diff --git a/.cproject b/.cproject
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+++ /dev/null
@@ -1,288 +0,0 @@
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diff --git a/.gitattributes b/.gitattributes
deleted file mode 100644
index bdb0cab..0000000
--- a/.gitattributes
+++ /dev/null
@@ -1,17 +0,0 @@
-# Auto detect text files and perform LF normalization
-* text=auto
-
-# Custom for Visual Studio
-*.cs diff=csharp
-
-# Standard to msysgit
-*.doc diff=astextplain
-*.DOC diff=astextplain
-*.docx diff=astextplain
-*.DOCX diff=astextplain
-*.dot diff=astextplain
-*.DOT diff=astextplain
-*.pdf diff=astextplain
-*.PDF diff=astextplain
-*.rtf diff=astextplain
-*.RTF diff=astextplain
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 9b22ff0..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,48 +0,0 @@
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-# Windows shortcuts
-*.lnk
-
-# =========================
-# Operating System Files
-# =========================
-
-# OSX
-# =========================
-
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Thumbnails
-._*
-
-# Files that might appear in the root of a volume
-.DocumentRevisions-V100
-.fseventsd
-.Spotlight-V100
-.TemporaryItems
-.Trashes
-.VolumeIcon.icns
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
-/Debug/
diff --git a/.project b/.project
deleted file mode 100644
index d1e8bf8..0000000
--- a/.project
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
- Momentum
-
-
-
-
-
- org.eclipse.cdt.managedbuilder.core.genmakebuilder
- clean,full,incremental,
-
-
-
-
- org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder
- full,incremental,
-
-
-
-
-
- org.eclipse.cdt.core.cnature
- org.eclipse.cdt.core.ccnature
- org.eclipse.cdt.managedbuilder.core.managedBuildNature
- org.eclipse.cdt.managedbuilder.core.ScannerConfigNature
- edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature
-
-
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 60e5963..d9ebeb6 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -24,7 +24,7 @@
-
+
diff --git a/Debug/FRCUserProgram b/Debug/FRCUserProgram
index 99ceb8e..bbc9d40 100644
Binary files a/Debug/FRCUserProgram and b/Debug/FRCUserProgram differ
diff --git a/Debug/src/CommandBase.o b/Debug/src/CommandBase.o
deleted file mode 100644
index cd1672d..0000000
Binary files a/Debug/src/CommandBase.o and /dev/null differ
diff --git a/Debug/src/Commands/ExampleCommand.o b/Debug/src/Commands/ExampleCommand.o
index 7f3967e..25042da 100644
Binary files a/Debug/src/Commands/ExampleCommand.o and b/Debug/src/Commands/ExampleCommand.o differ
diff --git a/Debug/src/OI.o b/Debug/src/OI.o
deleted file mode 100644
index 3c7888b..0000000
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diff --git a/Debug/src/Robot.o b/Debug/src/Robot.o
deleted file mode 100644
index 797d0f7..0000000
Binary files a/Debug/src/Robot.o and /dev/null differ
diff --git a/Notes/Talon and Solenoid Definitions.txt b/Notes/Talon and Solenoid Definitions.txt
index a15fd86..d859f43 100644
--- a/Notes/Talon and Solenoid Definitions.txt
+++ b/Notes/Talon and Solenoid Definitions.txt
@@ -1,19 +1,19 @@
-Talon and Solenoid Definiitons:
-
-
-Talons:
-1 - Front Base Right
-2 - Front Base Left
-3 - Rear Base Right
-4 - Rear Base Left
-5 - Flywheel Right
-6 - Flywheel Left
-7 - Filter Right
-8 - Filter Left
-9 - Collector
-10 - Spare
-
-Solenoids:
-0 and 1 - Base Solenoid (shift)
-2 and 3 - Collector/Ratchet Solenoid
-4 and 5 - Esophagus
+alon and Solenoid Definiitons:
+
+
+Talons:
+1 - Front Base Right
+2 - Front Base Left
+3 - Rear Base Right
+4 - Rear Base Left
+5 - Flywheel Right
+6 - Flywheel Left
+7 - Filter Right
+8 - Filter Left
+9 - Collector
+10 - Spare
+
+Solenoids:
+0 and 1 - Base Solenoid (shift)
+2 and 3 - Collector/Ratchet Solenoid
+4 and 5 - Esophagus
diff --git a/build.properties b/build.properties
deleted file mode 100644
index f51b8ca..0000000
--- a/build.properties
+++ /dev/null
@@ -1,11 +0,0 @@
-# Build information
-out=FRCUserProgram
-src.dir=src
-build.dir=build
-out.exe=Debug/${out}
-
-# Simulation
-simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
-
-# Use the current C++ library by default
-cpp-version=current
diff --git a/build.xml b/build.xml
deleted file mode 100644
index 42dd355..0000000
--- a/build.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-
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diff --git a/src/RobotMap.h b/src/RobotMap.h
deleted file mode 100644
index 78270f3..0000000
--- a/src/RobotMap.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef ROBOTMAP_H
-#define ROBOTMAP_H
-
-/**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
- */
-
-// For example to map the left and right motors, you could define the
-// following variables to use with your drivetrain subsystem.
