diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..61f25ce
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,160 @@
+# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+.classpath
+.project
+.settings/
+bin/
+
+
+# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..6525af3
--- /dev/null
+++ b/README.md
@@ -0,0 +1,2 @@
+# lib6647
+Team 6647's library to allow JSON-oriented object building and initialization.
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..006a0c0
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,55 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ *
+ * This generated file contains a sample Java Library project to get you started.
+ * For more details take a look at the Java Libraries chapter in the Gradle
+ * User Manual available at https://docs.gradle.org/5.4.1/userguide/java_library_plugin.html
+ */
+
+plugins {
+    // Apply the java-library plugin to add support for Java Library
+	id 'java'
+    id 'java-library'
+	id "edu.wpi.first.GradleRIO" version "2019.4.1"
+}
+
+repositories {
+    // Use jcenter for resolving your dependencies.
+    // You can declare any Maven/Ivy/file repository here.
+    jcenter()
+	mavenCentral()
+	maven {
+		url "http://devsite.ctr-electronics.com/maven/release"
+	}
+}
+
+dependencies {
+
+	//WPILib dependencies.
+	compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    // This dependency is exported to consumers, that is to say found on their compile classpath.
+    api 'org.apache.commons:commons-math3:3.6.1'
+
+    // This dependency is used internally, and not exposed to consumers on their own compile classpath.
+    implementation 'com.google.guava:guava:27.0.1-jre'
+
+    // Use JUnit test framework
+    testImplementation 'junit:junit:4.12'
+	
+	// https://mvnrepository.com/artifact/com.googlecode.json-simple/json-simple
+    compile group: 'com.googlecode.json-simple', name: 'json-simple', version: '1.1.1'
+	
+	//Phoenix dependencies.
+	compile group: 'com.ctre.phoenix', name: 'api-java', version: '5.14.1'
+	compile group: 'com.ctre.phoenix', name: 'wpiapi-java', version: '5.14.1'
+}
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime.
+jar {
+    from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
+}
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..5c2d1cf
Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..ab67bfa
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100644
index 0000000..b0d6d0a
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,188 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..9991c50
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,100 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      http://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..b0f4d48
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,25 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2019'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            frcHome = new File(publicFolder, "frc${frcYear}")
+        } else {
+            def userFolder = System.getProperty("user.home")
+            frcHome = new File(userFolder, "frc${frcYear}")
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
diff --git a/src/main/java/org/usfirst/lib6647/oi/ButtonHelper.java b/src/main/java/org/usfirst/lib6647/oi/ButtonHelper.java
new file mode 100644
index 0000000..421bf7b
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/oi/ButtonHelper.java
@@ -0,0 +1,107 @@
+package org.usfirst.lib6647.oi;
+
+import java.io.FileReader;
+import java.io.IOException;
+import java.io.Reader;
+import java.util.HashMap;
+
+import org.json.simple.JSONObject;
+import org.json.simple.parser.JSONParser;
+import org.json.simple.parser.ParseException;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.buttons.Button;
+
+/**
+ * Helper class for registering button input.
+ */
+public class ButtonHelper {
+	public HashMap<String, JController> joysticks;
+	String fileName;
+
+	/**
+	 * Constructor for the class.
+	 * 
+	 * @param fileName
+	 */
+	public ButtonHelper(String fileName) {
+		this.fileName = fileName;
+
+		joysticks = new HashMap<String, JController>();
+	}
+
+	/**
+	 * Method for getting a button with a JSON name from a given joystick. Returns
+	 * null if no button is found.
+	 * 
+	 * @param joystick
+	 * @param buttonName
+	 * @return button from the given joystick
+	 */
+	public Button oiButton(String joystickName, String buttonName) {
+		try {
+			JSONParser parser = new JSONParser();
+			Reader file = new FileReader(fileName);
+			JSONObject jsonJoystick = (JSONObject) ((JSONObject) parser.parse(file))
+					.get(joysticks.get(joystickName).getName());
+
+			Button button = joysticks.get(joystickName).buttons.get(jsonJoystick.get(buttonName).toString());
+
+			jsonJoystick.clear();
+			file.close();
+			parser.reset();
+
+			return button;
+		} catch (IOException e) {
+			DriverStation.reportError("[!] OIBUTTON " + buttonName + " IO ERROR: " + e.getMessage(), false);
+			System.out.println("[!] OIBUTTON " + buttonName + " IO ERROR: " + e.getMessage());
+			System.exit(1);
+		} catch (ParseException e) {
+			DriverStation.reportError("[!] OIBUTTON " + buttonName + " PARSE ERROR: " + e.getMessage(), false);
+			System.out.println("[!] OIBUTTON " + buttonName + " PARSE ERROR: " + e.getMessage());
+			System.exit(1);
+		} catch (Exception e) {
+			DriverStation.reportError("[!] OIBUTTON " + buttonName + " ERROR: " + e.getMessage(), false);
+			System.out.println("[!] OIBUTTON " + buttonName + " ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+		return null;
+	}
+
+	/**
+	 * Method for getting a button from a given joystick.
