton(2)==1){
-    hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), driveStick->GetJoystickAxis("y"), 0);
-  }else if(driveStick->GetJoystickButton(3)==1){
-    hhdrive->Drive(driveStick->GetJoystickAxis("y"), driveStick->GetJoystickAxis("y")*Kp*-gyro->GetAngle());
-  }else{
-    hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), driveStick->GetJoystickAxis("y"), driveStick->GetJoystickAxis("x"));
-  }
-  if(driveStick->GetJoystickButton(11)==1){
-    collector->Collect(driveStick->GetThrottle());
-  }else if(driveStick->GetJoystickButton(12)==1){
-    collector->Collect(-driveStick->GetThrottle());
-  }else if(driveStick->GetJoystickButton(9)==1){
-    collector->Raise(driveStick->GetThrottle());
-  }else if(driveStick->GetJoystickButton(10)==1){
-    collector->Raise(-driveStick->GetThrottle());
-  }else{
-    collector->Rest();
-  }
-  SmartDashboard::PutNumber("hambone1", driveStick->GetThrottle());
-  SmartDashboard::PutNumber("hambone2", driveStick->GetJoystickAxis("joystick"));
-  SmartDashboard::PutNumber("hambone3", driveStick->GetRawJoystickAxis(3));
-  printf("hambone2: %f", driveStick->GetThrottle());
-  Wait(0.005);
-}
-// vim: ts=2:sw=2:et
diff --git a/HHRobot.h b/HHRobot.h
deleted file mode 100644
index f6dc004..0000000
--- a/HHRobot.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef __ROBOT_H__
-#define __ROBOT_H__
-#include <WPILib.h>
-#include "HHBase.h"
-#include "classes/Collector.h"
-#include "hhlib/input/controller/Joystick.h"
-class HHRobot{
-  private:
-    RobotDrive *hhdrive;
-    Gyro *gyro;
-    DentCollector *collector;
-    Extreme3dPro *driveStick;
-  public:
-    HHRobot();
-    void Init();
-    void Handler();
-};
-#endif
-// vim: ts=2:sw=2:et
diff --git a/OI.cpp b/OI.cpp
index 54c4212..e01e119 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -20,8 +20,8 @@ OI::OI() {
   left1->WhileHeld(new CollectTote());
   left2->WhileHeld(new ReleaseTote());
   // Elevator
-  Raise* raise=new Raise();
-  Lower* lower=new Lower();
+  raise=new Raise();
+  lower=new Lower();
   JoystickButton *right3=new JoystickButton(rightStick, 3);
   JoystickButton *right4=new JoystickButton(rightStick, 4);
   JoystickButton *right5=new JoystickButton(rightStick, 5);
diff --git a/OI.h b/OI.h
index 7f0929f..357dbda 100644
--- a/OI.h
+++ b/OI.h
@@ -2,6 +2,7 @@
 #define OI_H
 
 #include "WPILib.h"
+#include "Commands/Command.h"
 
 class OI
 {
@@ -11,6 +12,7 @@ class OI
     OI();
     Joystick* GetRightStick();
     Joystick* GetLeftStick();
+    Command *raise, *lower;
 };
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index 9264b4a..ffe24c3 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -5,10 +5,16 @@ Elevator::Elevator(){
   elevatorEncoder=new Encoder(ELEVATOR_ENCODERA,ELEVATOR_ENCODERB,false);
   elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
   elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
+  // Checks if the elevator is drifting
+  useEncoder=false;
 }
 void Elevator::InitDefaultCommand(){
 }
 void Elevator::Run(double power){
+  // If we're not telling it to stop
+  if(power != 0.0){
+    SetUseEncoder(false);
+  }
   motor->Set(power);
 }
 void Elevator::ResetEncoder(){
@@ -23,4 +29,10 @@ bool Elevator::GetElevatorBottom(){
 bool Elevator::GetElevatorTop(){
   return elevatorTop->Get();
 }
+void Elevator::SetUseEncoder(bool param){
+  useEncoder=param;
+}
+bool Elevator::GetUseEncoder(){
+  return useEncoder;
+}
 // vim: ts=2:sw=2:et
diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h
index bdc0c8d..5454063 100644
--- a/Subsystems/Elevator.h
+++ b/Subsystems/Elevator.h
@@ -9,6 +9,7 @@ class Elevator{
     Encoder *elevatorEncoder;
     static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
     DigitalInput *elevatorBottom, *elevatorTop;
+    bool useEncoder;
   public:
     Elevator();
     void InitDefaultCommand();
@@ -17,6 +18,8 @@ class Elevator{
     double GetHeight();
     bool GetElevatorTop();
     bool GetElevatorBottom();
+    void SetUseEncoder(bool);
+    bool GetUseEncoder();
 };
 #endif
 // vim: ts=2:sw=2:et