diff --git a/src/org/montclairrobotics/sprocket/SprocketRobot.java b/src/org/montclairrobotics/sprocket/SprocketRobot.java
index 7891012..c9e3f63 100644
--- a/src/org/montclairrobotics/sprocket/SprocketRobot.java
+++ b/src/org/montclairrobotics/sprocket/SprocketRobot.java
@@ -1,8 +1,9 @@
 package org.montclairrobotics.sprocket;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
 import org.montclairrobotics.sprocket.loop.Updater;
 
+import edu.wpi.first.wpilibj.IterativeRobot;
+
 public class SprocketRobot extends IterativeRobot {
 
     @Override
diff --git a/src/org/montclairrobotics/sprocket/control/ArcadeDriveInput.java b/src/org/montclairrobotics/sprocket/control/ArcadeDriveInput.java
index b2edfae..d4d8d30 100644
--- a/src/org/montclairrobotics/sprocket/control/ArcadeDriveInput.java
+++ b/src/org/montclairrobotics/sprocket/control/ArcadeDriveInput.java
@@ -1,53 +1,64 @@
 package org.montclairrobotics.sprocket.control;
 
-import edu.wpi.first.wpilibj.Joystick;
+import org.montclairrobotics.sprocket.drive.DriveTrainTarget;
 import org.montclairrobotics.sprocket.drive.MotorInputType;
-import org.montclairrobotics.sprocket.drive.DriveTrainInput;
-import org.montclairrobotics.sprocket.geometry.Degrees;
-import org.montclairrobotics.sprocket.geometry.Inch;
-import org.montclairrobotics.sprocket.geometry.Polar;
+import org.montclairrobotics.sprocket.geometry.Angle;
+import org.montclairrobotics.sprocket.geometry.Distance;
+import org.montclairrobotics.sprocket.geometry.IN;
 import org.montclairrobotics.sprocket.geometry.Vector;
+import org.montclairrobotics.sprocket.geometry.XY;
+import org.montclairrobotics.sprocket.loop.Priority;
+import org.montclairrobotics.sprocket.loop.Updatable;
+import org.montclairrobotics.sprocket.loop.Updater;
+import org.montclairrobotics.sprocket.utils.Input;
+
+import edu.wpi.first.wpilibj.Joystick;
 
-public class ArcadeDriveInput extends DriveTrainInput {
+public class ArcadeDriveInput implements Input<DriveTrainTarget>,Updatable {
 
     private Joystick stick;
-    private boolean speedControl;
-    private double maxSpeed;
+    MotorInputType inputType;
+    
+    //private boolean speedControl;
+    private Distance maxSpeed;
+    private Angle maxTurn;
 
     private Vector dir;
-    private double turn;
+    private Angle turn;
 
     public ArcadeDriveInput(Joystick stick) {
-        super(MotorInputType.PERCENT);
-        speedControl = false;
+    	inputType=MotorInputType.PERCENT;
         this.stick = stick;
+        this.maxSpeed=new IN(1);
+        this.maxTurn=Angle.QUARTER;
+        Updater.add(this, Priority.INPUT);
     }
 
-    public ArcadeDriveInput(Joystick stick, Inch maxSpeed) {
-        super(MotorInputType.SPEED);
-        speedControl = true;
+    public ArcadeDriveInput(Joystick stick, Distance maxSpeed, Angle maxTurn) {
+        inputType=MotorInputType.SPEED;
         this.stick = stick;
-        this.maxSpeed = maxSpeed.get();
+        this.maxSpeed = maxSpeed;
+        this.maxTurn=maxTurn;
+        Updater.add(this, Priority.INPUT);
     }
 
 
-    @Override
     public void update() {
-        turn = stick.getX();
-        dir = new Polar(stick.getMagnitude(), new Degrees(stick.getDirectionDegrees()));
-
-        if(speedControl) {
-            dir.scale(maxSpeed,false);
-        }
+        maxTurn = maxTurn.times(stick.getX());
+        dir = new XY(0,stick.getY()*maxSpeed.get());
     }
 
-    @Override
     public Vector getDirection() {
         return dir;
     }
 
-    @Override
-    public double getTurn() {
+    public Angle getTurn() {
         return turn;
     }
+
+	@Override
+	public DriveTrainTarget get() {
+		// TODO Auto-generated method stub
+		return new DriveTrainTarget(getDirection(),getTurn(),inputType);
+	}
 }
diff --git a/src/org/montclairrobotics/sprocket/drive/DriveModule.java b/src/org/montclairrobotics/sprocket/drive/DriveModule.java
index 89be967..5f0e74d 100644
--- a/src/org/montclairrobotics/sprocket/drive/DriveModule.java
+++ b/src/org/montclairrobotics/sprocket/drive/DriveModule.java
@@ -1,58 +1,44 @@
 package org.montclairrobotics.sprocket.drive;
 
