diff --git a/GroundStation/v2/ConnectionPanel.java b/GroundStation/v2/ConnectionPanel.java
new file mode 100644
index 0000000..0b04c8f
--- /dev/null
+++ b/GroundStation/v2/ConnectionPanel.java
@@ -0,0 +1,245 @@
+import java.util.ArrayList;
+import java.util.Scanner;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.event.*;
+
+// communication
+import java.lang.*;
+import java.io.*;
+import java.net.*;
+
+/**
+ *
+ */
+class ConnectionPanel extends JPanel implements ActionListener {
+    /** list to hold subscribed actionlisteners */
+    private ArrayList<ActionListener> listeners = new ArrayList<ActionListener>();
+
+    /** TCP connection options */
+    private JPanel tcpOptions;
+        /** label for address field */
+        private JLabel hostAddrLabel;
+        /** host address field */
+        private JTextField hostAddr;
+        /** label for port field */
+        private JLabel hostPortLabel;
+        /** port field */
+        private JTextField hostPort;
+    /** connect button */
+    private JButton connectButton;
+
+    /** holds outgoing message info */
+    private MessageContent contentOut;
+    /** holds incomming message info */
+    private MessageContent contentIn;
+
+    /** timer to cause repeating sends */
+    private Timer tcpTimer;
+    /** tcp connection socket */
+    private Socket tcpSocket;
+    /** scanner for incomming tcp messages */
+    public BufferedReader in;
+    /** printwriter for outgoing tcp messages */
+    public PrintWriter out;
+
+    /**
+     * no-args constructor
+     */
+    public ConnectionPanel() {
+        setLayout( new FlowLayout() );
+
+        tcpOptions = new JPanel();
+        tcpOptions.setLayout( new FlowLayout() );
+
+        hostAddrLabel = new JLabel( "Host Address: " );
+        hostAddr = new JTextField( "192.168.42.1" );
+        hostAddr.setColumns( 10 );
+        hostPortLabel = new JLabel( "Port: " );
+        hostPort = new JTextField( "51717" );
+        hostPort.setColumns( 6 );
+
+        tcpOptions.add( hostAddrLabel );
+        tcpOptions.add( hostAddr );
+        tcpOptions.add( hostPortLabel );
+        tcpOptions.add( hostPort );
+        add( tcpOptions );
+
+        connectButton = new JButton( "Connect" );
+        connectButton.addActionListener( this );
+        add( connectButton );
+    }
+
+    /**
+     * @param outgoing - MessageContent object containing options for 
+     */
+    public ConnectionPanel( MessageContent outgoing, MessageContent incomming ) {
+        this();
+        contentOut = outgoing;
+        contentIn = incomming;
+    }
+
+    /**
+     * connect to tcp socket bound to port at host addres addr
+     * @param addr - host address
+     * @param port - port of socket at host
+     */
+    public void connectTcp( String addr, int port ) {
+        try {
+            tcpSocket = new Socket( addr, port );
+            in = new BufferedReader( new InputStreamReader( tcpSocket.getInputStream() ) );
+            out = new PrintWriter( tcpSocket.getOutputStream(), true ); //autoflushing
+            tcpTimer = new Timer( 100, this );  // .1 seconds
+            out.println( "PROTOCOL_2" );  // identify protocol to be used with tcp
+            tcpTimer.start();
+            setGui( true );
+            fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "CONNECT" ) );
+        }
+        catch( Exception ex ) {
+            System.out.println( "Error Connecting to TCP server: " + ex );
+        }
+    }
+
+    /**
+     * disconnects from tcp server
+     * @param reconnect - tells server whether to listen for new connections. If false, server will shut down
+     */
+    public void disconnectTcp( boolean reconnect ) {
+        out.print( "DISCONNECT" );
+        if( reconnect ) out.print( "_R" );
+        out.println();
+
+        try {
+            in.close();
+            out.close();
+            tcpSocket.close();
+            setGui( false );
+            fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "DISCONNECT" ) );
+        }
+        catch( IOException ex ) {
+            System.out.println( ex );
+        }
+    }
+
+    /**
+     *
+     */
+    private void sendTCP() {
+        out.print( "H " );   // Heartbeat / begin message indicator