+	 * 
+	 * @param joystickName
+	 * @param button
+	 * @return button from the given joystick
+	 */
+	public Button oiButton(String joystickName, int button) {
+		return joysticks.get(joystickName).buttons.get("Button" + button);
+	}
+
+	/**
+	 * Method for getting an axisButton from a given joystick.
+	 * 
+	 * @param joystickName
+	 * @param type
+	 * @param axis
+	 * @return axisButton from the given joystick, for the given axis
+	 */
+	public Button oiButton(String joystickName, String type, int axis) {
+		return joysticks.get(joystickName).buttons.get(type + axis);
+	}
+
+	/**
+	 * Method for getting an axisButton from a given joystick, at a specific angle.
+	 * 
+	 * @param joystickName
+	 * @param type
+	 * @param axis
+	 * @param angle
+	 * @return axisButton from the given joystick, for the given axis, for the given
+	 *         angle
+	 */
+	public Button oiButton(String joystickName, String type, int axis, int angle) {
+		return joysticks.get(joystickName).buttons.get(type + axis + "_" + angle);
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/oi/JController.java b/src/main/java/org/usfirst/lib6647/oi/JController.java
new file mode 100644
index 0000000..0da4a14
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/oi/JController.java
@@ -0,0 +1,139 @@
+package org.usfirst.lib6647.oi;
+
+import java.util.HashMap;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.Button;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+
+/**
+ * Joystick wrapper for initializing buttons.
+ */
+public class JController extends Joystick {
+
+	public HashMap<String, Button> buttons = new HashMap<String, Button>();
+	private int leftAxis = 1, rightAxis = 5;
+
+	/**
+	 * Constructor for the controller.
+	 * 
+	 * Initializes each and every button from the joystick found at the given port.
+	 * Also initializes buttons for certain angles for each of the axis buttons.
+	 * 
+	 * @param port
+	 */
+	public JController(int port) {
+		super(port);
+
+		for (int i = 1; i <= this.getButtonCount(); i++) {
+			buttons.put("Button" + i, new JoystickButton(this, i));
+		}
+
+		for (int i = 0; i < this.getPOVCount(); i++) {
+			buttons.put("dPad" + i, buttonFromPOV(this, i));
+			for (int j = 0; j <= 315; j += 45) {
+				buttons.put("dPad" + i + "_" + j, buttonFromPOV(this, i, j));
+			}
+		}
+
+		for (int i = 0; i < this.getAxisCount(); i++) {
+			buttons.put("Stick" + i + "_1", buttonFromAxisPositive(this, i));
+			buttons.put("Stick" + i + "_-1", buttonFromAxisNegative(this, i));
+		}
+	}
+
+	/**
+	 * Method to set left and right axis.
+	 * 
+	 * @param leftAxis
+	 * @param rightAxis
+	 */
+	public void setLeftRightAxis(int leftAxis, int rightAxis) {
+		this.leftAxis = leftAxis;
+		this.rightAxis = rightAxis;
+	}
+
+	/**
+	 * Method to get left-most Stick raw value.
+	 * 
+	 * @return leftAxis
+	 */
+	public double getLeftAxis() {
+		return getRawAxis(leftAxis);
+	}
+
+	/**
+	 * Method to get right-most Stick raw value.
+	 * 
+	 * @return rightAxis
+	 */
+	public double getRightAxis() {
+		return getRawAxis(rightAxis);
+	}
+
+	/**
+	 * Method for getting a pov button at any angle.
+	 * 
+	 * @param controller
+	 * @param pov
+	 * @return axisButton
+	 */
+	private Button buttonFromPOV(GenericHID controller, int pov) {
+		return new Button() {
+			@Override
+			public boolean get() {
+				return controller.getPOV(pov) > -1;
+			}
+		};
+	}
+
+	/**
+	 * Method for getting a pov button at a specific angle.
+	 * 
+	 * @param controller
+	 * @param pov
+	 * @param angle
+	 * @return povButton
+	 */
+	private Button buttonFromPOV(GenericHID controller, int pov, int angle) {
+		return new Button() {
+			@Override
+			public boolean get() {
+				return controller.getPOV(pov) == angle;
+			}
+		};
+	}
+
+	/**
+	 * Method for getting a negative input from an axis.
