diff --git a/src/org/usfirst/frc/team2526/robot/Robot.java b/src/org/usfirst/frc/team2526/robot/Robot.java
index 2872651..e206b89 100644
--- a/src/org/usfirst/frc/team2526/robot/Robot.java
+++ b/src/org/usfirst/frc/team2526/robot/Robot.java
@@ -1,8 +1,14 @@
 package org.usfirst.frc.team2526.robot;
 
 
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.SampleRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -25,20 +31,35 @@ public class Robot extends SampleRobot {
     CANTalon leftOne, leftTwo;
     CANTalon rightOne, rightTwo;
     
-    Joystick leftStick;  // set to ID 1 in DriverStation
-    Joystick rightStick; // set to ID 2 in DriverStation
+    RobotDrive drive;
     
+    Joystick leftStick;  // set to ID 1 in DriverStation
     
+    File motionProfile;
     public Robot() {
-        leftOne = new CANTalon(1);
-        leftTwo = new CANTalon(2);
-        rightOne = new CANTalon(3);
-        rightTwo = new CANTalon(4);
+        leftOne = new CANTalon(2);
+        leftTwo = new CANTalon(1);
+        rightOne = new CANTalon(4);
+        rightTwo = new CANTalon(3);
+        
+        drive = new RobotDrive(leftOne, leftTwo, rightOne, rightTwo);
         
         leftStick = new Joystick(0);
-        rightStick = new Joystick(1);
         
         SmartDashboard.putBoolean("Reset", true);
+        
+        File motionProfile = new File("motionprofile.txt");
+        
+        try {
+			if (motionProfile.createNewFile()){
+			    System.out.println("Creating Motion Profile File");
+			  }else{
+			    System.out.println("Found Motion Profile File");
+			  }
+		} catch (IOException e) {
+			System.out.println("Sad robot is sad.");
+			e.printStackTrace();
+		}
     }
 
     
@@ -46,15 +67,73 @@ public Robot() {
      * Runs the motors with tank steering.
      */
     public void operatorControl() {
-    	long startTime = 0;
+    	long startTime = System.currentTimeMillis();
+    	
+    	
+    	FileWriter writer = null;
+		try {
+			writer = new FileWriter(motionProfile);
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		
+		BufferedWriter bufferedwriter = null;
+		if (writer != null) 
+			bufferedwriter = new BufferedWriter(writer);
+    	
         while (isOperatorControl() && isEnabled()) {
-        	if (startTime == 0 || SmartDashboard.getBoolean("Reset")) {
+        	
+        	drive.arcadeDrive(leftStick);
+        	
+        	if (SmartDashboard.getBoolean("Reset")) {
         		startTime = System.currentTimeMillis();
         	}
+        	
         	// Recording. 
         	long elapsedTime = System.currentTimeMillis()-startTime;
             Timer.delay(0.005);		// wait for a motor update time
+            
+            String logLine = elapsedTime 
+            + ":" + leftOne.get() 
+            + ":" + leftTwo.get() 
+            + ":" + rightOne.get() 
+            + ":" + rightTwo.get();
+            
+            try {
+				if (bufferedwriter != null) 
+					bufferedwriter.write(logLine);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
         }
     }
 
+    public void autonomous() {
+        // Play!
+    	long startTime = System.currentTimeMillis();
+    	
+    	while (isAutonomous() && isEnabled()) {
+        	// Recording. 
+        	long elapsedTime = System.currentTimeMillis()-startTime;
+        	String getLogLineAtElaspsedTime = "1:0:0:0:0";
+        	
+        	
+        	
+        	String[] data = getLogLineAtElaspsedTime.split(":");
+        	
+        	double leftOneSpeed = Double.parseDouble(data[1]);
+        	double leftTwoSpeed = Double.parseDouble(data[2]);
+        	double rightOneSpeed = Double.parseDouble(data[3]);
+        	double rightTwoSpeed = Double.parseDouble(data[4]);
+        	
+        	leftOne.set(leftOneSpeed);
+        	leftTwo.set(leftTwoSpeed);
+        	rightOne.set(rightOneSpeed);
+        	rightTwo.set(rightTwoSpeed);
+        	
+            Timer.delay(0.005);		
+        }
+    }
 }