-import edu.wpi.first.wpilibj.SpeedController;
-
 import org.montclairrobotics.sprocket.geometry.Angle;
-import org.montclairrobotics.sprocket.geometry.Inch;
-import org.montclairrobotics.sprocket.geometry.Polar;
 import org.montclairrobotics.sprocket.geometry.Vector;
-import org.montclairrobotics.sprocket.utils.PID;
-
-public class DriveModule extends Motor {
-
-    private Angle forceAngle;
-    private Vector offset;
-    private Inch maxSpeed;
-    
-    private Vector forceVector;
-
-    public DriveModule(SpeedController motor,
-                       Angle forceAngle, Vector offset,
-                       SEncoder enc, PID pid, Inch maxSpeed,
-                       boolean invert) {
-        super(motor, enc, pid, invert);
-        this.forceAngle = forceAngle;
-        this.offset = offset;
-        this.maxSpeed = maxSpeed;
-        
-        this.forceVector=new Polar(maxSpeed.get(),forceAngle);
-    }
-
-    public DriveModule(SpeedController motor,
-                       Angle forceAngle, Vector offset,
-                       SEncoder enc, PID pid, Inch maxSpeed) {
-        this(motor, forceAngle, offset, enc, pid, maxSpeed, false);
-    }
-
-    public DriveModule(SpeedController motor,
-                       Angle forceAngle, Vector offset) {
-        this(motor, forceAngle, offset, null, null, null, false);
-    }
-
-    public Angle getForceAngle() {
-        return forceAngle;
-    }
-
-    public Inch getMaxSpeed() {
-        return maxSpeed;
-    }
-
-    public Vector getOffset() {
-        return offset;
-    }
-    
-    public Vector getForceVector()
-    {
-    	return forceVector;
-    }
+import org.montclairrobotics.sprocket.loop.Priority;
+import org.montclairrobotics.sprocket.loop.Updatable;
+import org.montclairrobotics.sprocket.loop.Updater;
+import org.montclairrobotics.sprocket.pipeline.Pipeline;
+
+public class DriveModule implements Updatable{
+	private Motor[] motors;
+	private Pipeline<Double> outputPipeline=new Pipeline<Double>(0.0);
+	private Vector force;
+	private Vector offset;
+	private double tgtForce;
+	
+	public DriveModule(Vector force,Vector offset,Motor... motors){
+		this.motors=motors;
+		Updater.add(this, Priority.OUTPUT);
+	}
+	public Angle getTorque(Vector tgtDirection)
+	{
+		return null;
+		
+	}
+	public void setDirectionTurn(Vector tgtDirection,Angle tgtTurn)
+	{
+		
+	}
+	
+	public void setOutputPipeline(Pipeline<Double> p)
+	{
+		this.outputPipeline=p;
+	}
+	@Override
+	public void update() {
+		tgtForce=outputPipeline.get(tgtForce);
+		for(Motor motor:motors)
+		{
+			motor.set(tgtForce);
+		}
+	}
+	
 }
diff --git a/src/org/montclairrobotics/sprocket/drive/DrivePipeline.java b/src/org/montclairrobotics/sprocket/drive/DrivePipeline.java
deleted file mode 100644
index 7fd55ff..0000000
--- a/src/org/montclairrobotics/sprocket/drive/DrivePipeline.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-public class DrivePipeline {
-
-    private List<DrivePipelineStep> steps;
-
-    public DrivePipeline(DrivePipelineStep... stepList) {
-        steps = Arrays.asList(stepList);
-    }
-
-    public DrivePipeline() {
-        steps = new ArrayList<>();
-    }
-
-
-    public void setPipeline(List<DrivePipelineStep> steps) {
-        this.steps = steps;
-    }
-
-    public void addStepFirst(DrivePipelineStep step) {
-        steps.add(0, step);
-    }
-
-    public void addStepLast(DrivePipelineStep step) {
-        steps.add(step);
-    }
-
-    public void addStep(DrivePipelineStep step) {
-        steps.add(step);
-    }
-
-
-    public void run(DriveTrainTarget target) {
-        for(DrivePipelineStep step : steps) {
-            step.run(target);
-        }
-    }
-}
diff --git a/src/org/montclairrobotics/sprocket/drive/DrivePipelineStep.java b/src/org/montclairrobotics/sprocket/drive/DrivePipelineStep.java
deleted file mode 100644
index 861eef6..0000000
--- a/src/org/montclairrobotics/sprocket/drive/DrivePipelineStep.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-public interface DrivePipelineStep {
-
-    void run(DriveTrainTarget driveTarget);
-
-}
diff --git a/src/org/montclairrobotics/sprocket/drive/DriveTrain.java b/src/org/montclairrobotics/sprocket/drive/DriveTrain.java
deleted file mode 100644
index 2638de2..0000000
--- a/src/org/montclairrobotics/sprocket/drive/DriveTrain.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-import java.util.ArrayList;
-
-public class DriveTrain {
-
-    private ArrayList<DriveModule> driveModules;
-    private DrivePipeline pipeline;
-    private DriveTrainMapper powerMapper;
-    private DriveTrainInput input;
-
-
-    public DriveTrain(DriveModule[] modules, DriveTrainInput input, DrivePipeline pipeline, DriveTrainMapper mapper) {
-
-    }
-
-}
diff --git a/src/org/montclairrobotics/sprocket/drive/DriveTrainBuilder.java b/src/org/montclairrobotics/sprocket/drive/DriveTrainBuilder.java
deleted file mode 100644
index 37f2ebe..0000000
--- a/src/org/montclairrobotics/sprocket/drive/DriveTrainBuilder.java
+++ /dev/null
@@ -1,74 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.SpeedController;
-import org.montclairrobotics.sprocket.control.ArcadeDriveInput;
-import org.montclairrobotics.sprocket.geometry.Degrees;
-import org.montclairrobotics.sprocket.geometry.Inch;
-import org.montclairrobotics.sprocket.geometry.Side;
-import org.montclairrobotics.sprocket.geometry.XY;
-import org.montclairrobotics.sprocket.utils.PID;
-
-import java.util.ArrayList;
-
-public class DriveTrainBuilder {
-
-    private ArrayList<DriveModule> modules;
-    private DriveTrainInput input;
-
-    public DriveTrainBuilder() {
-        modules = new ArrayList<>();
-    }
-
-
-    public DriveTrainBuilder addDriveModule(DriveModule module) {
-        modules.add(module);
-        return this;
-    }
-
-    public DriveTrainBuilder addWheel(SpeedController motor, Side side, SEncoder enc, PID pid, Inch maxSpeed, boolean invert) {
-        DriveModule module = new DriveModule(motor, new Degrees(0),
-                side == Side.LEFT ? new XY(-1, 0) : new XY(1, 0),
-                enc, pid, maxSpeed);
-        if(invert) {
-            module.setInverted(true);
-        }
-        return this;
-    }
-
-    public DriveTrainBuilder addWheel(SpeedController motor, Side side, SEncoder enc, PID pid, Inch maxSpeed) {
-        return addWheel(motor, side, enc, pid, maxSpeed, false);
-    }
-
-    public DriveTrainBuilder addWheel(SpeedController motor, Side side) {
-        return addWheel(motor, side, null, null, null);
-    }
-
-    public DriveTrainBuilder setInput(DriveTrainInput input) {
-        this.input = input;
-        return this;
-    }
-
-    public DriveTrainBuilder setArcadeDriveInput(Joystick stick) {
-        return setInput(new ArcadeDriveInput(stick));
-    }
-
-    public DriveTrainBuilder setArcadeDriveInputSpeedControl(Joystick stick, Inch maxSpeed) {
-        return setInput(new ArcadeDriveInput(stick, maxSpeed));
-    }
-
-    public DriveTrain build() throws InvalidDriveTrainException {
-        if(modules.size() == 0) {
-            throw new InvalidDriveTrainException("DriveTrain requires at least one drive module to be defined.");
-        }
-
-
-    }
-
-}
-
-class InvalidDriveTrainException extends Exception {
-    public InvalidDriveTrainException(String message) {
-        super(message);
-    }
-}
\ No newline at end of file
diff --git a/src/org/montclairrobotics/sprocket/drive/DriveTrainInput.java b/src/org/montclairrobotics/sprocket/drive/DriveTrainInput.java
deleted file mode 100644
index fbce8ec..0000000
--- a/src/org/montclairrobotics/sprocket/drive/DriveTrainInput.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-import org.montclairrobotics.sprocket.geometry.Vector;
-import org.montclairrobotics.sprocket.loop.Priority;
-import org.montclairrobotics.sprocket.loop.Updatable;
-import org.montclairrobotics.sprocket.loop.Updater;
-
-public abstract class DriveTrainInput implements Updatable {
-
-    protected MotorInputType inputType;
-
-    public DriveTrainInput(MotorInputType type) {
-        inputType = type;
-        Updater.add(this, Priority.CONTROL);
-    }
-
-    public abstract Vector getDirection();
-
-    public abstract double getTurn();
-
-    public MotorInputType getInputType() {
-        return inputType;
-    }
-}
-
diff --git a/src/org/montclairrobotics/sprocket/drive/DriveTrainMapper.java b/src/org/montclairrobotics/sprocket/drive/DriveTrainMapper.java
deleted file mode 100644
index 710baca..0000000
--- a/src/org/montclairrobotics/sprocket/drive/DriveTrainMapper.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-public interface DriveTrainMapper {
-
-    void map(DriveTrainTarget driveTarget, DriveModule[] driveModules);
-
-}
diff --git a/src/org/montclairrobotics/sprocket/drive/DriveTrainTarget.java b/src/org/montclairrobotics/sprocket/drive/DriveTrainTarget.java
index d85fca1..95aee57 100644
--- a/src/org/montclairrobotics/sprocket/drive/DriveTrainTarget.java
+++ b/src/org/montclairrobotics/sprocket/drive/DriveTrainTarget.java
@@ -5,7 +5,8 @@
 