+	 * 
+	 * @param controller
+	 * @param axis
+	 * @return axisButton
+	 */
+	private Button buttonFromAxisNegative(GenericHID controller, int axis) {
+		return new Button() {
+			@Override
+			public boolean get() {
+				return controller.getRawAxis(axis) < -0.15;
+			}
+		};
+	}
+
+	/**
+	 * Method for getting a positive input from an axis.
+	 * 
+	 * @param controller
+	 * @param axis
+	 * @return axisButton
+	 */
+	private Button buttonFromAxisPositive(GenericHID controller, int axis) {
+		return new Button() {
+			@Override
+			public boolean get() {
+				return controller.getRawAxis(axis) > 0.15;
+			}
+		};
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java b/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java
new file mode 100644
index 0000000..e39dd98
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/PIDSuperSubsystem.java
@@ -0,0 +1,114 @@
+package org.usfirst.lib6647.subsystem;
+
+import java.io.FileReader;
+import java.io.Reader;
+
+import org.json.simple.JSONObject;
+import org.json.simple.parser.JSONParser;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Class to allow usage of JSON files for PIDSubsystem creation.
+ */
+public abstract class PIDSuperSubsystem extends PIDSubsystem {
+
+	protected JSONObject robotMap;
+	protected float p = 0.0f, i = 0.0f, d = 0.0f;
+
+	/**
+	 * Constructor for the class.
+	 * 
+	 * @param name
+	 * @param fileName (of JSON)
+	 */
+	public PIDSuperSubsystem(String name, String fileName) {
+		super(name, 0.0f, 0.0f, 0.0f);
+
+		initJSON(fileName);
+		initPID();
+		outputPIDValues(getName(), p, i, d);
+	}
+
+	/**
+	 * Method to initialize JSON at the given path.
+	 * 
+	 * @param fileName
+	 */
+	private void initJSON(String fileName) {
+		try {
+			JSONParser parser = new JSONParser();
+			Reader file = new FileReader(fileName);
+			robotMap = (JSONObject) parser.parse(file);
+			file.close();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + getName().toUpperCase() + "' JSON INIT ERROR: " + e.getMessage(), false);
+			System.out.println("[!] SUBSYSTEM '" + getName().toUpperCase() + "' JSON INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+
+	/**
+	 * Method to initialize subsystem PID values and configuration.
+	 */
+	private void initPID() {
+		try {
+			JSONObject pid = (JSONObject) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(getName()))
+					.get("pid");
+
+			p = Float.parseFloat(pid.get("p").toString());
+			i = Float.parseFloat(pid.get("i").toString());
+			d = Float.parseFloat(pid.get("d").toString());
+
+			getPIDController().setPID(p, i, d);
+			setInputRange(Double.parseDouble(pid.get("inputMin").toString()),
+					Double.parseDouble(pid.get("inputMax").toString()));
+			setOutputRange(Double.parseDouble(pid.get("outputMin").toString()),
+					Double.parseDouble(pid.get("outputMax").toString()));
+			setAbsoluteTolerance(Double.parseDouble(pid.get("absoluteTolerance").toString()));
+			getPIDController().setContinuous(Boolean.parseBoolean(pid.get("continuous").toString()));
+
+			pid.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + getName().toUpperCase() + "' PID INIT ERROR: " + e.getMessage(), false);
+			System.out.println("[!] SUBSYSTEM '" + getName().toUpperCase() + "' PID INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+
+	/**
+	 * Method to clear JSONObject.
+	 */
+	public void finishedJSONInit() {
+		robotMap.clear();
+	}
+
+	/**
+	 * Method to output PID values to the SmartDashboard.
+	 * 
+	 * @param subsystemName
+	 * @param p
+	 * @param i
+	 * @param d
+	 */
+	private void outputPIDValues(String subsystemName, float p, float i, float d) {
+		SmartDashboard.putString(subsystemName + "P", p + "");
+		SmartDashboard.putString(subsystemName + "I", i + "");
+		SmartDashboard.putString(subsystemName + "D", d + "");
+	}
+
+	/**
+	 * Method to update PID values from the SmartDashboard.