+        if( contentOut.getMotorsEnabled() ) out.print( "E " );  // enable motors
+        if( contentOut.motorTesting ) {
+            for( int i = 0; i < contentOut.motorValues.length; i++ )
+                out.print( "M" + i + "_" + contentOut.motorValues[i] + " " );
+        }
+        if( contentOut.controls ) {
+            for( int i = 0; i < contentOut.controlValues.length; i++ )
+                out.print( "C" + i + "_" + contentOut.controlValues[i] + " " );
+        }
+        out.println();
+    }
+
+    /**
+     *
+     */
+    private void readTCP() {
+        try {
+            if( in.ready() ) {
+                String messageIn = in.readLine();
+                Scanner temp = new Scanner( messageIn );
+                while( temp.hasNext() ) {
+                    String next = temp.next();
+                    if( next.indexOf( "H" ) == 0 ) System.out.print( "\nH" );
+                    System.out.print( next );
+                    if( next.indexOf( "M" ) > 0 ) {
+                        Scanner motorScan = new Scanner( next );
+
+                    }
+                }
+            }
+            contentIn.orientation = true;
+            contentIn.fireActionPerformed( new ActionEvent(contentIn, ActionEvent.ACTION_PERFORMED, "" ) );
+        }
+        catch( IOException ex ) {}
+    }
+
+    /**
+     * @param enabled - true to 
+     */
+    private void setGui( Boolean connected ) {
+        if( connected ) connectButton.setText( "disconnect" );
+        else connectButton.setText( "connect" );
+        hostAddr.setEnabled( !connected );
+        hostPort.setEnabled( !connected );
+    }
+
+    /**
+     * sets everything in the panel enabled/disabled
+     * @param state - desired enable status (true = enabled, false = disabled)
+     */
+    public void setEnabled( boolean state ) {
+        hostAddr.setEnabled( state );
+        hostPort.setEnabled( state );
+        connectButton.setEnabled( state );
+    }
+
+    ///////////////////////////////////////
+
+    /**
+     * sends message over tcp
+     */
+    public void actionPerformed( ActionEvent evt ) {
+        if( evt.getSource() == connectButton ) {
+            if( evt.getActionCommand().equals( "disconnect" ) ) {
+                disconnectTcp( false );
+            }
+            else {
+                connectTcp( hostAddr.getText(), Integer.parseInt( hostPort.getText() ) );
+            }
+        }
+        else {
+            sendTCP();
+            readTCP();
+        }
+    }
+
+    ////////////////////////////////////////
+
+    /**
+     * adds actionlistener to subscribd listener list
+     * @param al - actionlistener to add
+     */
+    public void addActionListener( ActionListener al ) {
+        listeners.add( al );
+    }
+
+    /**
+     * removes actionlistener from subscribed listener list
+     * @param al - actionlistener to remove
+     */
+    public void removeActionListener( ActionListener al ) {
+        listeners.remove( al );
+    }
+
+    /**
+     * sends an actionevent to subscribed listeners
+     * @param ae - actionevent to use as parameter to all subscribed listeners
+     */
+    public void fireActionPerformed( ActionEvent ae ) {
+        for( ActionListener al : listeners ) {
+            al.actionPerformed( ae );
+        }
+    }
+
+    /**
+     *
+     */
+    public void fireActionPerformed() {
+        fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "" ) );
+    }
+}
+
+
+
+
diff --git a/GroundStation/v2/Display3d.java b/GroundStation/v2/Display3d.java
new file mode 100644
index 0000000..e9f6dc9
--- /dev/null
+++ b/GroundStation/v2/Display3d.java
@@ -0,0 +1,96 @@
+import javax.swing.*;
+import javax.swing.event.*;
+import java.awt.*;
+import java.awt.event.*;
+
+/**
+ *
+ */
+class Display3d extends JPanel implements ActionListener, ChangeListener {
+
+    private JSlider slider;
+    private MessageContent source = new MessageContent();
+    private Font normalFont = new Font( "Normal", Font.PLAIN, 15 );
+
+    /**
+     * no-args constructor
+     */
+    public Display3d() {
+        setBackground( Color.DARK_GRAY );
+        setPreferredSize( new Dimension( 500, 100 ) );
+    }
+
+    /**
+     * 
+     */
+    public Display3d( MessageContent orientationSource ) {
+        source = orientationSource;