 public class DriveTrainTarget {
 
-    private Vector direction;
+    public static final DriveTrainTarget ZERO = new DriveTrainTarget(Vector.ZERO,Angle.ZERO,MotorInputType.SPEED);
+	private Vector direction;
     private Angle turn;
     private MotorInputType inputType;
 
diff --git a/src/org/montclairrobotics/sprocket/drive/Drivetrain.java b/src/org/montclairrobotics/sprocket/drive/Drivetrain.java
new file mode 100644
index 0000000..63029d8
--- /dev/null
+++ b/src/org/montclairrobotics/sprocket/drive/Drivetrain.java
@@ -0,0 +1,41 @@
+package org.montclairrobotics.sprocket.drive;
+
+import org.montclairrobotics.sprocket.geometry.Angle;
+import org.montclairrobotics.sprocket.geometry.Vector;
+import org.montclairrobotics.sprocket.loop.Updatable;
+import org.montclairrobotics.sprocket.pipeline.Pipeline;
+import org.montclairrobotics.sprocket.utils.Input;
+
+public class Drivetrain implements Updatable{
+	private Input<DriveTrainTarget> input;
+	private DriveModule[] modules;
+	
+	public Drivetrain(DriveModule[] modules)
+	{
+		this.input=new Pipeline<DriveTrainTarget>(DriveTrainTarget.ZERO);
+		this.modules=modules;
+	}
+	
+	public void setInput(Input<DriveTrainTarget> input)
+	{
+		this.input=input;
+	}
+
+	@Override
+	public void update() {
+		DriveTrainTarget target=input.get();
+		Vector tgtDirection=target.getDirection();
+		Angle tgtTurn=target.getTurn();
+		Angle torque=Angle.ZERO;
+		for(DriveModule module:modules)
+			
+		{
+			torque=torque.add(module.getTorque(tgtDirection));
+		}
+		tgtTurn.subtract(torque);
+		for(DriveModule module:modules)
+		{
+			module.setDirectionTurn(tgtDirection,tgtTurn);
+		}
+	}
+}
diff --git a/src/org/montclairrobotics/sprocket/drive/EncoderInput.java b/src/org/montclairrobotics/sprocket/drive/EncoderInput.java
index 6852fd0..391d371 100644
--- a/src/org/montclairrobotics/sprocket/drive/EncoderInput.java
+++ b/src/org/montclairrobotics/sprocket/drive/EncoderInput.java
@@ -2,7 +2,7 @@
 