+	 */
+	public void updatePIDValues() {
+		p = Float.parseFloat(SmartDashboard.getString(getName() + "P", p + ""));
+		i = Float.parseFloat(SmartDashboard.getString(getName() + "I", i + ""));
+		d = Float.parseFloat(SmartDashboard.getString(getName() + "D", d + ""));
+
+		getPIDController().setPID(p, i, d);
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java b/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java
new file mode 100644
index 0000000..ee90f3a
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/SuperSubsystem.java
@@ -0,0 +1,56 @@
+package org.usfirst.lib6647.subsystem;
+
+import java.io.FileReader;
+import java.io.Reader;
+
+import org.json.simple.JSONObject;
+import org.json.simple.parser.JSONParser;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * Class to allow usage of JSON files for Subsystem creation.
+ */
+public abstract class SuperSubsystem extends Subsystem {
+
+	protected JSONObject robotMap;
+
+	/**
+	 * Constructor for the class.
+	 * 
+	 * @param name
+	 * @param fileName (of JSON)
+	 */
+	public SuperSubsystem(String name, String fileName) {
+		super(name);
+
+		initJSON(fileName);
+	}
+
+	/**
+	 * Method to initialize JSON at the given path.
+	 * 
+	 * @param fileName
+	 */
+	private void initJSON(String fileName) {
+		try {
+			JSONParser parser = new JSONParser();
+			Reader file = new FileReader(fileName);
+			robotMap = (JSONObject) parser.parse(file);
+			file.close();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + getName().toUpperCase() + "' JSON INIT ERROR: " + e.getMessage(), false);
+			System.out.println("[!] SUBSYSTEM '" + getName().toUpperCase() + "' JSON INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+
+	/**
+	 * Method to clear JSONObject.
+	 */
+	public void finishedJSONInit() {
+		robotMap.clear();
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperCompressor.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperCompressor.java
new file mode 100644
index 0000000..2a473e7
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperCompressor.java
@@ -0,0 +1,57 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.DriverStation;
+
+/**
+ * Interface to allow Compressor initialization via JSON file. Subsystem needs
+ * to extend SuperSubsystem.
+ */
+public interface SuperCompressor {
+	/**
+	 * HashMap storing the SuperSubsystem's Compressors.
+	 */
+	public HashMap<String, Compressor> compressors = new HashMap<String, Compressor>();
+
+	/**
+	 * Method to initialize Compressors declared in JSON file, and add them to the
+	 * HashMap using its name as its key.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initCompressors(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray compressorArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("compressors");
+			Arrays.stream(compressorArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					Compressor compressor = new Compressor(Integer.parseInt(json.get("module").toString()));
+					compressors.put(json.get("name").toString(), compressor);
+				} catch (Exception e) {
+					DriverStation.reportError("[!] SUBSYSTEM '" + subsystemName.toUpperCase()
+							+ "' COMPRESSOR INIT ERROR: " + e.getMessage(), false);
+					System.out.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' COMPRESSOR INIT ERROR: "
+							+ e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			compressorArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' COMPRESSOR INIT ERROR: " + e.getMessage(),
+					false);
+			System.out.println(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' COMPRESSOR INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperDigitalInput.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperDigitalInput.java
new file mode 100644
index 0000000..f7906e7
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperDigitalInput.java
@@ -0,0 +1,57 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DriverStation;
+
+/**
+ * Interface to allow DigitalInput initialization via JSON file. Subsystem needs
+ * to extend SuperSubsystem.
+ */
+public interface SuperDigitalInput {
+	/**
+	 * HashMap storing the SuperSubsystem's DigitalInputs.
+	 */
+	public HashMap<String, DigitalInput> digitalInputs = new HashMap<String, DigitalInput>();
+
+	/**
+	 * Method to initialize DigitalInputs declared in JSON file, and add them to the
+	 * HashMap using its name as its key.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initDigitalInputs(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray digitalInputArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("digitalInputs");
+			Arrays.stream(digitalInputArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					DigitalInput digitalInput = new DigitalInput(Integer.parseInt(json.get("channel").toString()));
+					digitalInputs.put(json.get("name").toString(), digitalInput);
+				} catch (Exception e) {
+					DriverStation.reportError("[!] SUBSYSTEM '" + subsystemName.toUpperCase()
+							+ "' DIGITAL INPUT INIT ERROR: " + e.getMessage(), false);
+					System.out.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' DIGITAL INPUT INIT ERROR: "
+							+ e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			digitalInputArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' DIGITAL INPUT INIT ERROR: " + e.getMessage(),
+					false);
+			System.out.println(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' DIGITAL INPUT INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperEncoder.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperEncoder.java
new file mode 100644
index 0000000..58224aa
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperEncoder.java
@@ -0,0 +1,76 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Encoder;
+
+/**
+ * Interface to allow Encoder initialization via JSON file. Subsystem needs to
+ * extend SuperSubsystem.