+        source.addActionListener( this );
+
+        setBackground( Color.DARK_GRAY );
+        setPreferredSize( new Dimension( 0, 100 ) );
+
+        setLayout( new BorderLayout() );
+        slider = new JSlider();
+        slider.setOrientation( JSlider.VERTICAL );
+        slider.addChangeListener( this );
+        add( slider, BorderLayout.EAST );
+    }
+
+    /**
+     * overrides super.paintComponent
+     */
+    public void paintComponent( Graphics g ) {
+        super.paintComponent( g );
+
+        int centerX = getWidth() / 2;
+        int centerY = getHeight() / 2;
+
+        slider.setEnabled( source.orientation );
+
+        if( source.orientation ) {
+
+            // yaw axis
+            g.setColor( Color.BLUE );
+            //g.drawLine( centerX, centerY, , );
+
+            g.setColor( Color.RED );
+            //g.drawLine( centerX, centerY, X, Y );
+            
+            g.setColor( Color.GREEN );
+            //g.drawLine( centerX, centerY, X, Y );
+            
+            g.setColor( Color.BLACK );
+            g.setFont( normalFont );
+            g.drawString( "w = " + source.orientValues[ 0 ], 10, 35 );
+            g.drawString( "x = " + source.orientValues[ 1 ], 10, 60 );
+            g.drawString( "y = " + source.orientValues[ 2 ], 10, 85 );
+            g.drawString( "z = " + source.orientValues[ 3 ], 10, 110 );
+        }
+        else {
+            g.setColor( Color.RED );
+            g.setFont( new Font( "Alert", Font.BOLD, 30 ) );
+            g.drawString( "NO ORIENTATION DATA", centerX - 180, centerY + 15 );
+        }
+    }
+
+    /**
+     *
+     */
+    public void actionPerformed( ActionEvent evt ) {
+        repaint();
+    }
+
+    /**
+     *
+     */
+    public void stateChanged( ChangeEvent evt ) {
+        repaint();
+    }
+}
+
+
+
+
+
+
diff --git a/GroundStation/v2/EStopWindow.java b/GroundStation/v2/EStopWindow.java
new file mode 100644
index 0000000..3dbf817
--- /dev/null
+++ b/GroundStation/v2/EStopWindow.java
@@ -0,0 +1,89 @@
+import java.util.*;
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.event.*;
+
+/**
+ *
+ */
+class EStopWindow extends JFrame implements ActionListener {
+    /** list to hold subscribed actionlisteners */
+    private ArrayList<ActionListener> listeners = new ArrayList<ActionListener>();
+    
+    /** stop sign image */
+    //private Image sign = new Image( "./stopSign.png" );
+
+    /** Emergency stop button */
+    private JButton disableButton;
+
+    /**
+     *
+     */
+    public EStopWindow() {
+        super("Emergency Stop");
+        setDefaultCloseOperation( JFrame.DO_NOTHING_ON_CLOSE );
+        setAlwaysOnTop( true );
+        setLocation( 600, 100 );
+
+        //disableButton = new JButton( "DISABLE" );
+        disableButton = new JButton( new ImageIcon( (new ImageIcon( "./stopSign.png" )).getImage().getScaledInstance( 200, 200, Image.SCALE_DEFAULT) ) );
+        disableButton.addActionListener( this );
+        add( disableButton );
+
+        setEnabled( true );
+        pack();
+        setVisible( true );
+    }
+
+    /**
+     *
+     */
+    public void actionPerformed( ActionEvent evt ) {
+        if( evt.getSource() == disableButton ) {
+            fireActionPerformed();
+        }
+    }
+
+    /////////////////////////////////////
+
+    /**
+     *
+     */
+    public void setEnabled( boolean enable ) {
+        disableButton.setEnabled( enable );
+    }
+
+    /**
+     * adds actionlistener to subscribd listener list
+     * @param al - actionlistener to add
+     */
+    public void addActionListener( ActionListener al ) {
+        listeners.add( al );
+    }
+
+    /**
+     * removes actionlistener from subscribed listener list
+     * @param al - actionlistener to remove
+     */
+    public void removeActionListener( ActionListener al ) {
+        listeners.remove( al );
+    }
+
+    /**
+     * sends an actionevent to subscribed listeners
+     * @param ae - actionevent to use as parameter to all subscribed listeners
+     */
+    public void fireActionPerformed( ActionEvent ae ) {
+        for( ActionListener al : listeners ) {
+            al.actionPerformed( ae );
+        }
+    }
+
+    /**
+     *
+     */
+    public void fireActionPerformed() {
