diff --git a/src/main/java/com/team766/robot/rookie_bot/OI.java b/src/main/java/com/team766/robot/rookie_bot/OI.java
index 6ea527df..6ba5c916 100644
--- a/src/main/java/com/team766/robot/rookie_bot/OI.java
+++ b/src/main/java/com/team766/robot/rookie_bot/OI.java
@@ -28,18 +28,14 @@ public void run(final Context context) {
         context.takeOwnership(Robot.drive);
         while (true) {
             // wait for driver station data (and refresh it using the WPILib APIs)
-            
+
             RobotProvider.instance.refreshDriverStationData();
 
             // Add driver controls here - make sure to take/release ownership
             // of mechanisms when appropriate.
-           
-            Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(3));
-            context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
-        }
-
 
+            Robot.drive.setArcadeDrivePower(-1 * joystick0.getAxis(1), joystick0.getAxis(3));
+            context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
         }
-        
     }
-
+}
diff --git a/src/main/java/com/team766/robot/rookie_bot/Robot.java b/src/main/java/com/team766/robot/rookie_bot/Robot.java
index b72d4404..1baa0876 100644
--- a/src/main/java/com/team766/robot/rookie_bot/Robot.java
+++ b/src/main/java/com/team766/robot/rookie_bot/Robot.java
@@ -8,11 +8,13 @@
 public class Robot implements RobotConfigurator {
     // Declare mechanisms (as static fields) here
     public static Drive drive;
+    public static Elevator elevator;
 
     @Override
     public void initializeMechanisms() {
         // Initialize mechanisms here
         drive = new Drive();
+        elevator = new Elevator();
     }
 
     @Override
@@ -24,4 +26,7 @@ public Procedure createOI() {
     public AutonomousMode[] getAutonomousModes() {
         return AutonomousModes.AUTONOMOUS_MODES;
     }
+    
+    
+
 }
diff --git a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java
index 914ba227..07e69cd9 100644
--- a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java
+++ b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java
@@ -5,21 +5,23 @@
 import com.team766.hal.RobotProvider;
 
 public class Drive extends Mechanism {
-	private MotorController leftMotor;
-	private MotorController rightMotor;
-	public Drive(){
-		leftMotor = RobotProvider.instance.getMotor("drive.leftMotor");
-		rightMotor = RobotProvider.instance.getMotor("drive.rightMotor");
-	}
-	public void setDrivePower(double leftPower, double rightPower){
-		checkContextOwnership();
-		leftMotor.set(leftPower);
-		rightMotor.set(rightPower);
-	}
-	public void setArcadeDrivePower(double forward, double turn) {
-		double leftMotorPower = turn + forward;
-		double rightMotorPower = -turn + forward;
-		setDrivePower(leftMotorPower, rightMotorPower);
-	}
+    private MotorController leftMotor;
+    private MotorController rightMotor;
 
-}
\ No newline at end of file
+    public Drive() {
+        leftMotor = RobotProvider.instance.getMotor("drive.leftMotor");
+        rightMotor = RobotProvider.instance.getMotor("drive.rightMotor");
+    }
+
+    public void setDrivePower(double leftPower, double rightPower) {
+        checkContextOwnership();
+        leftMotor.set(leftPower);
+        rightMotor.set(rightPower);
+    }
+
+    public void setArcadeDrivePower(double forward, double turn) {
+        double leftMotorPower = turn + forward;
+        double rightMotorPower = -turn + forward;
+        setDrivePower(leftMotorPower, rightMotorPower);
+    }
+}
diff --git a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.Java b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.Java
new file mode 100644
index 00000000..50df98fc
--- /dev/null
+++ b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.Java
@@ -0,0 +1,28 @@
+package com.team766.rookie_bot.mechanisms;
+
+import com.team766.hal.RobotProvider;
+import com.team766.hal.SpeedController;
+import com.team766.hal.EncoderReader;
+
+public class Elevator extends Mechanism{
+    private SpeedController m_elevator;
+    private EncoderReader m_elevatorEncoder;
+
+    public Elevator() {
+        m_elevator = RobotProvider.instance.getMotor("elevator");
+        m_elevatorEncoder = RobotProvider.instance.getEncoder("elevator_encoder");
+        resetEncoder();
+    }
+
+    public void move(double power){
+        m_elevator.set(power);
+    }
+
+    public double getElevatorDistance(){
+        return m_elevatorEncoder.getDistance();
+    }
+
+    public void resetEncoder(){
+        m_elevatorEncoder.reset();
+    }
+}
diff --git a/src/main/java/com/team766/robot/rookie_bot/procedures/DriveStraight.java b/src/main/java/com/team766/robot/rookie_bot/procedures/DriveStraight.java
index 3e580146..98bc00fc 100644
--- a/src/main/java/com/team766/robot/rookie_bot/procedures/DriveStraight.java
+++ b/src/main/java/com/team766/robot/rookie_bot/procedures/DriveStraight.java
@@ -6,11 +6,10 @@
 