+ */
+public interface SuperEncoder {
+	/**
+	 * HashMap storing the SuperSubsystem's Encoders.
+	 */
+	public HashMap<String, Encoder> encoders = new HashMap<String, Encoder>();
+
+	/**
+	 * Method to initialize Encoders declared in JSON file, and add them to the
+	 * HashMap using its name as its key.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initEncoders(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray encoderArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("encoders");
+			Arrays.stream(encoderArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					Encoder encoder = new Encoder(Integer.parseInt(json.get("channelA").toString()),
+							Integer.parseInt(json.get("channelB").toString()),
+							Boolean.parseBoolean(json.get("reverse").toString()),
+							getEncodingType(json.get("encodingType").toString()));
+					encoder.reset();
+
+					encoders.put(json.get("name").toString(), encoder);
+				} catch (Exception e) {
+					DriverStation.reportError(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ENCODER INIT ERROR: " + e.getMessage(),
+							false);
+					System.out.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ENCODER INIT ERROR: "
+							+ e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			encoderArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ENCODER INIT ERROR: " + e.getMessage(), false);
+			System.out.println(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ENCODER INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+
+	private EncodingType getEncodingType(String encodingType) {
+		switch (encodingType) {
+		case "k1X":
+			return EncodingType.k1X;
+		case "k2X":
+			return EncodingType.k2X;
+		case "k4X":
+			return EncodingType.k4X;
+		default:
+			return null;
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperPDP.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperPDP.java
new file mode 100644
index 0000000..5f50f91
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperPDP.java
@@ -0,0 +1,57 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.PowerDistributionPanel;
+
+/**
+ * Interface to allow PowerDistributionPanel initialization via JSON file.
+ * Subsystem needs to extend SuperSubsystem.
+ */
+public interface SuperPDP {
+	/**
+	 * HashMap storing the SuperSubsystem's PowerDistributionPanel objects.
+	 */
+	public HashMap<String, PowerDistributionPanel> PDPs = new HashMap<String, PowerDistributionPanel>();
+
+	/**
+	 * Method to initialize PDPs declared in JSON file, and add them to the HashMap
+	 * using its name as its key.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initPDPs(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray PDPArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems")).get(subsystemName))
+					.get("PDPs");
+			Arrays.stream(PDPArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					PowerDistributionPanel pdp = new PowerDistributionPanel(
+							Integer.parseInt(json.get("module").toString()));
+					PDPs.put(json.get("name").toString(), pdp);
+				} catch (Exception e) {
+					DriverStation.reportError(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' PDP INIT ERROR: " + e.getMessage(),
+							false);
+					System.out.println(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' PDP INIT ERROR: " + e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			PDPArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' PDP INIT ERROR: " + e.getMessage(), false);
+			System.out.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' PDP INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperSolenoid.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperSolenoid.java
new file mode 100644
index 0000000..8a2c637
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperSolenoid.java
@@ -0,0 +1,61 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Solenoid;
+
+/**
+ * Interface to allow Solenoid initialization via JSON file. Subsystem needs to
+ * extend SuperSubsystem.
+ */
+public interface SuperSolenoid {
+	/**
+	 * HashMap storing the SuperSubsystem's Solenoids.
+	 */
+	public HashMap<String, Solenoid> solenoids = new HashMap<String, Solenoid>();
+
+	/**
+	 * Method to initialize Solenoids declared in JSON file, and add them to the
+	 * HashMap using its name as its key.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initSolenoids(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray solenoidArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("solenoids");
+			Arrays.stream(solenoidArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					Solenoid solenoid = new Solenoid(Integer.parseInt(json.get("channel").toString()));
+
+					if (json.containsKey("initialValue"))
+						solenoid.set(Boolean.parseBoolean(json.get("initialValue").toString()));
+
+					solenoids.put(json.get("name").toString(), solenoid);
+				} catch (Exception e) {
+					DriverStation.reportError("[!] SUBSYSTEM '" + subsystemName.toUpperCase()
+							+ "' SOLENOID INIT ERROR: " + e.getMessage(), false);
+					System.out.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' SOLENOID INIT ERROR: "
+							+ e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			solenoidArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' SOLENOID INIT ERROR: " + e.getMessage(),
+					false);
+			System.out.println(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' SOLENOID INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperTalon.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperTalon.java
new file mode 100644
index 0000000..ca37d64
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperTalon.java
@@ -0,0 +1,76 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+import org.usfirst.lib6647.util.MotorUtils;
+
+import edu.wpi.first.wpilibj.DriverStation;
+
+/**
+ * Interface to allow Talon initialization via JSON file. Subsystem needs to
+ * extend SuperSubsystem.
