diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index 09d49c3..9f8c7a4 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -7,9 +7,7 @@ HHRobot::HHRobot():
   compressorSystem(new HHCompressor()),
   dashboard(new HHDashboard()),
   sonar(new HHSonar()){
-    //comment
   }
-//Functions to get sonar values and return as INCH values
 bool HHRobot::checkJoystickValues(){
   float x=ControlSystem->rightJoystickAxisValues[1];
   float y=ControlSystem->rightJoystickAxisValues[2];
diff --git a/src/Subsystems/Sonar.cpp b/src/Subsystems/Sonar.cpp
index 7993985..e97685f 100644
--- a/src/Subsystems/Sonar.cpp
+++ b/src/Subsystems/Sonar.cpp
@@ -9,6 +9,59 @@ HHSonar::HHSonar(){
   AnalogChannel backLeftA=new AnalogChannel(SONAR_BACK_LEFT_ANA);
   AnalogChannel backRightA=new AnalogChannel(SONAR_BACK_RIGHT_ANA);
 }
-float HHSonar::getInches(const char* from){
-  return 10.9f;
+float HHSonar::getInches(std::string from){
+  switch(from){
+    case "FRONT":
+      frontLeftD->Set(1);
+      float x=(frontLeftA->GetAverageVoltage()/0.00488f)/2.54f;
+      frontLeftD->Set(0);
+      //TODO: Delay
+      frontRightD->Set(1);
+      float y=(frontRightA->GetAverageVoltage()/0.00488f)/2.54f;
+      frontRightD->Set(0);
+      //TODO: Delay
+      return (x+y)/2;
+      break;
+    case "BACK":
+      backLeftD->Set(1);
+      float x=(backLeftA->GetAverageVoltage()/0.00488f)/2.54f;
+      backLeftD->Set(0);
+      //TODO: Delay
+      backRightD->Set(1);
+      float y=(backRightA->GetAverageVoltage()/0.00488f)/2.54f;
+      backRightD->Set(0);
+      //TODO: Delay
+      return (x+y)/2;
+      break;
+    case "FRONTLEFT":
+      frontLeftD->Set(1);
+      float x=(frontLeftA->GetAverageVoltage()/0.00488f)/2.54f;
+      frontLeftD->Set(0);
+      //TODO: Delay
+      return x;
+      break;
+    case "FRONTRIGHT":
+      frontRightD->Set(1);
+      float x=(frontRightA->GetAverageVoltage()/0.00488f)/2.54f;
+      frontRightD->Set(0);
+      //TODO: Delay
+      return x;
+      break;
+    case "BACKLEFT":
+      backLeftD->Set(1);
+      float x=(backLeftA->GetAverageVoltage()/0.00488f)/2.54f;
+      backLeftD->Set(0);
+      //TODO: Delay
+      return x;
+      break;
+    case "BACKRIGHT":
+      backRightD->Set(1);
+      float x=(backRightA->GetAverageVoltage()/0.00488f)/2.54f;
+      backRightD->Set(0);
+      //TODO: Delay
+      return x;
+      break;
+    default:
+      break;
+  }
 }
diff --git a/src/Subsystems/Sonar.h b/src/Subsystems/Sonar.h
index 35e2b67..3063b27 100644
--- a/src/Subsystems/Sonar.h
+++ b/src/Subsystems/Sonar.h
@@ -7,5 +7,5 @@ class HHSonar{
   public:
     HHSonar();
     //from is (in string form) "FRONT", "BACK", "FRONTLEFT", "FRONTRIGHT"...
-    float getInches(const char* from);
+    float getInches(std::string from);
 };