 import org.montclairrobotics.sprocket.utils.Input;
 
-public class EncoderInput extends Input {
+public class EncoderInput implements Input<Double> {
 
     private SEncoder enc;
 
@@ -11,10 +11,7 @@ public EncoderInput(SEncoder e) {
     }
 
     @Override
-    public double get() {
+    public Double get() {
         return enc.getSpeed().get();
     }
-
-    @Override
-    public void set(double value) {}
 }
diff --git a/src/org/montclairrobotics/sprocket/drive/Motor.java b/src/org/montclairrobotics/sprocket/drive/Motor.java
index 562e85b..1bc8fc3 100644
--- a/src/org/montclairrobotics/sprocket/drive/Motor.java
+++ b/src/org/montclairrobotics/sprocket/drive/Motor.java
@@ -1,11 +1,12 @@
 package org.montclairrobotics.sprocket.drive;
 
+import org.montclairrobotics.sprocket.utils.PID;
+
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Talon;
-import org.montclairrobotics.sprocket.utils.PID;
 
-public class Motor {
+public class Motor{
 
     public enum MotorType {
         CANTALON,
diff --git a/src/org/montclairrobotics/sprocket/drive/SEncoder.java b/src/org/montclairrobotics/sprocket/drive/SEncoder.java
index 8067d38..b74d659 100644
--- a/src/org/montclairrobotics/sprocket/drive/SEncoder.java
+++ b/src/org/montclairrobotics/sprocket/drive/SEncoder.java
@@ -1,7 +1,8 @@
 package org.montclairrobotics.sprocket.drive;
 
+import org.montclairrobotics.sprocket.geometry.Distance;
+
 import edu.wpi.first.wpilibj.Encoder;
-import org.montclairrobotics.sprocket.geometry.Inch;
 
 public class SEncoder {
 
@@ -34,12 +35,12 @@ public double getTickRate() {
         return enc.getRate();
     }
 
-    public Inch getInches() {
-        return new Inch(getTicks()/ticksPerInch);
+    public Distance getInches() {
+        return new Distance(getTicks()/ticksPerInch);
     }
 
-    public Inch getSpeed() {
-        return new Inch(getTickRate()/ticksPerInch);
+    public Distance getSpeed() {
+        return new Distance(getTickRate()/ticksPerInch);
     }
 
     public void reset() {
diff --git a/src/org/montclairrobotics/sprocket/drive/TheBestMapper.java b/src/org/montclairrobotics/sprocket/drive/TheBestMapper.java
deleted file mode 100644
index 9a908bc..0000000
--- a/src/org/montclairrobotics/sprocket/drive/TheBestMapper.java
+++ /dev/null
@@ -1,48 +0,0 @@
-package org.montclairrobotics.sprocket.drive;
-
-import org.montclairrobotics.sprocket.geometry.Angle;
-import org.montclairrobotics.sprocket.geometry.Degrees;
-import org.montclairrobotics.sprocket.geometry.Radians;
-import org.montclairrobotics.sprocket.geometry.Vector;
-
-public class TheBestMapper implements DriveTrainMapper{
-
-	@Override
-	public void map(DriveTrainTarget driveTarget, DriveModule[] driveModules) {
-		
-		
-		Vector tgtDirection=driveTarget.getDirection();
-		Angle tgtTurn=driveTarget.getTurn();
-		
-		Vector force,offset;
-		//This loop is to compensate for the torque generated 
-		for(DriveModule module:driveModules)
-		{
-			force=module.getForceVector();
-			offset=module.getOffset();
-			tgtTurn=tgtTurn.subtract(
-					new Radians(
-							force
-								.scale(
-									force.dotProduct(tgtDirection)/force.getMagnitude(), true)
-								.rotate(offset.getAngle().opposite())
-								.getX()/offset.getMagnitude()));
-		}
-		//This actually sets the power
-		for(DriveModule module:driveModules)
-		{
-			force=module.getForceVector();
-			offset=module.getOffset();
-			module.set(
-					force.dotProduct(
-							tgtDirection.add(
-								offset
-									.rotate(new Degrees(90))
-									.scale(tgtTurn.toRadians()*offset.getMagnitude(),true)
-								)
-							)/force.getMagnitude());
-					
-		}
-	}
-
-}
diff --git a/src/org/montclairrobotics/sprocket/geometry/Angle.java b/src/org/montclairrobotics/sprocket/geometry/Angle.java
index 78332b9..311be7a 100644
--- a/src/org/montclairrobotics/sprocket/geometry/Angle.java
+++ b/src/org/montclairrobotics/sprocket/geometry/Angle.java
@@ -2,7 +2,8 @@
 
 public interface Angle {
 
-    /**
+    Angle ZERO=new Degrees(0),QUARTER = new Degrees(90),HALF = new Degrees(180);
+	/**
      * Returns the represented angle in degrees
      * @return the angle in degrees
      */
@@ -32,7 +33,10 @@ public interface Angle {
      * Returns the negative of this angle
      * @return the negative of this angle
      */
+    Angle negative();
     Angle opposite();
 
