diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 709722a..6ea8ff4 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -36,6 +36,7 @@
 
 class Robot: public IterativeRobot
 {
+private:
 	TalonSRX left_drive, right_drive;
 	CANTalon shooter1, shooter2,
 			ramp,
@@ -43,6 +44,131 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
+
+	// instance variables
+	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
+	bool inverting;
+	bool ramping;
+	bool shooting;
+	bool unjamming;
+	bool arming;
+	bool arcade;
+	float shooter_power;
+
+	LiveWindow *lw = LiveWindow::GetInstance();
+	SendableChooser *chooser;
+	const std::string autoNameDefault = "Default";
+	const std::string autoNameCustom = "My Auto";
+	std::string autoSelected;
+
+	void LogCSVData()
+	{
+		static PowerDistributionPanel pdp;	// preparing to read from the pdp
+		static std::vector<CANTalon*> motors;
+
+		static std::ofstream logA, logB, logC;
+		timeval tm;
+
+		SmartDashboard::PutBoolean("log A", logA.is_open());
+		SmartDashboard::PutBoolean("log B", logB.is_open());
+		SmartDashboard::PutBoolean("log C", logC.is_open());
+
+		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
+		{
+			std::fstream logNumFile;
+			int logNum;
+			logNumFile.open("/home/lvuser/logNum");
+			logNumFile >> logNum;
+			logNum++;
+			logNumFile.seekp(0);
+			logNumFile << logNum;
+			// writing to /home/lvuser/logs/[unixtime].log
+			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
+			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
+			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
+			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
+
+			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
+			for (int ii = 0; ii < 16; ii++)
+			{
+				LOG("pdpChannel " << ii << " current\t");
+			}
+
+			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
+			motors.push_back(&ramp);
+			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
+			motors.push_back(&shooter1);
+			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
+			motors.push_back(&shooter2);
+
+			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
+			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
+			LOG("\tTestStage");
+			LOG(std::endl);
+		}
+		gettimeofday(&tm, NULL);
+		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
+		// Some general information
+		LOG("\t" << pdp.GetVoltage());
+		LOG("\t" << pdp.GetTemperature());
+		LOG("\t" << pdp.GetTotalCurrent());
+		// current on each channel
+		for (int ii = 0; ii < 16; ii++)
+		{
+			LOG("\t" << pdp.GetCurrent(ii));
+		}
+
+		//Talon Data
+		for(int ii = 0; ii < motors.size(); ii++)
+		{
+			LOG("\t" << motors[ii]->GetBusVoltage());
+			LOG("\t" << motors[ii]->GetOutputVoltage());
+			LOG("\t" << motors[ii]->GetOutputCurrent());
+			LOG("\t" << motors[ii]->GetTemperature());
+		}
+		//control data
+		LOG("\t" << driver_stick.GetX());
+		LOG("\t" << driver_stick.GetY());
+		LOG("\t" << driver_stick.GetTwist());
+
+		//DriverStation Data
+		LOG("\t" << DriverStation::GetInstance().GetAlliance());
+		LOG("\t" << DriverStation::GetInstance().GetLocation());
+		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
+		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
+		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
+		LOG(std::endl);
+	}
+
+	/**
+	 *	Takes the gross raw throttle input from joystick and returns a 
+	 *	value between 0.0-1.0 (no negative values)
+	 */
+	float SaneThrottle(float rawThrottle)
+	{
+		return ((1.0 - rawThrottle) / 2.0);
+	}
+
+	void UpdateDrive()
+	{
+		float x = -driver_stick.GetX();
+		float y = -driver_stick.GetY();
+		if (x > 0)
+		{
+			float right = y * SaneThrottle(driver_stick.GetThrottle());
+			float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
+			drive.TankDrive(left, right);
+		}
+		else
+		{
+			float left = y * SaneThrottle(driver_stick.GetThrottle());
+			float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
+			drive.TankDrive(left, right);
+		}
+	}
+
 public:
 	Robot():
 		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@@ -60,23 +186,6 @@ public:
 