 public class DriveStraight extends Procedure {
 
-    	public void run(final Context context) {
-			context.takeOwnership(Robot.drive);
-		Robot.drive.setDrivePower(0.5, 0.5);
-		context.waitForSeconds(1);
-		Robot.drive.setDrivePower(0, 0);
-
-	}	
-}
\ No newline at end of file
+    public void run(final Context context) {
+        context.takeOwnership(Robot.drive);
+        Robot.drive.setDrivePower(0.5, 0.5);
+        context.waitForSeconds(1);
+        Robot.drive.setDrivePower(0, 0);
+    }
+}
diff --git a/src/main/java/com/team766/robot/rookie_bot/procedures/DriveinaSquare.java b/src/main/java/com/team766/robot/rookie_bot/procedures/DriveinaSquare.java
index 985ac892..b628a0d7 100644
--- a/src/main/java/com/team766/robot/rookie_bot/procedures/DriveinaSquare.java
+++ b/src/main/java/com/team766/robot/rookie_bot/procedures/DriveinaSquare.java
@@ -5,15 +5,13 @@
 
 public class DriveinaSquare extends Procedure {
     public void run(Context context) {
-        //This loop repeats 4 times
+        // This loop repeats 4 times
         for (int i = 0; i < 4; ++i) {
-            //Drive along the side of the square
-        new DriveStraight().run(context);
-    
-        //Turn at corner
-        new TurnRight().run(context);
+            // Drive along the side of the square
+            new DriveStraight().run(context);
+
+            // Turn at corner
+            new TurnRight().run(context);
         }
     }
 }
-    
-
diff --git a/src/main/java/com/team766/robot/rookie_bot/procedures/PIDElevator.java b/src/main/java/com/team766/robot/rookie_bot/procedures/PIDElevator.java
new file mode 100644
index 00000000..da414f33
--- /dev/null
+++ b/src/main/java/com/team766/robot/rookie_bot/procedures/PIDElevator.java
@@ -0,0 +1,8 @@
+package com.team766.robot.rookie_bot.procedures;
+import com.team766.framework.Procedure;
+import com.team766.controllers.PIDController;
+import com.team766.framework.Context;
+import com.team766.robot.rookie_bot.Robot;
+
+public class PIDElevator {
+
diff --git a/src/main/java/com/team766/robot/rookie_bot/procedures/TurnRight.java b/src/main/java/com/team766/robot/rookie_bot/procedures/TurnRight.java
index 94f1ad9b..bec7d5c7 100644
--- a/src/main/java/com/team766/robot/rookie_bot/procedures/TurnRight.java
+++ b/src/main/java/com/team766/robot/rookie_bot/procedures/TurnRight.java
@@ -5,12 +5,10 @@
 import com.team766.robot.rookie_bot.Robot;
 
 public class TurnRight extends Procedure {
-	public void run(Context context) {
-			context.takeOwnership(Robot.drive);
-		Robot.drive.setDrivePower(0.25, -0.25);
-		context.waitForSeconds(0.90);
-		Robot.drive.setDrivePower(0, 0);
-
-	}
-
-}
\ No newline at end of file
+    public void run(Context context) {
+        context.takeOwnership(Robot.drive);
+        Robot.drive.setDrivePower(0.25, -0.25);
+        context.waitForSeconds(0.90);
+        Robot.drive.setDrivePower(0, 0);
+    }
+}