+	Angle times(double x);
+
 
 }
diff --git a/src/org/montclairrobotics/sprocket/geometry/Degrees.java b/src/org/montclairrobotics/sprocket/geometry/Degrees.java
index fec5e3b..58dfe4f 100644
--- a/src/org/montclairrobotics/sprocket/geometry/Degrees.java
+++ b/src/org/montclairrobotics/sprocket/geometry/Degrees.java
@@ -29,7 +29,16 @@ public Angle subtract(Angle a) {
     }
 
     @Override
-    public Angle opposite() {
+    public Angle negative() {
         return new Degrees(-toDegrees());
     }
+    public Angle opposite()
+    {
+    	return new Degrees(180+toDegrees());
+    }
+
+	@Override
+	public Angle times(double x) {
+		return new Degrees(toDegrees()*x);
+	}
 }
diff --git a/src/org/montclairrobotics/sprocket/geometry/Distance.java b/src/org/montclairrobotics/sprocket/geometry/Distance.java
new file mode 100644
index 0000000..5e5ddee
--- /dev/null
+++ b/src/org/montclairrobotics/sprocket/geometry/Distance.java
@@ -0,0 +1,29 @@
+package org.montclairrobotics.sprocket.geometry;
+
+public class Distance {
+	public static final Distance ZERO = new Distance(0);
+	public static final Distance IN = new Distance(1);
+	public static final Distance CM = new Distance(1/2.54);
+    public static final Distance M = new Distance(100,CM);
+    public static final Distance FT = new Distance(12);
+	
+    private double inches;
+	
+	public Distance(double i)
+	{
+		this.inches=i;
+	}
+	public Distance(double d,Distance unit)
+	{
+		this(d*unit.get());
+	}
+	
+	public double get()
+	{
+		return inches;
+	}
+	public double get(Distance unit)
+	{
+		return inches/unit.get();
+	}
+}
diff --git a/src/org/montclairrobotics/sprocket/geometry/IN.java b/src/org/montclairrobotics/sprocket/geometry/IN.java
new file mode 100644
index 0000000..b3e998a
--- /dev/null
+++ b/src/org/montclairrobotics/sprocket/geometry/IN.java
@@ -0,0 +1,10 @@
+package org.montclairrobotics.sprocket.geometry;
+
+public class IN extends Distance{
+
+	public IN(double i) {
+		super(i);
+		// TODO Auto-generated constructor stub
+	}
+
+}
diff --git a/src/org/montclairrobotics/sprocket/geometry/Inch.java b/src/org/montclairrobotics/sprocket/geometry/Inch.java
deleted file mode 100644
index 05be13f..0000000
--- a/src/org/montclairrobotics/sprocket/geometry/Inch.java
+++ /dev/null
@@ -1,54 +0,0 @@
-package org.montclairrobotics.sprocket.geometry;
-
-public class Inch {
-
-    public static final double TO_CM = 2.54;
-    public static final double TO_M = TO_CM/100;
-    public static final double TO_FT = 1/12;
-
-    private double inches;
-
-
-    public Inch(double inches) {
-        this.inches = inches;
-    }
-
-
-
-
-    public static Inch fromCM(double cm) {
-        return new Inch(cm/TO_CM);
-    }
-
-    public static Inch fromM(double m) {
-        return new Inch(m / TO_M);
-    }
-
-    public static Inch fromFeet(double ft) {
-        return new Inch(ft / TO_FT);
-    }
-
-
-
-
-    public double getInches() {
-        return inches;
-    }
-
-    public double get() {
-        return inches;
-    }
-
-    public double getCM() {
-        return inches * TO_CM;
-    }
-
-    public double getM() {
-        return inches * TO_M;
-    }
-
-    public double getFeet() {
-        return inches * TO_FT;
-    }
-
-}
diff --git a/src/org/montclairrobotics/sprocket/geometry/Polar.java b/src/org/montclairrobotics/sprocket/geometry/Polar.java
index 78f2266..1ed07a1 100644
--- a/src/org/montclairrobotics/sprocket/geometry/Polar.java
+++ b/src/org/montclairrobotics/sprocket/geometry/Polar.java
@@ -2,16 +2,20 @@
 
 public class Polar implements Vector {
 
-    private double magnitude;
+    private Distance magnitude;
     private Angle angle;
 
-    public Polar(double mag, Angle a) {
+    public Polar(double mag,Angle a)
+    {
+    	this(new IN(mag),a);
+    }
+    public Polar(Distance mag, Angle a) {
         magnitude = mag;
         angle = a;
     }
 
     @Override
-    public double getMagnitude() {
+    public Distance getMagnitude() {
         return magnitude;
     }
 
@@ -21,23 +25,23 @@ public Angle getAngle() {
     }
 
     @Override
-    public double getX() {
-        return magnitude * Math.sin(angle.toRadians());
+    public Distance getX() {
+        return new IN(magnitude.get() * Math.sin(angle.toRadians()));
     }
 