+ */
+public interface SuperTalon extends MotorUtils {
+	/**
+	 * HashMap storing the SuperSubsystem's Talons.
+	 */
+	public HashMap<String, WPI_TalonSRX> talons = new HashMap<String, WPI_TalonSRX>();
+
+	/**
+	 * Method to initialize Talons declared in JSON file, and add them to the
+	 * HashMap using its name as its key. ALWAYS declare and initialize masters
+	 * before followers in the JSON file.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initTalons(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray talonArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("talons");
+			Arrays.stream(talonArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					WPI_TalonSRX talon = new WPI_TalonSRX(Integer.parseInt(json.get("port").toString()));
+
+					if (json.containsKey("inverted"))
+						setInverted(json, talon);
+
+					if (json.containsKey("neutralMode"))
+						setNeutralMode(json, talon);
+
+					if (json.containsKey("loopRamp"))
+						setLoopRamp(json, talon);
+
+					if (json.containsKey("sensor"))
+						setSensors(json, talon);
+
+					if (json.containsKey("pid"))
+						setPIDValues(json, talon);
+
+					talons.put(json.get("name").toString(), talon);
+				} catch (Exception e) {
+					DriverStation.reportError(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' TALON INIT ERROR: " + e.getMessage(),
+							false);
+					System.out.println(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' TALON INIT ERROR: " + e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			talonArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' TALON INIT ERROR: " + e.getMessage(), false);
+			System.out
+					.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' TALON INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperUltrasonic.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperUltrasonic.java
new file mode 100644
index 0000000..a80ed62
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperUltrasonic.java
@@ -0,0 +1,58 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Ultrasonic;
+
+/**
+ * Interface to allow Ultrasonic initialization via JSON file. Subsystem needs
+ * to extend SuperSubsystem.
+ */
+public interface SuperUltrasonic {
+	/**
+	 * HashMap storing the SuperSubsystem's Ultrasonics.
+	 */
+	public HashMap<String, Ultrasonic> ultrasonics = new HashMap<String, Ultrasonic>();
+
+	/**
+	 * Method to initialize Ultrasonics declared in JSON file, and add them to the
+	 * HashMap using its name as its key.
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initUltrasonics(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray ultrasonicArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("ultrasonics");
+			Arrays.stream(ultrasonicArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					Ultrasonic ultrasonic = new Ultrasonic(Integer.parseInt(json.get("pingChannel").toString()),
+							Integer.parseInt(json.get("echoChannel").toString()));
+					ultrasonics.put(json.get("name").toString(), ultrasonic);
+				} catch (Exception e) {
+					DriverStation.reportError("[!] SUBSYSTEM '" + subsystemName.toUpperCase()
+							+ "' ULTRASONIC INIT ERROR: " + e.getMessage(), false);
+					System.out.println("[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ULTRASONIC INIT ERROR: "
+							+ e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			ultrasonicArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ULTRASONIC INIT ERROR: " + e.getMessage(),
+					false);
+			System.out.println(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' ULTRASONIC INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/subsystem/components/SuperVictor.java b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperVictor.java
new file mode 100644
index 0000000..05a5d0c
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/subsystem/components/SuperVictor.java
@@ -0,0 +1,70 @@
+package org.usfirst.lib6647.subsystem.components;
+
+import java.util.Arrays;
+import java.util.HashMap;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+
+import org.json.simple.JSONArray;
+import org.json.simple.JSONObject;
+import org.usfirst.lib6647.util.MotorUtils;
+
+import edu.wpi.first.wpilibj.DriverStation;
+
+/**
+ * Interface to allow Victor initialization via JSON file. Subsystem needs to
+ * extend SuperSubsystem.
+ */
+public interface SuperVictor extends MotorUtils {
+	/**
+	 * HashMap storing the SuperSubsystem's Victors.
+	 */
+	public HashMap<String, WPI_VictorSPX> victors = new HashMap<String, WPI_VictorSPX>();
+
+	/**
+	 * Method to initialize Victors declared in JSON file, and add them to the
+	 * HashMap using its name as its key. ALWAYS declare and initialize masters
+	 * before followers!
