diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 0b57bab..ed7da9b 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -3,14 +3,14 @@ import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import org.usfirst.frc.team2059.robot.commands.LogEncoder;
-import org.usfirst.frc.team2059.robot.commands.PIDDrive;
-import org.usfirst.frc.team2059.robot.commands.MoveArm;
-import org.usfirst.frc.team2059.robot.commands.SetArmPosition;
-import org.usfirst.frc.team2059.robot.commands.SetShooterState;
-import org.usfirst.frc.team2059.robot.commands.SetArmStopState;
-import org.usfirst.frc.team2059.robot.commands.ShootAtSpeed;
-import org.usfirst.frc.team2059.robot.commands.SpinRollers;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.LogEncoder;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.PIDDrive;
+import org.usfirst.frc.team2059.robot.commands.shooter.MoveArm;
+import org.usfirst.frc.team2059.robot.commands.shooter.SetArmPosition;
+import org.usfirst.frc.team2059.robot.commands.shooter.SetShooterState;
+import org.usfirst.frc.team2059.robot.commands.shooter.SetArmStopState;
+import org.usfirst.frc.team2059.robot.commands.shooter.ShootAtSpeed;
+import org.usfirst.frc.team2059.robot.commands.shooter.SpinRollers;
 import org.usfirst.frc.team2059.robot.RobotMap;
 /**
  * This class is the glue that binds the controls on the physical operator
diff --git a/src/org/usfirst/frc/team2059/robot/commands/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
similarity index 94%
rename from src/org/usfirst/frc/team2059/robot/commands/Drive.java
rename to src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
index b27ad78..e17f742 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/Drive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.drivetrain;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 /**
diff --git a/src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/LogEncoder.java
similarity index 93%
rename from src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java
rename to src/org/usfirst/frc/team2059/robot/commands/drivetrain/LogEncoder.java
index 6801f60..89edaaf 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/LogEncoder.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.drivetrain;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.structs.EncoderValues;
 public class LogEncoder  extends CommandBase {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
similarity index 93%
rename from src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java
rename to src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
index a00a5c7..606bd03 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.drivetrain;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 /**
diff --git a/src/org/usfirst/frc/team2059/robot/commands/ResetEncoder.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/ResetEncoder.java
similarity index 87%
rename from src/org/usfirst/frc/team2059/robot/commands/ResetEncoder.java
rename to src/org/usfirst/frc/team2059/robot/commands/drivetrain/ResetEncoder.java
index 9ec547a..78c30fd 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/ResetEncoder.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/ResetEncoder.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.drivetrain;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 public class ResetEncoder extends CommandBase {
   public ResetEncoder() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
similarity index 94%
rename from src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
rename to src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
index 9f1cace..38fd21c 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.shooter;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 /**
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java
similarity index 95%
rename from src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
rename to src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java
index 93ff018..b001895 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmPosition.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.shooter;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 import org.usfirst.frc.team2059.robot.RobotMap;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmStopState.java
similarity index 94%
rename from src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java
rename to src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmStopState.java
index b3e2bc2..15ed6fb 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetArmStopState.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.shooter;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 /**
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetShooterState.java
similarity index 94%
rename from src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java
rename to src/org/usfirst/frc/team2059/robot/commands/shooter/SetShooterState.java
index e9f4307..873c01d 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/SetShooterState.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.shooter;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 /**
diff --git a/src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/ShootAtSpeed.java
similarity index 94%
rename from src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java
rename to src/org/usfirst/frc/team2059/robot/commands/shooter/ShootAtSpeed.java
index c5320af..2623dc4 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/ShootAtSpeed.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.shooter;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
 import org.usfirst.frc.team2059.robot.RobotMap;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java
similarity index 94%
rename from src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
rename to src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java
index 3cd0370..5731589 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/SpinRollers.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc.team2059.robot.commands;
+package org.usfirst.frc.team2059.robot.commands.shooter;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import org.usfirst.frc.team2059.robot.Robot;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index 2077b5e..bc48b40 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team2059.robot.subsystems;
 import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.Drive;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PIDOutput;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java
index 8f95286..fb40483 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team2059.robot.subsystems;
 import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.Drive;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.Encoder;
 import org.usfirst.frc.team2059.robot.structs.EncoderValues;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index e2bae37..a71ef9f 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team2059.robot.subsystems;
 import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.Drive;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.AnalogInput;
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java b/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
index 26b650e..b0bcc7a 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team2059.robot.subsystems;
 import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.Drive;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.DoubleSolenoid;