     @Override
-    public double getY() {
-        return magnitude * Math.cos(angle.toRadians());
+    public Distance getY() {
+        return new IN(magnitude.get() * Math.cos(angle.toRadians()));
     }
 
     @Override
     public Vector add(Vector v) {
-        return new XY(getX() + v.getX(), getY() + v.getY());
+        return new XY(getX().get() + v.getX().get(), getY().get() + v.getY().get());
     }
 
     @Override
     public Vector subtract(Vector v) {
-        return new XY(getX() - v.getX(), getY() - v.getY());
+        return new XY(getX().get() - v.getX().get(), getY().get() - v.getY().get());
     }
 
     @Override
@@ -45,12 +49,12 @@ public Vector scale(double s,boolean norm) {
     	if(norm)
     		return new Polar(s,angle);
     	else
-    		return new Polar(magnitude * s, angle);
+    		return new Polar(magnitude.get() * s, angle);
     }
 
     @Override
-    public double dotProduct(Vector v) {
-        return (getX() * v.getX()) + (getY() * v.getY());
+    public Distance dotProduct(Vector v) {
+        return new IN((getX().get() * v.getX().get()) + (getY().get() * v.getY().get()));
     }
 
 	@Override
diff --git a/src/org/montclairrobotics/sprocket/geometry/Radians.java b/src/org/montclairrobotics/sprocket/geometry/Radians.java
index 7215bed..cfc097b 100644
--- a/src/org/montclairrobotics/sprocket/geometry/Radians.java
+++ b/src/org/montclairrobotics/sprocket/geometry/Radians.java
@@ -28,8 +28,17 @@ public Angle subtract(Angle a) {
         return new Radians(toRadians() - a.toRadians());
     }
 
+    public Angle opposite()
+    {
+    	return new Radians(2*Math.PI+toRadians());
+    }
     @Override
-    public Angle opposite() {
+    public Angle negative() {
         return new Radians(-toRadians());
     }
+
+	@Override
+	public Angle times(double x) {
+		return new Radians(toRadians()*x);
+	}
 }
diff --git a/src/org/montclairrobotics/sprocket/geometry/Side.java b/src/org/montclairrobotics/sprocket/geometry/Side.java
deleted file mode 100644
index 6f2336e..0000000
--- a/src/org/montclairrobotics/sprocket/geometry/Side.java
+++ /dev/null
@@ -1,6 +0,0 @@
-package org.montclairrobotics.sprocket.geometry;
-
-public enum Side {
-    LEFT,
-    RIGHT
-}
diff --git a/src/org/montclairrobotics/sprocket/geometry/Vector.java b/src/org/montclairrobotics/sprocket/geometry/Vector.java
index b7f5c60..25dba12 100644
--- a/src/org/montclairrobotics/sprocket/geometry/Vector.java
+++ b/src/org/montclairrobotics/sprocket/geometry/Vector.java
@@ -2,14 +2,15 @@
 
 public interface Vector {
 
-    double getMagnitude();
+    Vector ZERO = new XY(0,0);
+	Distance getMagnitude();
     Angle getAngle();
-    double getX();
-    double getY();
+    Distance getX();
+    Distance getY();
     Vector add(Vector v);
     Vector subtract(Vector v);
     Vector scale(double s,boolean norm);
-    double dotProduct(Vector v);
+    Distance dotProduct(Vector v);
 	Vector rotate(Angle angle);
 
 }
diff --git a/src/org/montclairrobotics/sprocket/geometry/XY.java b/src/org/montclairrobotics/sprocket/geometry/XY.java
index faa67f9..2006da5 100644
--- a/src/org/montclairrobotics/sprocket/geometry/XY.java
+++ b/src/org/montclairrobotics/sprocket/geometry/XY.java
@@ -2,54 +2,58 @@
 
 public class XY implements Vector {
 
-    private double x;
-    private double y;
+    private Distance x;
+    private Distance y;
 
-    public XY(double x, double y) {
+    public XY(double x,double y)
+    {
+    	this(new IN(x),new IN(y));
+    }
+    public XY(Distance x, Distance y) {
         this.x = x;
         this.y = y;
     }
 
     @Override
-    public double getMagnitude() {
-        return Math.sqrt(x*x + y*y);
+    public Distance getMagnitude() {
+        return new IN(Math.sqrt(x.get()*x.get() + y.get()*y.get()));
     }
 
     @Override
     public Angle getAngle() {
-        return new Radians(Math.atan(x/y));
+        return new Radians(Math.atan(x.get()/y.get()));
     }
 
     @Override
-    public double getX() {
+    public Distance getX() {
         return x;
     }
 
     @Override
-    public double getY() {
+    public Distance getY() {
         return y;
     }
 
     @Override
     public Vector add(Vector v) {
-        return new XY(v.getX() + x, v.getY() + y);
+        return new XY(v.getX().get() + x.get(), v.getY().get() + y.get());
     }
 
     @Override
     public Vector subtract(Vector v) {
-        return new XY(x - v.getX(), y - v.getY());
+        return new XY(x.get() - v.getX().get(), y.get() - v.getY().get());
     }
 
     @Override
     public Vector scale(double s,boolean norm) {
-    	if(norm&&getMagnitude()!=0)
-    		s/=getMagnitude();
-        return new XY(x * s, y * s);
+    	if(norm&&getMagnitude().get()!=0)
+    		s/=getMagnitude().get();
+        return new XY(x.get() * s, y.get() * s);
     }
 