+	 * 
+	 * @param robotMap
+	 * @param subsystemName
+	 */
+	default void initVictors(JSONObject robotMap, String subsystemName) {
+		try {
+			JSONArray victorArray = (JSONArray) ((JSONObject) ((JSONObject) robotMap.get("subsystems"))
+					.get(subsystemName)).get("victors");
+			Arrays.stream(victorArray.toArray()).map(json -> (JSONObject) json).forEach(json -> {
+				try {
+					WPI_VictorSPX victor = new WPI_VictorSPX(Integer.parseInt(json.get("port").toString()));
+
+					if (json.containsKey("inverted"))
+						setInverted(json, victor);
+
+					if (json.containsKey("neutralMode"))
+						setNeutralMode(json, victor);
+
+					if (json.containsKey("loopRamp"))
+						setLoopRamp(json, victor);
+
+					victors.put(json.get("name").toString(), victor);
+				} catch (Exception e) {
+					DriverStation.reportError(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' VICTOR INIT ERROR: " + e.getMessage(),
+							false);
+					System.out.println(
+							"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' VICTOR INIT ERROR: " + e.getMessage());
+					System.exit(1);
+				} finally {
+					json.clear();
+				}
+			});
+			victorArray.clear();
+		} catch (Exception e) {
+			DriverStation.reportError(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' VICTOR INIT ERROR: " + e.getMessage(), false);
+			System.out.println(
+					"[!] SUBSYSTEM '" + subsystemName.toUpperCase() + "' VICTOR INIT ERROR: " + e.getMessage());
+			System.exit(1);
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/util/Direction.java b/src/main/java/org/usfirst/lib6647/util/Direction.java
new file mode 100644
index 0000000..94edb31
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/util/Direction.java
@@ -0,0 +1,8 @@
+package org.usfirst.lib6647.util;
+
+/**
+ * Enum listing possible movement directions, for readability purposes.
+ */
+public enum Direction {
+    UP, DOWN, FRONT, BACK, LEFT, RIGHT, FORWARD, BACKWARD, IN, OUT, NONE
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/lib6647/util/MotorUtils.java b/src/main/java/org/usfirst/lib6647/util/MotorUtils.java
new file mode 100644
index 0000000..9761b51
--- /dev/null
+++ b/src/main/java/org/usfirst/lib6647/util/MotorUtils.java
@@ -0,0 +1,195 @@
+package org.usfirst.lib6647.util;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+
+import org.json.simple.JSONObject;
+
+/**
+ * Interface for converting String values to CTRE Objects.
+ */
+public interface MotorUtils {
+
+	/**
+	 * Sets a given Talon's inverted status from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param talon
+	 * @throws Exception
+	 */
+	default void setInverted(JSONObject json, WPI_TalonSRX talon) throws Exception {
+		talon.setInverted(Boolean.parseBoolean(json.get("inverted").toString()));
+	}
+
+	/**
+	 * Sets a given Victor's inverted status from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param victor
+	 * @throws Exception
+	 */
+	default void setInverted(JSONObject json, WPI_VictorSPX victor) throws Exception {
+		victor.setInverted(Boolean.parseBoolean(json.get("inverted").toString()));
+	}
+
+	/**
+	 * Method to convert a String to its respective NeutralMode.
+	 * 
+	 * @param neutralMode
+	 * @return NeutralMode
+	 */
+	default NeutralMode getNeutralMode(String neutralMode) {
+		switch (neutralMode) {
+		case "Coast":
+			return NeutralMode.Coast;
+		case "Brake":
+			return NeutralMode.Brake;
+		case "EEPROMSetting":
+			return NeutralMode.EEPROMSetting;
+		default:
+			return null;
+		}
+	}
+
+	/**
+	 * Sets a given Talon's inverted status from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param talon
+	 * @throws Exception
+	 */
+	default void setNeutralMode(JSONObject json, WPI_TalonSRX talon) throws Exception {
+		talon.setNeutralMode(getNeutralMode(json.get("neutralMode").toString()));
+	}
+
+	/**
+	 * Sets a given Victor's inverted status from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param victor
+	 * @throws Exception
+	 */
+	default void setNeutralMode(JSONObject json, WPI_VictorSPX victor) throws Exception {
+		victor.setNeutralMode(getNeutralMode(json.get("neutralMode").toString()));
+	}
+
+	/**
+	 * Sets a given Talon's loopramp from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param talon
+	 * @throws Exception
+	 */
+	default void setLoopRamp(JSONObject json, WPI_TalonSRX talon) throws Exception {
+		JSONObject closed = (JSONObject) ((JSONObject) json.get("loopRamp")).get("closed"),
+				open = (JSONObject) ((JSONObject) json.get("loopRamp")).get("open");
+
+		if (closed.containsKey("timeoutMs") && open.containsKey("timeoutMs")) {
+			talon.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()),
+					Integer.parseInt(closed.get("timeoutMs").toString()));
+			talon.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()),
+					Integer.parseInt(open.get("timeoutMs").toString()));
+		} else {
+			talon.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()));
+			talon.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()));
+		}
+	}
+
+	/**
+	 * Sets a given Victor's loopramp from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param victor
+	 * @throws Exception
+	 */
+	default void setLoopRamp(JSONObject json, WPI_VictorSPX victor) throws Exception {
+		JSONObject closed = (JSONObject) ((JSONObject) json.get("loopRamp")).get("closed"),
+				open = (JSONObject) ((JSONObject) json.get("loopRamp")).get("open");
+
+		if (closed.containsKey("timeoutMs") && open.containsKey("timeoutMs")) {
+			victor.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()),
+					Integer.parseInt(closed.get("timeoutMs").toString()));
+			victor.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()),
+					Integer.parseInt(open.get("timeoutMs").toString()));
+		} else {
+			victor.configClosedloopRamp(Double.parseDouble(closed.get("secondsFromNeutralToFull").toString()));
+			victor.configOpenloopRamp(Double.parseDouble(open.get("secondsFromNeutralToFull").toString()));
+		}
+	}
+
+	/**
+	 * Method to convert a String to its respective FeedbackDevice.
