diff --git a/.gitignore b/.gitignore
index 1ff0378..573b601 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
 .metadata
+DriveBase/.settings
+DriveBase/sysProps.xml
diff --git a/DriveBase/src/Robot.cpp b/DriveBase/src/Robot.cpp
index 6e6b357..1845216 100644
--- a/DriveBase/src/Robot.cpp
+++ b/DriveBase/src/Robot.cpp
@@ -12,10 +12,12 @@ class Robot : public IterativeRobot {
 	CANTalon r2_drive;
 	CANTalon l1_drive;
 	CANTalon l2_drive;
+	CANTalon shooter1;
+	CANTalon shooter2;
 	RobotDrive drivetrain1;
 	RobotDrive drivetrain2;
 
-  Joystick lstick;
+  Joystick rstick, lstick;
 
 	// update every 0.01 seconds/10 milliseconds.
   // The talon only receives control packets every 10ms.
@@ -27,9 +29,12 @@ public:
 	   r2_drive(2),             // interface to change the device number on the talons.
 	   l1_drive(3),
 	   l2_drive(4),
+	   shooter1(10),
+	   shooter2(11),
 	   drivetrain1(l1_drive, r1_drive),
 	   drivetrain2(l2_drive, r2_drive),
-       lstick(0)
+       rstick(0),
+	   lstick(1)
  {
 	 printf("Initializing Robot...");
 	 printf("Initializing TankDrive");
@@ -49,6 +54,8 @@ public:
  		 r2_drive.SetSafetyEnabled(false);
  		 l1_drive.SetSafetyEnabled(false);
  		 l2_drive.SetSafetyEnabled(false);
+ 		 shooter1.SetSafetyEnabled(false);
+ 		 shooter2.SetSafetyEnabled(false);
  	 }
 
  	 void TeleopInit()
@@ -66,12 +73,19 @@ public:
  	 void TeleopPeriodic()
  	 {
  		 printf("Teleop Periodic Start.");
-			float speed = lstick.GetY() * (lstick.GetThrottle());
-			float rot = (-1) * lstick.GetTwist();
+			float speed = lstick.GetY() * ((1.0 - (lstick.GetThrottle()))/2.0);
+			float rot = lstick.GetX();
 
 			drivetrain1.ArcadeDrive(speed, rot, false);
 			drivetrain2.ArcadeDrive(speed, rot, false);
- 		 printf("~Teleop Periodic End.");
+
+			float power = (1.0 - rstick.GetThrottle()) / 2.0;
+			shooter1.Set(power);
+			shooter2.Set(power);
+
+			printf("~Teleop Periodic End.");
+
+
  	 }
 	/**
 	 * Runs the motor from the output of a Joystick.
diff --git a/FRCUserProgram b/FRCUserProgram
new file mode 100755
index 0000000..bcba85b
Binary files /dev/null and b/FRCUserProgram differ
diff --git a/robot.cpp b/robot.cpp
new file mode 100644
index 0000000..9565107
--- /dev/null
+++ b/robot.cpp
@@ -0,0 +1,41 @@
+#include "WPILib.h"
+
+/**
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
+ * Autonomous and OperatorControl methods at the right time as controlled by the switches on
+ * the driver station or the field controls.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
+ */
+class Robot: public SampleRobot
+{
+	RobotDrive myRobot; // robot drive system
+	Joystick stick; // only joystick
+
+public:
+	Robot() :
+			myRobot(0, 1),	// initialize the RobotDrive to use motor controllers on ports 0 and 1
+			stick(0)
+	{
+		myRobot.SetExpiration(0.1);
+	}
+
+	/**
+	 * Runs the motors with arcade steering.
+	 */
+	void OperatorControl()
+	{
+		while (IsOperatorControl() && IsEnabled())
+		{
+			myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
+			Wait(0.005);				// wait for a motor update time
+		}
+	}
+
+};
+
+START_ROBOT_CLASS(Robot)
+