     @Override
-    public double dotProduct(Vector v) {
-        return (x * v.getX()) + (y * v.getY());
+    public Distance dotProduct(Vector v) {
+        return new IN((x.get() * v.getX().get()) + (y.get() * v.getY().get()));
     }
 
 	@Override
diff --git a/src/org/montclairrobotics/sprocket/httpserver/Http.java b/src/org/montclairrobotics/sprocket/httpserver/Http.java
deleted file mode 100644
index c34142c..0000000
--- a/src/org/montclairrobotics/sprocket/httpserver/Http.java
+++ /dev/null
@@ -1,97 +0,0 @@
-package org.montclairrobotics.sprocket.httpserver;
-/*
- * TO USE (in eclipse):
- * Right click on project name
- * Click Build Path > Configure Build Path
- * Select Libraries
- * Click the Down Arrow next to JRE System Library
- * Double Click "Access Rules"
- * Click Add
- * Change Resolution to Accessible
- * Use this pattern: com/sun/**
- * Click OK
- * Click OK
- * Click OK
- */
-import java.io.IOException;
-import java.io.OutputStream;
-import java.net.InetSocketAddress;
-
-import com.sun.net.httpserver.HttpExchange;
-import com.sun.net.httpserver.HttpHandler;
-import com.sun.net.httpserver.HttpServer;
-import com.sun.net.httpserver.Headers;
-
-public class Http implements Runnable{
-    
-	private Thread myThread; 
-	
-    private HttpServer server;
-    private boolean on=false;
-    private int port;
-    private String subDir;
-    
-    public Http(int port, String subDir)
-    {
-    	this.port=port;
-    	this.subDir=subDir;
-    	myThread=new Thread(this);
-    	myThread.start();
-    }
-    
-    public void run()
-    {
-    	startServer();
-    }
-    public void startServer()
-    {
-        try {
-			server = HttpServer.create(new InetSocketAddress(port), 0);
-		} catch (IOException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-			return;
-		}
-        server.createContext("/"+subDir, new MyHandler());
-        server.setExecutor(null); // creates a default executor
-        server.start();
-        on=true;
-    }
-    
-    public void stopServer()
-    {
-    	if(server!=null && on)
-    	{
-    		server.stop(0);
-    		on=false;
-    	}
-    }
-    
-    class MyHandler implements HttpHandler {
-        @Override
-        public void handle(HttpExchange t) throws IOException {
-            request(t);
-        }
-    }
-    public void request(HttpExchange t) {
-        try{
-	    	Headers h=t.getResponseHeaders();
-	        byte[]response=getResponse(h,t);
-			t.sendResponseHeaders(200, response.length);
-			OutputStream os = t.getResponseBody();
-	        os.write(response);
-	        os.close();
-		} catch (IOException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-    }
-    /**
-     * Processes an http request,
-     * filling out header and returning the response
-     * @param h the Headers, add() each header
-     * @param exchange the HttpExchange (don't have to use)
-     * @return the byte[] that you want to send
-     */
-    public byte[] getResponse(Headers h,HttpExchange exchange){return null;}
-}
diff --git a/src/org/montclairrobotics/sprocket/httpserver/MJpg.java b/src/org/montclairrobotics/sprocket/httpserver/MJpg.java
deleted file mode 100644
index 92191f3..0000000
--- a/src/org/montclairrobotics/sprocket/httpserver/MJpg.java
+++ /dev/null
@@ -1,124 +0,0 @@
-package org.montclairrobotics.sprocket.httpserver;
-
-
-
-/**
- * Copyright (c) 2013 Joshua Dickson
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
- * of the Software, and to permit persons to whom the Software is furnished to do
- * so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-import java.awt.image.BufferedImage;
-import java.io.ByteArrayOutputStream;
-import java.io.File;
-import java.io.OutputStream;
-import java.util.ArrayList;
-import java.util.List;
-
-import javax.imageio.ImageIO;
-
-import com.sun.net.httpserver.HttpExchange;
-
-/**
- * A basic implementation of a MJPG streamer as a Java servlet. MJPG is commonly used to deliver 
- * image information from networked cameras via an HTTP stream. The set up of this class allws 
- * for dynamic image information that is created in real time to be sent to any tool capable of 
- * reading MJPG including several major internet browsers (Safari, Chrome, and Firefox).
- * 
- * We exclude four necessary images, which can be places in the user's home directory. We name
- * our revolving images 'winter', 'spring', 'summer', and 'fall'. Images can be of any type, but
- * this class is set up to read JPG images. Altering the image source type involves changing
- * the ImageIO.write() function call that returns the image as a byte array.
- * 
- * The byte array could also be loaded live and not generated from a static file.
- * 
- * Feedback may be sent to josh dot dickson at wpi dot edu.
- * 
- * @author Joshua Dickson
- * @version December 10, 2013
- */
-public class MJpg extends Http {
-    
-    private final List<byte[]> imageByteList;
-    private int currentIndex;
-        
-    
-    public MJpg(int port,String fileName){
-        super(port, fileName);
-        
-        // set the index
-        currentIndex = 0;
-        
-        // load images from the user's home directory into the list of image bytes
-        String[] names = {"summer", "fall", "winter", "spring"};
-        imageByteList = new ArrayList<byte[]>(0);
-        
-        for(String name : names) {
-            try {
-                File image = new File(name + ".jpg");
-                BufferedImage originalImage = ImageIO.read(image);
-                ByteArrayOutputStream baos = new ByteArrayOutputStream();
-                ImageIO.write( originalImage, "jpg", baos );
-                baos.flush();
-                imageByteList.add(baos.toByteArray());
-                baos.close();
-            } catch (Exception ex) {
-                System.err.println("There was a problem loading the images.");
-            }
-        }
-
-    }
-    public void request(HttpExchange t) {
-        try{
-            byte[] data = getResponse();
-            t.sendResponseHeaders(200,0);
-            OutputStream outputStream = t.getResponseBody();
-            outputStream.write((
-                "HTTP/1.0 200 OK\r\n" +
-                "Connection: close\r\n" +
-                "Max-Age: 0\r\n" +
-                "Expires: 0\r\n" +
-                "Access-Control-Allow-Origin: *" +
-                "Cache-Control: no-cache, private\r\n" + 
-                "Pragma: no-cache\r\n" + 
-                "Content-Type: multipart/x-mixed-replace; " +
-                "boundary=--BoundaryString\r\n\r\n").getBytes());
-            while (true) {
-                data = getResponse();
-                outputStream.write((
-                "--BoundaryString\r\n" +
-                "Content-type: image/jpg\r\n" +
-                "Content-Length: " +
-                data.length +
-                "\r\n\r\n").getBytes());
-                outputStream.write(data);
-                outputStream.write("\r\n\r\n".getBytes());
-                outputStream.flush();
-            }
-        }
-        catch(Exception e)
-        {
-        }
-    }
-    public byte[] getResponse() {
-        currentIndex=(currentIndex+1)%4;
-        return imageByteList.get(currentIndex); 
-    }
-
-}
\ No newline at end of file
diff --git a/src/org/montclairrobotics/sprocket/pipeline/Pipeline.java b/src/org/montclairrobotics/sprocket/pipeline/Pipeline.java
new file mode 100644
index 0000000..09f642a
--- /dev/null
+++ b/src/org/montclairrobotics/sprocket/pipeline/Pipeline.java
@@ -0,0 +1,36 @@
+package org.montclairrobotics.sprocket.pipeline;
+
+import java.util.ArrayList;
+
+import org.montclairrobotics.sprocket.utils.Input;
+
+public class Pipeline <T> implements Input<T>{
+
+	private ArrayList<Step<T>> steps;
+	private T init;
+	
+	public Pipeline(T init,ArrayList<Step<T>> steps)
+	{
+		this.steps=steps;
+		this.init=init;
+	}
+	
+	public Pipeline(T init) {
+		this.steps=new ArrayList<Step<T>>();
+		this.init=init;
+	}
+
+	public T get()
+	{
+		return get(init);
+	}
+	
+	public T get(T res)
+	{
+		for(Step<T> step:steps)
+		{
+			res=step.get(init);
+		}
+		return res;
+	}
+}
diff --git a/src/org/montclairrobotics/sprocket/pipeline/Step.java b/src/org/montclairrobotics/sprocket/pipeline/Step.java
new file mode 100644
index 0000000..85b3a30
--- /dev/null
+++ b/src/org/montclairrobotics/sprocket/pipeline/Step.java
@@ -0,0 +1,5 @@
+package org.montclairrobotics.sprocket.pipeline;
+
+public interface Step<T> {
+	public T get(T in);
+}
diff --git a/src/org/montclairrobotics/sprocket/utils/Grip.java b/src/org/montclairrobotics/sprocket/utils/Grip.java
index ca8cc89..7d45fb1 100644
--- a/src/org/montclairrobotics/sprocket/utils/Grip.java
+++ b/src/org/montclairrobotics/sprocket/utils/Grip.java
@@ -1,8 +1,8 @@
 package org.montclairrobotics.sprocket.utils;
 