+        fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "CLICKED" ) );
+    }
+}
\ No newline at end of file
diff --git a/GroundStation/v2/GroundStation.java b/GroundStation/v2/GroundStation.java
new file mode 100644
index 0000000..7d60718
--- /dev/null
+++ b/GroundStation/v2/GroundStation.java
@@ -0,0 +1,93 @@
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.event.*;
+
+/**
+ *
+ */
+class GroundStation implements ActionListener {
+
+    /** main window to hold everything */
+    private JFrame mainWindow;
+    /** window to hold emergency stop button */
+    private EStopWindow eStopWindow;
+
+    /** connection options section of window */
+    private ConnectionPanel connectPanel;
+
+    /** tabbed pane to hold stuff */
+    private JTabbedPane tabbedPane;
+    /** motor testing panel */
+    private MotorTestPanel motorTestPanel;
+    /** */
+    private Display3d orientationPanel;
+    /** outgoing message content options */
+    public MessageContent sendContent = new MessageContent();
+    /** incoming message content */
+    public MessageContent receiveContent = new MessageContent();
+    
+    public GroundStation() {
+        mainWindow = new JFrame( "PiCopter Ground Station" );
+        mainWindow.setResizable( true );
+        mainWindow.setDefaultCloseOperation( JFrame.EXIT_ON_CLOSE );
+        mainWindow.getContentPane().setLayout( new BoxLayout( mainWindow.getContentPane(), BoxLayout.PAGE_AXIS ) );
+
+        connectPanel = new ConnectionPanel( sendContent, receiveContent );
+        connectPanel.setEnabled( true );
+        mainWindow.getContentPane().add( connectPanel );
+
+        tabbedPane = new JTabbedPane();
+        mainWindow.getContentPane().add( tabbedPane );
+
+        orientationPanel = new Display3d( receiveContent );
+        tabbedPane.add( orientationPanel, "Orientation" );
+
+        motorTestPanel = new MotorTestPanel( sendContent );
+        motorTestPanel.setEnabled( false );
+        tabbedPane.add( motorTestPanel, "Motor Test" );
+
+        connectPanel.addActionListener( this );
+        sendContent.addActionListener( this );
+
+        mainWindow.pack();
+        mainWindow.setVisible( true );
+    }
+
+    public void disableMotors() {
+        connectPanel.setEnabled( true );
+        eStopWindow.dispose();
+    }
+
+    public void enableMotors() {
+        connectPanel.setEnabled( false );
+        eStopWindow = new EStopWindow();
+        eStopWindow.addActionListener( this );
+    }
+
+    public void actionPerformed( ActionEvent evt ) {
+        if( evt.getSource() == eStopWindow ) {
+            sendContent.setMotorsEnabled( false );
+        }
+        if( evt.getSource() == connectPanel ) {
+            if( evt.getActionCommand().equals( "CONNECT" ) ) {
+                mainWindow.setDefaultCloseOperation( JFrame.DO_NOTHING_ON_CLOSE );
+                motorTestPanel.setEnabled( true );
+            }
+            else if( evt.getActionCommand().equals( "DISCONNECT" ) ) {
+                mainWindow.setDefaultCloseOperation( JFrame.EXIT_ON_CLOSE );
+                motorTestPanel.setEnabled( false );
+            }
+        }
+        else if( evt.getActionCommand().equals( "ENABLE_MOTORS" ) ) {
+            enableMotors();
+        }
+        else if( evt.getActionCommand().equals( "DISABLE_MOTORS" ) ) {
+            disableMotors();
+        }
+    }
+
+    public static void main( String[] args ) {
+        GroundStation station = new GroundStation();
+    }
+}
\ No newline at end of file
diff --git a/GroundStation/v2/MessageContent.java b/GroundStation/v2/MessageContent.java
new file mode 100644
index 0000000..62ca4cd
--- /dev/null
+++ b/GroundStation/v2/MessageContent.java
@@ -0,0 +1,70 @@
+import java.util.*;
+import java.awt.event.*;
+
+/**
+ *
+ */
+class MessageContent {
+    /** list to hold subscribed actionlisteners */
+    private ArrayList<ActionListener> listeners = new ArrayList<ActionListener>();
+
+    private boolean motorsEnabled = false;
+
+    public boolean motorTesting = false;
+    public int[] motorValues = { 0, 0, 0, 0 };
+
+    public boolean controls = false;
+    public int[] controlValues = { 0, 0, 0, 0, 0, 0 };
+
+    public boolean orientation = false;
+    public double[] orientValues = { 1, 0, 0, 0 };  // w, x, y, z
+