-// constexpr int LEFTMOTOR = 1;
-// constexpr int RIGHTMOTOR = 2;
-
-// If you are using multiple modules, make sure to define both the port
-// number and the module. For example you with a rangefinder:
-// constexpr int RANGE_FINDER_PORT = 1;
-// constexpr int RANGE_FINDER_MODULE = 1;
-
-#endif // ROBOTMAP_H
diff --git a/src/Robotmap.h b/src/Robotmap.h
new file mode 100644
index 0000000..d9f728d
--- /dev/null
+++ b/src/Robotmap.h
@@ -0,0 +1,108 @@
+/*
+ * Robotmap.h
+ *
+ * Created on: Feb 25, 2017
+ * Author: eeuser
+ */
+
+#ifndef SRC_ROBOTMAP_H_
+#define SRC_ROBOTMAP_H_
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+#include "CANTalon.h"
+#include "c:\Users\eeuser\wpilib\cpp\current\include\Ultrasonic.h"
+//#include "C:\Users\eeuser\wpilib\cpp\current\include\SmartDashboard\SmartDashboard.h"
+
+class Robotmap {
+
+private:
+
+ //Subsystem Talons and Solenoids
+ //Collector
+ CANTalon* collectorCIM;
+
+ //Drive Base Talons and Solenoids
+ CANTalon* LeftRearBaseMotor; //Talon 1 in CAN Bus
+ CANTalon* LeftFrontBaseMotor; //Talon 2 in CAN Bus
+ CANTalon* RightRearBaseMotor; //Talon 3 in CAN Bus
+ CANTalon* RightFrontBaseMotor; //Talon 4 in CAN Bus
+
+ //Flywheel Talons
+ CANTalon* flywheelRight;
+ CANTalon* flywheelLeft;
+ CANTalon* filterFront;
+ CANTalon* filterRear;
+
+ //Solenoids
+ //Drive Base Solenoids
+ DoubleSolenoid* shiftSolenoid;
+ DoubleSolenoid* liftSolenoid;
+
+ //Esophagus Solenoid
+ DoubleSolenoid* esophagusSolenoid;
+
+ //Joysticks
+ Joystick* l_stick; //Logitech Joystick
+ Joystick* r_stick; //Logitech Joystick
+ Joystick* x_stick; //X-Box Joystick
+
+ //Sensors
+ //NavX MXP
+ AHRS* ahrs;
+
+ //Ultrasonic
+ Ultrasonic* BaseUltrasonic;
+
+ PowerDistributionPanel* myPDP;
+ //Live Window
+ //LiveWindow* lw = LiveWindow::GetInstance();
+
+ //USB Camera
+ static CameraServer* GetInstance();
+
+ //update every 0.005 seconds/5 milliseconds.