+	 * 
+	 * @param feedbackDevice
+	 * @return FeedbackDevice
+	 */
+	default FeedbackDevice getFeedbackDevice(String feedbackDevice) {
+		switch (feedbackDevice) {
+		case "QuadEncoder":
+			return FeedbackDevice.QuadEncoder;
+		case "Analog":
+			return FeedbackDevice.Analog;
+		case "Tachometer":
+			return FeedbackDevice.Tachometer;
+		case "PulseWidthEncodedPosition":
+			return FeedbackDevice.PulseWidthEncodedPosition;
+		case "SensorSum":
+			return FeedbackDevice.SensorSum;
+		case "SensorDifference":
+			return FeedbackDevice.SensorDifference;
+		case "RemoteSensor0":
+			return FeedbackDevice.RemoteSensor0;
+		case "RemoteSensor1":
+			return FeedbackDevice.RemoteSensor1;
+		case "SoftwareEmulatedSensor":
+			return FeedbackDevice.SoftwareEmulatedSensor;
+		case "CTRE_MagEncoder_Absolute":
+			return FeedbackDevice.CTRE_MagEncoder_Absolute;
+		case "CTRE_MagEncoder_Relative":
+			return FeedbackDevice.CTRE_MagEncoder_Relative;
+		default:
+			return null;
+		}
+	}
+
+	/**
+	 * Sets a given Talon's sensors from the JSON configuration (fairly limited in
+	 * terms of customizability at the moment).
+	 * 
+	 * @param json
+	 * @param talon
+	 * @throws Exception
+	 */
+	default void setSensors(JSONObject json, WPI_TalonSRX talon) throws Exception {
+		JSONObject sensor = (JSONObject) json.get("sensor");
+		JSONObject feedback = (JSONObject) sensor.get("feedback");
+
+		talon.configSelectedFeedbackSensor(getFeedbackDevice(feedback.get("feedbackDevice").toString()),
+				Integer.parseInt(feedback.get("pidIdx").toString()),
+				Integer.parseInt(feedback.get("timeoutMs").toString()));
+
+		talon.setSensorPhase(Boolean.parseBoolean(sensor.get("phase").toString()));
+
+		talon.setSelectedSensorPosition(Integer.parseInt(sensor.get("sensorPos").toString()),
+				Integer.parseInt(sensor.get("pidIdx").toString()),
+				Integer.parseInt(sensor.get("timeoutMs").toString()));
+	}
+
+	/**
+	 * Sets a given Talon's PID values from the JSON configuration.
+	 * 
+	 * @param json
+	 * @param talon
+	 * @throws Exception
+	 */
+	default void setPIDValues(JSONObject json, WPI_TalonSRX talon) throws Exception {
+		JSONObject pid = (JSONObject) json.get("pid");
+
+		talon.config_kP(Integer.parseInt(pid.get("slotIdx").toString()), Double.parseDouble(pid.get("p").toString()));
+		talon.config_kI(Integer.parseInt(pid.get("slotIdx").toString()), Double.parseDouble(pid.get("i").toString()));
+		talon.config_kD(Integer.parseInt(pid.get("slotIdx").toString()), Double.parseDouble(pid.get("d").toString()));
+		talon.config_kF(Integer.parseInt(pid.get("slotIdx").toString()), Double.parseDouble(pid.get("f").toString()));
+	}
+}
\ No newline at end of file