+    /**
+     * sets motorsEnabled variable and triggers fireActionPerformed
+     * @param enable - boolean value to set motorsEnabled to
+     */
+    public void setMotorsEnabled( Boolean enable ) {
+    	motorsEnabled = enable;
+    	if( enable ) {
+            fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "ENABLE_MOTORS" ) );
+        }
+        else {
+            fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "DISABLE_MOTORS" ) );
+        }
+    }
+
+    /**
+     * @return motorsEnabled status
+     */
+    public Boolean getMotorsEnabled() {
+    	return motorsEnabled;
+    }
+
+    /////////////////////////////////////////////
+
+    /**
+     * adds actionlistener to subscribd listener list
+     * @param al - actionlistener to add
+     */
+    public void addActionListener( ActionListener al ) {
+        listeners.add( al );
+    }
+
+    /**
+     * removes actionlistener from subscribed listener list
+     * @param al - actionlistener to remove
+     */
+    public void removeActionListener( ActionListener al ) {
+        listeners.remove( al );
+    }
+
+    /**
+     * sends an actionevent to subscribed listeners
+     * @param ae - actionevent to use as parameter to all subscribed listeners
+     */
+    public void fireActionPerformed( ActionEvent ae ) {
+        for( ActionListener al : listeners ) {
+            al.actionPerformed( ae );
+        }
+    }
+}
\ No newline at end of file
diff --git a/GroundStation/v2/MotorTestPanel.java b/GroundStation/v2/MotorTestPanel.java
new file mode 100644
index 0000000..2b1af87
--- /dev/null
+++ b/GroundStation/v2/MotorTestPanel.java
@@ -0,0 +1,189 @@
+import java.util.*;
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.event.*;
+
+/**
+ *
+ */
+class MotorTestPanel extends JPanel implements ActionListener {
+
+    /** checkBox to enable/disable motor testing */
+    private JCheckBox checkBox;
+    /** panel to hold sliders */
+    private JPanel sliderPanel;
+
+    /** slider for motor 1 */
+    public VerticalSlider slider0;
+    /** slider for motor 2 */
+    public VerticalSlider slider1;
+    /** slider for motor 3 */
+    public VerticalSlider slider2;
+    /** slider for motor 4 */
+    public VerticalSlider slider3;
+    /** slider for all motors */
+    private VerticalSlider masterSlider;
+
+    /** */
+    public MessageContent controlOutput = new MessageContent();
+
+    /** list to hold subscribed actionlisteners */
+    private ArrayList<ActionListener> listeners;
+
+    /**
+     *
+     */
+    public MotorTestPanel() {
+        listeners = new ArrayList<ActionListener>();
+
+        this.setLayout( new BorderLayout() );
+        checkBox = new JCheckBox( "Enable Motor Testing" );
+        checkBox.addActionListener( this );
+        this.add( checkBox, BorderLayout.NORTH );
+
+        sliderPanel = new JPanel( new FlowLayout() );
+        slider0 = new VerticalSlider( "Motor 0" );
+        slider1 = new VerticalSlider( "Motor 1" );
+        slider2 = new VerticalSlider( "Motor 2" );
+        slider3 = new VerticalSlider( "Motor 3" );
+        masterSlider = new VerticalSlider( "Master" );
+
+        slider0.addActionListener( this );
+        slider1.addActionListener( this );
+        slider2.addActionListener( this );
+        slider3.addActionListener( this );
+        masterSlider.addActionListener( this );
+        
+        sliderPanel.add( slider0 );
+        sliderPanel.add( slider1 );
+        sliderPanel.add( slider2 );
+        sliderPanel.add( slider3 );
+        sliderPanel.add( masterSlider );
+
+        this.add( sliderPanel, BorderLayout.CENTER );
+
+        setTestStatus( false );
+    }
+
+    /**
+     *
+     */
+    public MotorTestPanel( MessageContent controls ) {
+        this();
+        controlOutput = controls;
+        controlOutput.addActionListener( this );
+    }
+
+    /**
+     *
+     */
+    public void setEnabled( boolean state ) {
+        if( !state ) {
+            setTestStatus( false );
+        }
+        checkBox.setEnabled( state );
+    }
+
+    /**
+     *
+     */
+    public void setTestStatus( boolean enable ) {
+        checkBox.setSelected( enable );
+        controlOutput.setMotorsEnabled( enable );
+        controlOutput.motorTesting = enable;