+ double kUpdatePeriod = 0.005;
+
+ const float KRamp = 0.6;
+
+public:
+ Robotmap();
+
+ //Talons
+ const int RightFrontBaseTalon = 1;
+ const int RightRearBaseTalon = 3;
+ const int LeftFrontBaseTalon = 2;
+ const int LeftRearBaseTalon = 4;
+ const int flywheelLeftTalon = 8;
+ const int flywheelRightTalon = 7;
+ const int filterFrontTalon = 5;
+ const int filterRearTalon = 6;
+ const int CollectorTalon = 9;
+
+ //Solenoids
+ const int shiftSolenoidForward = 0;
+ const int shiftSolenoidReverse = 1;
+ const int liftSolenoidForward = 2;
+ const int liftSolenoidReverse = 3;
+ const int esophagusSolenoidForward = 4;
+ const int esophagusSolenoidReverse = 5;
+
+ //Joysticks
+ const int JoystickPort1 = 1;
+ const int JoystickPort0 = 0;
+ const int JoystickPort2 = 2;
+
+ //Ultrasonic
+ const int BaseUltrasonicTransmitter = 1;
+ const int BaseUltrasonicReciever = 1;
+
+ //Gyro
+ const float ahrsPort = SPI::Port::kMXP;
+
+ //PDP
+ const int PDPPort = 0;
+};
+
+
+#endif /* SRC_ROBOTMAP_H_ */
diff --git a/src/Subsystems/Robotmap.h b/src/Subsystems/Robotmap.h
new file mode 100644
index 0000000..9983d9f
--- /dev/null
+++ b/src/Subsystems/Robotmap.h
@@ -0,0 +1,97 @@
+#ifndef SRC_SUBSYSTEMS_DRIVEBASE_H_
+#define SRC_SUBSYSTEMS_DRIVEBASE_H_
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+#include "CANTalon.h"
+#include "c:\Users\eeuser\wpilib\cpp\current\include\Ultrasonic.h"
+#include "C:\Users\eeuser\wpilib\cpp\current\include\SmartDashboard\SmartDashboard.h"
+
+private:
+
+ //Subsystem Talons and Solenoids
+ //Collector
+ CANTalon* collectorCIM;
+
+ //Drive Base Talons and Solenoids
+ CANTalon* LeftRearBaseMotor; //Talon 1 in CAN Bus
+ CANTalon* LeftFrontBaseMotor; //Talon 2 in CAN Bus
+ CANTalon* RightRearBaseMotor; //Talon 3 in CAN Bus
+ CANTalon* RightFrontBaseMotor; //Talon 4 in CAN Bus
+
+ //Flywheel Talons
+ CANTalon* flywheelRight;
+ CANTalon* flywheelLeft;
+ CANTalon* filterFront;
+ CANTalon* filterRear;
+
+ //Solenoids
+ //Drive Base Solenoids
+ DoubleSolenoid* shiftSolenoid;
+ DoubleSolenoid* liftSolenoid;
+
+ //Esophagus Solenoid
+ DoubleSolenoid* esophagusSolenoid;
+
+ //Joysticks
+ Joystick* l_stick; //Logitech Joystick
+ Joystick* r_stick; //Logitech Joystick
+ Joystick* x_stick; //X-Box Joystick
+
+ //Sensors
+ //NavX MXP
+ AHRS* ahrs;
+
+ //Ultrasonic
+ Ultrasonic* BaseUltrasonic;
+
+ PowerDistributionPanel* myPDP;
+ //Live Window
+ //LiveWindow* lw = LiveWindow::GetInstance();
+
+ //USB Camera
+ static CameraServer* GetInstance();
+
+ //update every 0.005 seconds/5 milliseconds.
+ double kUpdatePeriod = 0.005;
+
+ const float KRamp = 0.6;
+
+public:
+
+ //Talons
+ const int RightFrontBaseTalon = 1;
+ const int RightRearBaseTalon = 3;
+ const int LeftFrontBaseTalon = 2;
+ const int LeftRearBaseTalon = 4;
+ const int flywheelLeftTalon = 8;
+ const int flywheelRightTalon = 7;
+ const int filterFrontTalon = 5;
+ const int filterRearTalon = 6;
+ const int CollectorTalon = 9;
+
+ //Solenoids
+ const int shiftSolenoidForward = 0;
+ const int shiftSolenoidReverse = 1;
+ const int liftSolenoidForward = 2;
+ const int liftSolenoidReverse = 3;
+ const int esophagusSolenoidForward = 4;
+ const int esophagusSolenoidReverse = 5;
+
+ //Joysticks
+ const int JoystickPort1 = 1;
+ const int JoystickPort0 = 0;
+ const int JoystickPort2 = 2;
+
+ //Ultrasonic
+ const int BaseUltrasonicTransmitter = 1;
+ const int BaseUltrasonicReciever = 1;
+
+ //Gyro
+ const float ahrsPort = SPI::Port::kMXP;
+
+ //PDP
+ const int PDPPort = 0;
+
+
+#endif /* SRC_SUBSYSTEMS_BASE_H_ */