diff --git a/Debug/FRCUserProgram b/Debug/FRCUserProgram
index b20932a..98deb05 100755
Binary files a/Debug/FRCUserProgram and b/Debug/FRCUserProgram differ
diff --git a/Debug/src/Robot.o b/Debug/src/Robot.o
index 5cd8a6d..e14316c 100644
Binary files a/Debug/src/Robot.o and b/Debug/src/Robot.o differ
diff --git a/src/Robot.cpp b/src/Robot.cpp
index 92d1106..f9b32d1 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -1,38 +1,78 @@
 #include "WPILib.h"
 
+///// USER PARAMETERS /////
+
+// Tuning Parameters
+#define throScale	1
+
+// Wiring Parameters
+#define frontLeftChannel	3
+#define backLeftChannel		4
+#define frontRightChannel	1
+#define backRightChannel	2
+
+#define InterLink_Elite_ID	0
+
+///// END USER PARAMETERS /////
+
 class Robot: public IterativeRobot
 {
-private:
 	LiveWindow *lw;
+	DriverStation *ds;
+
+	// Motor Controllers
+	Talon *frontLeft;
+	Talon *backLeft;
+	Talon *frontRight;
+	Talon *backRight;
+
+	// Input Devices
+	Joystick *InterLink;
+public:
+	Robot()
+	{
+		frontLeft = new Talon( frontLeftChannel );
+		backLeft = new Talon( backLeftChannel );
+		frontRight = new Talon( frontRightChannel );
+		backRight = new Talon( backRightChannel );
+
+		ds = DriverStation::GetInstance();
+		InterLink = new Joystick( InterLink_Elite_ID );
+	}
 
 	void RobotInit()
 	{
 		lw = LiveWindow::GetInstance();
 	}
 
-	void AutonomousInit()
-	{
+	//////////////////////
+	///// AUTONOMOUS /////
+	//////////////////////
 
-	}
+	void AutonomousInit()
+	{}
 
 	void AutonomousPeriodic()
-	{
+	{}
 
-	}
+	////////////////////////
+	///// TELEOPERATED /////
+	////////////////////////
 
 	void TeleopInit()
-	{
-
-	}
+	{}
 
 	void TeleopPeriodic()
-	{
+	{}
 
-	}
+	////////////////
+	///// TEST /////
+	////////////////
 
 	void TestPeriodic()
 	{
 		lw->Run();
+		SmartDashboard::PutBoolean( "resetButton", InterLink->GetRawButton(2) );
 	}
 };