+        if( !enable ) {
+            masterSlider.setValue( 0 );
+            masterSlider.fireActionPerformed();
+        }
+
+        slider0.setEnabled( enable );
+        slider1.setEnabled( enable );
+        slider2.setEnabled( enable );
+        slider3.setEnabled( enable );
+        masterSlider.setEnabled( enable );
+    }
+
+    /**
+     * @return true if testing is enabled
+     */
+    public boolean getTestStatus() {
+        return checkBox.isSelected();
+    }
+
+    /**
+     *
+     */
+    public int[] getValues() {
+        int[] values = {slider0.getValue(),
+                        slider1.getValue(),
+                        slider2.getValue(),
+                        slider3.getValue() };
+        return values;
+    }
+
+    /**
+     *
+     */
+    public void actionPerformed( ActionEvent evt ) {
+        if( evt.getSource() == controlOutput ) {
+            if( evt.getActionCommand().equals( "DISABLE_MOTORS" ) && getTestStatus() ) {
+                setTestStatus( false );
+            }
+            return;
+        }
+        if( evt.getSource() == checkBox ) {
+            setTestStatus( checkBox.isSelected() );
+            return;
+        }
+        if( evt.getSource() == masterSlider ) {
+            slider0.setValue( Integer.parseInt( evt.getActionCommand() ) );
+            slider1.setValue( Integer.parseInt( evt.getActionCommand() ) );
+            slider2.setValue( Integer.parseInt( evt.getActionCommand() ) );
+            slider3.setValue( Integer.parseInt( evt.getActionCommand() ) );
+        }
+        fireActionPerformed();
+    }
+
+    ////////////////////////////////////////////
+
+    /**
+     * adds actionlistener to subscribd listener list
+     * @param al - actionlistener to add
+     */
+    public void addActionListener( ActionListener al ) {
+        listeners.add( al );
+    }
+
+    /**
+     * removes actionlistener from subscribed listener list
+     * @param al - actionlistener to remove
+     */
+    public void removeActionListener( ActionListener al ) {
+        listeners.remove( al );
+    }
+
+    /**
+     * sends an actionevent to subscribed listeners
+     * @param ae - actionevent to use as parameter to all subscribed listeners
+     */
+    public void fireActionPerformed( ActionEvent ae ) {
+        //controlOutput.motorValues = { slider0.getValue(), slider1.getValue(), slider2.getValue(), slider3.getValue() };
+        controlOutput.motorValues[0] = slider0.getValue();
+        controlOutput.motorValues[1] = slider1.getValue();
+        controlOutput.motorValues[2] = slider2.getValue();
+        controlOutput.motorValues[3] = slider3.getValue();
+
+
+        for( ActionListener al : listeners ) {
+            al.actionPerformed( ae );
+        }
+    }
+
+    /**
+     *
+     */
+    public void fireActionPerformed() {
+        fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, "" ) );
+    }
+}
\ No newline at end of file
diff --git a/GroundStation/v2/VerticalSlider.java b/GroundStation/v2/VerticalSlider.java
new file mode 100644
index 0000000..3939a68
--- /dev/null
+++ b/GroundStation/v2/VerticalSlider.java
@@ -0,0 +1,194 @@
+import java.util.*;
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.event.*;
+
+class VerticalSlider extends JPanel implements ActionListener, ChangeListener {
+
+    /** up button */
+    private JButton up;
+    /** slider bar */
+    private JSlider slider;
+    /** down button */
+    private JButton down;
+    /** value field */
+    private JTextField value;
+    /** list to hold subscribed actionlisteners */
+    private ArrayList<ActionListener> listeners;
+    /** set to false for use fo setValue */
+    private boolean internalTrigger = true;
+
+    ////////////////////////
+    ///// CONSTRUCTORS /////
+    ////////////////////////
+
+    /**
+     * no-args constructor
+     */
+    public VerticalSlider() {
+        setLayout( new BoxLayout( this, BoxLayout.PAGE_AXIS ) );
+        setLabel( "" );
+
+
+        up = new JButton( "\u25B2" );
+        slider = new JSlider();
+        slider.setOrientation( JSlider.VERTICAL );
+        slider.setValue( 0 );
+        down = new JButton( "\u25BC" );
+        
+        value = new JTextField( "0" );
+
+        up.addActionListener( this );