 	}
 
-private:
-	// instance variables
-	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
-	bool inverting;
-	bool ramping;
-	bool shooting;
-	bool unjamming;
-	bool arming;
-	bool arcade;
-	float shooter_power;
-
-	LiveWindow *lw = LiveWindow::GetInstance();
-	SendableChooser *chooser;
-	const std::string autoNameDefault = "Default";
-	const std::string autoNameCustom = "My Auto";
-	std::string autoSelected;
-
 	void RobotInit()
 	{
 		chooser = new SendableChooser();
@@ -281,118 +390,11 @@ private:
 		}
 	}
 
-	/**
-	 *	Takes the gross raw throttle input from joystick and returns a 
-	 *	value between 0.0-1.0 (no negative values)
-	 */
-	float SaneThrottle(float rawThrottle)
-	{
-		return ((1.0 - rawThrottle) / 2.0);
-	}
-
 	void TestPeriodic()
 	{
 		lw->Run();
 		LogCSVData();
 	}
-	void LogCSVData()
-	{
-		static PowerDistributionPanel pdp;	// preparing to read from the pdp
-		static std::vector<CANTalon*> motors;
-
-		static std::ofstream logA, logB, logC;
-		timeval tm;
-
-		SmartDashboard::PutBoolean("log A", logA.is_open());
-		SmartDashboard::PutBoolean("log B", logB.is_open());
-		SmartDashboard::PutBoolean("log C", logC.is_open());
-
-		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
-		{
-			std::fstream logNumFile;
-			int logNum;
-			logNumFile.open("/home/lvuser/logNum");
-			logNumFile >> logNum;
-			logNum++;
-			logNumFile.seekp(0);
-			logNumFile << logNum;
-			// writing to /home/lvuser/logs/[unixtime].log
-			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
-			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
-			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
-			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
-			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
-			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
-
-			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
-			for (int ii = 0; ii < 16; ii++)
-			{
-				LOG("pdpChannel " << ii << " current\t");
-			}
-
-			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
-			motors.push_back(&ramp);
-			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
-			motors.push_back(&shooter1);
-			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
-			motors.push_back(&shooter2);
-
-			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
-			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
-			LOG("\tTestStage");
-			LOG(std::endl);
-		}
-		gettimeofday(&tm, NULL);
-		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
-		// Some general information
-		LOG("\t" << pdp.GetVoltage());
-		LOG("\t" << pdp.GetTemperature());
-		LOG("\t" << pdp.GetTotalCurrent());
-		// current on each channel
-		for (int ii = 0; ii < 16; ii++)
-		{
-			LOG("\t" << pdp.GetCurrent(ii));
-		}
-
-		//Talon Data
-		for(int ii = 0; ii < motors.size(); ii++)
-		{
-			LOG("\t" << motors[ii]->GetBusVoltage());
-			LOG("\t" << motors[ii]->GetOutputVoltage());
-			LOG("\t" << motors[ii]->GetOutputCurrent());
-			LOG("\t" << motors[ii]->GetTemperature());
-		}
-		//control data
-		LOG("\t" << driver_stick.GetX());
-		LOG("\t" << driver_stick.GetY());
-		LOG("\t" << driver_stick.GetTwist());
-
-		//DriverStation Data
-		LOG("\t" << DriverStation::GetInstance().GetAlliance());
-		LOG("\t" << DriverStation::GetInstance().GetLocation());
-		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
-		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
-		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
-		LOG(std::endl);
-	}
-
-	void UpdateDrive()
-	{
-		float x = -driver_stick.GetX();
-		float y = -driver_stick.GetY();
-		if (x > 0)
-		{
-			float right = y * SaneThrottle(driver_stick.GetThrottle());
-			float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
-			drive.TankDrive(left, right);
-		}
-		else
-		{
-			float left = y * SaneThrottle(driver_stick.GetThrottle());
-			float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
-			drive.TankDrive(left, right);
-		}
-	}
 };
 
 START_ROBOT_CLASS(Robot)