-import org.montclairrobotics.sprocket.updater.Priority;
-import org.montclairrobotics.sprocket.updater.Updatable;
-import org.montclairrobotics.sprocket.updater.Updater;
+import org.montclairrobotics.sprocket.loop.Priority;
+import org.montclairrobotics.sprocket.loop.Updatable;
+import org.montclairrobotics.sprocket.loop.Updater;
 
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 
diff --git a/src/org/montclairrobotics/sprocket/utils/Input.java b/src/org/montclairrobotics/sprocket/utils/Input.java
index b58271b..90ee41b 100644
--- a/src/org/montclairrobotics/sprocket/utils/Input.java
+++ b/src/org/montclairrobotics/sprocket/utils/Input.java
@@ -1,23 +1,6 @@
 package org.montclairrobotics.sprocket.utils;
 
-public class Input {
+public interface Input<T> {
 
-    private double value;
-
-    public Input(double value) {
-        this.value = value;
-    }
-
-    public Input() {
-        this.value = 0.0;
-    }
-
-
-    public double get() {
-        return get();
-    }
-
-    public void set(double value) {
-        this.value = value;
-    }
+    public T get();
 }
diff --git a/src/org/montclairrobotics/sprocket/utils/PID.java b/src/org/montclairrobotics/sprocket/utils/PID.java
index a6d880f..4c3e8b6 100644
--- a/src/org/montclairrobotics/sprocket/utils/PID.java
+++ b/src/org/montclairrobotics/sprocket/utils/PID.java
@@ -17,7 +17,7 @@
 
 public class PID implements Updatable {
 
-	private Input input;
+	private Input<Double> input;
 	private double P,I,D,minIn,maxIn,minOut,maxOut;
 	
 	private boolean calculated=false;