+        down.addActionListener( this );
+        value.addActionListener( this );
+
+        slider.addChangeListener( this );
+
+        this.add( up );
+        this.add( slider );
+        this.add( down );
+        this.add( value );
+
+        listeners = new ArrayList<ActionListener>();
+    }
+
+    /**
+     * sets label of slider on construction
+     * @param newLabel - label to put on slider
+     */
+    public VerticalSlider( String newLabel ) {
+        this();
+        setLabel( newLabel );
+    }
+
+    /**
+     * sets slider extremes
+     * also sets slider value to minimum
+     * @param sliderMin - minimum extreme value of slider
+     * @param sliderMax - maximum extreme value of slider
+     */
+    public VerticalSlider( int sliderMin, int sliderMax ) {
+        this();
+        slider.setMinimum( sliderMin );
+        slider.setMaximum( sliderMax );
+        setValue( sliderMin );
+    }
+
+    /**
+     * sets label of slider and sets slider extremes
+     * also sets slider value to minimum
+     * @param newLabel - label to put on slider
+     * @param sliderMin - minimum extreme value of slider
+     * @param sliderMax - maximum extreme value of slider
+     */
+    public VerticalSlider( String newLabel, int sliderMin, int sliderMax ) {
+        this( sliderMin, sliderMax );
+        setLabel( newLabel );
+    }
+
+    ///////////////////
+    ///// METHODS /////
+    ///////////////////
+
+    /**
+     * @return the value of the slider
+     */
+    public int getValue() {
+        return slider.getValue();
+    }
+
+    /**
+     * @param newVal - value to set slider to
+     */
+    public void setValue( int newVal ) {
+        internalTrigger = false;
+        slider.setValue( newVal );  // will trigger changeListener and update everything else
+        internalTrigger = true;
+    }
+
+    /**
+     * changes the slider's label
+     * @param newLabel - the new name to put on slider
+     */
+    public void setLabel( String newLabel ) {
+        setBorder( BorderFactory.createTitledBorder( newLabel ) );
+    }
+
+    /**
+     * implementation of actionlistener interface
+     */
+    public void actionPerformed( ActionEvent evt ) {
+        if( evt.getSource() == up ) {
+            slider.setValue( slider.getValue() + 1 );
+        }
+        else if( evt.getSource() == down ) {
+            slider.setValue( slider.getValue() - 1 );
+        }
+        else if( evt.getSource() == value ) {
+            slider.setValue( Integer.parseInt( value.getText() ) );
+        }
+    }
+
+    /**
+     * run whenever slider changes position
+     * implementation of changelistener interface
+     */
+    public void stateChanged( ChangeEvent evt ) {
+        if( evt.getSource() == slider ) {
+            value.setText( ""+ slider.getValue() );
+            if( internalTrigger ) {
+                fireActionPerformed();
+            }
+        }
+    }
+
+    /**
+     *
+     */
+    public void setEnabled( boolean enable ) {
+        up.setEnabled( enable );
+        slider.setEnabled( enable );
+        down.setEnabled( enable );
+        value.setEnabled( enable );
+    }
+
+    /**
+     * adds actionlistener to subscribd listener list
+     * @param al - actionlistener to add
+     */
+    public void addActionListener( ActionListener al ) {
+        listeners.add( al );
+    }
+
+    /**
+     * removes actionlistener from subscribed listener list
+     * @param al - actionlistener to remove
+     */
+    public void removeActionListener( ActionListener al ) {
+        listeners.remove( al );
+    }
+
+    /**
+     * sends an actionevent to subscribed listeners
+     * @param ae - actionevent to use as parameter to all subscribed listeners
+     */
+    public void fireActionPerformed( ActionEvent ae ) {
+        for( ActionListener al : listeners ) {
+            al.actionPerformed( ae );
+        }
+    }
+
+    /**
+     *
+     */
+    public void fireActionPerformed() {
+        fireActionPerformed( new ActionEvent( this, ActionEvent.ACTION_PERFORMED, ""+ slider.getValue() ) );
+    }
+}
+
+
+
+
+
+
diff --git a/GroundStation/v2/stopSign.png b/GroundStation/v2/stopSign.png
new file mode 100644
index 0000000..d23a886
Binary files /dev/null and b/GroundStation/v2/stopSign.png differ