diff --git a/Commands/Collector/CloseCollector.cpp b/Commands/Collector/CloseCollector.cpp
index 3a956f4..5dc5e07 100644
--- a/Commands/Collector/CloseCollector.cpp
+++ b/Commands/Collector/CloseCollector.cpp
@@ -6,12 +6,13 @@ void CloseCollector::Initialize(){
   SetTimeout(0.5);
 }
 void CloseCollector::Execute(){
-  DentRobot::collector->MoveArms(.1);
+  DentRobot::collector->MoveArms(0.1f);
 }
 bool CloseCollector::IsFinished(){
   return DentRobot::collector->ArmSensor();
 }
 void CloseCollector::End(){
+  DentRobot::collector->MoveArms(0.0f);
 }
 void CloseCollector::Interrupted(){
   End();
diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/CollectTote.cpp
index c634fcb..1623d53 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/CollectTote.cpp
@@ -6,12 +6,13 @@ void CollectTote::Initialize(){
 }
 void CollectTote::Execute(){
   //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveRollers(-1);
+  DentRobot::collector->MoveRollers(-1.0);
 }
 bool CollectTote::IsFinished(){
   return DentRobot::collector->BoxCollected();
 }
 void CollectTote::End(){
+  DentRobot::collector->MoveRollers(0.0f);
 }
 void CollectTote::Interrupted(){
   End();
diff --git a/Commands/Collector/OpenCollector.cpp b/Commands/Collector/OpenCollector.cpp
index d3a6133..54928c5 100644
--- a/Commands/Collector/OpenCollector.cpp
+++ b/Commands/Collector/OpenCollector.cpp
@@ -6,12 +6,13 @@ void OpenCollector::Initialize(){
 }
 void OpenCollector::Execute(){
   //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveArms(-.1);
+  DentRobot::collector->MoveArms(-0.1);
 }
 bool OpenCollector::IsFinished(){
   return DentRobot::collector->ArmSensor();
 }
 void OpenCollector::End(){
+  DentRobot::collector->MoveArms(0.0f);
 }
 void OpenCollector::Interrupted(){
   End();
diff --git a/Commands/Collector/ReleaseTote.cpp b/Commands/Collector/ReleaseTote.cpp
index 67306ad..2f7d6ff 100644
--- a/Commands/Collector/ReleaseTote.cpp
+++ b/Commands/Collector/ReleaseTote.cpp
@@ -6,12 +6,13 @@ void ReleaseTote::Initialize(){
 }
 void ReleaseTote::Execute(){
   //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveRollers(1);
+  DentRobot::collector->MoveRollers(1.0f);
 }
 bool ReleaseTote::IsFinished(){
   return DentRobot::collector->BoxCollected();
 }
 void ReleaseTote::End(){
+  DentRobot::collector->MoveRollers(0.0f);
 }
 void ReleaseTote::Interrupted(){
   End();
diff --git a/OI.cpp b/OI.cpp
index c1e46c7..5910d71 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -5,6 +5,8 @@
 #include "Commands/Collector/CloseCollector.h"
 #include "Commands/Collector/CollectTote.h"
 #include "Commands/Collector/ReleaseTote.h"
+#include "Commands/Collector/StopCollector.h"
+#include "Commands/Collector/StopArm.h"
 #include "Commands/Compressor/StartCompressing.h"
 #include "Commands/Compressor/StopCompressing.h"
 
@@ -12,22 +14,22 @@ OI::OI() {
   leftStick=new Joystick(0);
   rightStick=new Joystick(1);
   //TODO name these buttons to their functions rather to their number
-  JoystickButton *right1=new JoystickButton(rightStick, 1);
-  JoystickButton *right2=new JoystickButton(rightStick, 2);
-  JoystickButton *right3=new JoystickButton(rightStick, 3);
-  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());
+  JoystickButton *left1=new JoystickButton(leftStick, 1);
+  JoystickButton *left2=new JoystickButton(leftStick, 2);
+  JoystickButton *left3=new JoystickButton(leftStick, 3);
+  JoystickButton *left4=new JoystickButton(leftStick, 4);
+  JoystickButton *left5=new JoystickButton(leftStick, 5);
+  JoystickButton *left6=new JoystickButton(leftStick, 6);
+  JoystickButton *left7=new JoystickButton(leftStick, 7);
+  JoystickButton *left8=new JoystickButton(leftStick, 8);
+  left1->WhileHeld(new OpenCollector());
+  left2->WhileHeld(new CloseCollector());
+  left3->WhileHeld(new CollectTote());
+  left4->WhileHeld(new ReleaseTote());
+  left5->WhileHeld(new StartCompressing());
+  left6->WhileHeld(new StopCompressing());
+  left7->WhileHeld(new Raise());
+  left8->WhileHeld(new Lower());
 }
 Joystick* OI::GetRightStick(){
   return rightStick;
diff --git a/Subsystems/AirCompressor.cpp b/Subsystems/AirCompressor.cpp
index b813d9b..b63ff8b 100644
--- a/Subsystems/AirCompressor.cpp
+++ b/Subsystems/AirCompressor.cpp
@@ -7,10 +7,14 @@ AirCompressor::AirCompressor() : Subsystem("AirCompressor") {
 void AirCompressor::InitDefaultCommand() {
 }
 void AirCompressor::StartCompressing() {
-  printf("Starting compressor\n");
-  compressor->Start();
+  if(compressor->Enabled()){
+    printf("Starting compressor\n");
+    compressor->Start();
+  }
 }
 void AirCompressor::StopCompressing() {
-  printf("Stopping compressor\n");
-  compressor->Stop();
+  if(compressor->Enabled()){
+    printf("Stopping compressor\n");
+    compressor->Stop();
+  }
 }