diff --git a/src/org/usfirst/frc/team2059/robot/.OI.java.swp b/src/org/usfirst/frc/team2059/robot/.OI.java.swp
new file mode 100644
index 0000000..e3fb45d
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/.OI.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/.Robot.java.swp b/src/org/usfirst/frc/team2059/robot/.Robot.java.swp
new file mode 100644
index 0000000..ff23d84
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/.Robot.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index b0353af..9d4ecf7 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -24,6 +24,7 @@ public class OI {
     }
     // Print log when button 1 pressed
     joystickButtons[0][0].whenPressed(new LogEncoder());
+//    joystickButtons[1][0].whenPressed(new 
   }
   public Joystick[] getJoysticks() {
     return joysticks;
diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 7d09e23..ece7714 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -1,10 +1,10 @@
 package org.usfirst.frc.team2059.robot;
 public class RobotMap {
   //Drive
-  public static int driveLeftMotorOne = 0;
-  public static int driveLeftMotorTwo = 1;
-  public static int driveRightMotorOne = 2;
-  public static int driveRightMotorTwo = 3;
+  public static int driveLeftMotorOne = 1;
+  public static int driveLeftMotorTwo = 2;
+  public static int driveRightMotorOne = 3;
+  public static int driveRightMotorTwo = 4;
   public static int driveRightEncoder = 0;
   public static int driveLeftEncoder = 1;
   //Arm
diff --git a/src/org/usfirst/frc/team2059/robot/commands/.CommandBase.java.swp b/src/org/usfirst/frc/team2059/robot/commands/.CommandBase.java.swp
new file mode 100644
index 0000000..2e36ad4
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/commands/.CommandBase.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/commands/.Drive.java.swp b/src/org/usfirst/frc/team2059/robot/commands/.Drive.java.swp
new file mode 100644
index 0000000..1628b40
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/commands/.Drive.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/commands/.MoveArm.java.swp b/src/org/usfirst/frc/team2059/robot/commands/.MoveArm.java.swp
new file mode 100644
index 0000000..f74b8a7
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/commands/.MoveArm.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
index 14edec0..9800578 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
@@ -1,13 +1,16 @@
 package org.usfirst.frc.team2059.robot.commands;
 import org.usfirst.frc.team2059.robot.subsystems.DriveBase;
 import org.usfirst.frc.team2059.robot.subsystems.EncoderBase;
+import org.usfirst.frc.team2059.robot.subsystems.MainArm;
 import edu.wpi.first.wpilibj.command.Command;
 public abstract class CommandBase extends Command {
   protected static EncoderBase encoderBase;
   protected static DriveBase driveBase;
+  protected static MainArm mainArm;
   public static void init() {
     encoderBase = new EncoderBase();
     driveBase = new DriveBase();
+    mainArm = new MainArm();
   }
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java b/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
new file mode 100644
index 0000000..9c5a0f7
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
@@ -0,0 +1,32 @@
+package org.usfirst.frc.team2059.robot.commands;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+/**
+ *
+ */
+public class MoveArm extends CommandBase {
+  double speed;
+  public MoveArm(double s) {
+    requires(mainArm);
+    speed=s;
+  }
+  // Called just before this Command runs the first time
+  protected void initialize() {
+  }
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    mainArm.moveArm(speed);
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return true;
+  }
+  // Called once after isFinished returns true
+  protected void end() {
+  }
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+  }
+}
+// vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/.DriveBase.java.swp b/src/org/usfirst/frc/team2059/robot/subsystems/.DriveBase.java.swp
new file mode 100644
index 0000000..97b1e6f
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/subsystems/.DriveBase.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/.MainArm.java.swp b/src/org/usfirst/frc/team2059/robot/subsystems/.MainArm.java.swp
new file mode 100644
index 0000000..d3c5a5b
Binary files /dev/null and b/src/org/usfirst/frc/team2059/robot/subsystems/.MainArm.java.swp differ
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index b3cf9cc..d4a1453 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -2,12 +2,12 @@ package org.usfirst.frc.team2059.robot.subsystems;
 import org.usfirst.frc.team2059.robot.RobotMap;
 import org.usfirst.frc.team2059.robot.commands.Drive;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.CANTalon;
 public class DriveBase extends Subsystem {
-  Talon leftMotorOne = new Talon(RobotMap.driveLeftMotorOne);
-  Talon leftMotorTwo = new Talon(RobotMap.driveLeftMotorTwo);
-  Talon rightMotorOne = new Talon(RobotMap.driveRightMotorOne);
-  Talon rightMotorTwo = new Talon(RobotMap.driveRightMotorTwo);
+  CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
+  CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
+  CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
+  CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
   public void initDefaultCommand() {
     setDefaultCommand(new Drive());
   }
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
new file mode 100644
index 0000000..54e9c9b
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -0,0 +1,17 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+import org.usfirst.frc.team2059.robot.RobotMap;
+import org.usfirst.frc.team2059.robot.commands.Drive;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.CANTalon;
+public class MainArm extends Subsystem {
+  CANTalon armMotorLeft = new CANTalon(RobotMap.armLeftMotor);
+  CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
+  public void initDefaultCommand() {
+    setDefaultCommand(new Drive());
+  }
+  public void moveArm(double speed){
+    armMotorLeft.set(speed);
+    armMotorRight.set(-speed);
+  }
+}
+// vim: sw=2:ts=2:sts=2