diff --git a/src/main/java/org/usfirst/frc/team2412/robot/subsystems/DriveBaseSubsystem.java b/src/main/java/org/usfirst/frc/team2412/robot/subsystems/DriveBaseSubsystem.java
index f60bcbc..52c642b 100644
--- a/src/main/java/org/usfirst/frc/team2412/robot/subsystems/DriveBaseSubsystem.java
+++ b/src/main/java/org/usfirst/frc/team2412/robot/subsystems/DriveBaseSubsystem.java
@@ -1,12 +1,14 @@
 package org.usfirst.frc.team2412.robot.subsystems;
 
+import org.usfirst.frc.team2412.robot.RobotMap;
 import org.usfirst.frc.team2412.robot.commands.JoystickDriveCommand;
 
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveBaseSubsystem extends Subsystem {
-	// private DifferentialDrive robotDrive = RobotMap.drive;
+	private DifferentialDrive robotDrive = RobotMap.drive;
 
 	@Override
 	protected void initDefaultCommand() {
diff --git a/src/main/java/org/usfirst/frc/team2412/robot/subsystems/InTakeUpDownSubsystem.java b/src/main/java/org/usfirst/frc/team2412/robot/subsystems/InTakeUpDownSubsystem.java
index 3976c22..9fa9f4c 100644
--- a/src/main/java/org/usfirst/frc/team2412/robot/subsystems/InTakeUpDownSubsystem.java
+++ b/src/main/java/org/usfirst/frc/team2412/robot/subsystems/InTakeUpDownSubsystem.java
@@ -1,8 +1,12 @@
 package org.usfirst.frc.team2412.robot.subsystems;
 
+import org.usfirst.frc.team2412.robot.RobotMap;
+
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+
 public class InTakeUpDownSubsystem extends PIDSubsystem {
 
 	// PID conversion and unit values
@@ -25,7 +29,7 @@ public class InTakeUpDownSubsystem extends PIDSubsystem {
 	
 	// private DigitalInput limitSwitchUp = RobotMap.limitSwitchUp;
 	// private DigitalInput limitSwitchDown = RobotMap.limitSwitchDown;
-	// private WPI_VictorSPX armMotor1 = RobotMap.armMotor1;
+	private WPI_VictorSPX armMotor1 = RobotMap.armMotor1;
 	
 	public InTakeUpDownSubsystem() {
 		this(DEFAULT_KP, DEFAULT_KI, DEFAULT_KD);
diff --git a/src/main/java/org/usfirst/frc/team2412/robot/subsystems/LiftSubsystem.java b/src/main/java/org/usfirst/frc/team2412/robot/subsystems/LiftSubsystem.java
index 8c223b0..2614158 100644
--- a/src/main/java/org/usfirst/frc/team2412/robot/subsystems/LiftSubsystem.java
+++ b/src/main/java/org/usfirst/frc/team2412/robot/subsystems/LiftSubsystem.java
@@ -1,6 +1,9 @@
 package org.usfirst.frc.team2412.robot.subsystems;
 
 import com.revrobotics.ControlType;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.CANEncoder;
 
 import org.usfirst.frc.team2412.robot.RobotMap;
 
@@ -27,9 +30,9 @@ public class LiftSubsystem extends Subsystem {
 
 	double motorRotationsToInches = outputGearCircumference * pullyRatio / gearboxRatio;
 
-	// CANSparkMax liftMotorLeader = RobotMap.liftMotors[0]; // Motors from RobotMap
-	// CANPIDController PIDController = liftMotorLeader.getPIDController();
-	// CANEncoder motorEncoder = liftMotorLeader.getEncoder();
+	CANSparkMax liftMotorLeader = RobotMap.liftMotors[0]; // Motors from RobotMap
+	CANPIDController PIDController = liftMotorLeader.getPIDController();
+	CANEncoder motorEncoder = liftMotorLeader.getEncoder();
 
 	double P = 0.01; //.11
 	double P_safe = 0.03;