diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
new file mode 100644
index 0000000..d5ab37e
--- /dev/null
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants.  This class should not be used for any other purpose.  All constants should be
+ * declared globally (i.e. public static).  Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+    public static final class DriveConstants {
+        public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
+        public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
+	    public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
+	    public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
+    }
+
+    public static final class LEDConstants {
+        public static final int LED_SPARK_ID = 0;
+    }
+
+    public static final class OIConstants {
+        public static final int XBOX_DRIVER_ID = 0;
+        public static final int XBOX_OPERATOR_ID = 1;
+    }
+}
diff --git a/src/main/java/frc4388/robot/OI.java b/src/main/java/frc4388/robot/OI.java
index e97b4bb..2232d03 100644
--- a/src/main/java/frc4388/robot/OI.java
+++ b/src/main/java/frc4388/robot/OI.java
@@ -17,6 +17,8 @@ import frc4388.utility.controller.XboxController;
 /**
  * This class is the glue that binds the controls on the physical operator
  * interface to the commands and command groups that allow control of the robot.
+ * 
+ * @deprecated
  */
 public class OI {
   //// CREATING BUTTONS
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 6cd6668..b2988cb 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -10,12 +10,6 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc4388.robot.commands.ExampleCommand;
-import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.ExampleSubsystem;
-import frc4388.robot.subsystems.LED;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -25,13 +19,8 @@ import frc4388.robot.subsystems.LED;
  * project.
  */
 public class Robot extends TimedRobot {
-  public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
-  public static LED m_led = new LED();
-  public static Drive m_Drive = new Drive();
-  public static OI m_oi;
-
   Command m_autonomousCommand;
-  SendableChooser<Command> m_chooser = new SendableChooser<>();
+  public static RobotContainer m_robotContainer;
 
   /**
    * This function is run when the robot is first started up and should be
@@ -39,10 +28,9 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotInit() {
-    m_oi = new OI();
-    m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
-    // chooser.addOption("My Auto", new MyAutoCommand());
-    SmartDashboard.putData("Auto mode", m_chooser);
+    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+    // autonomous chooser on the dashboard.
+    m_robotContainer = new RobotContainer();
   }
 
   /**
@@ -84,7 +72,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_chooser.getSelected();
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     /*
      * String autoSelected = SmartDashboard.getString("Auto Selector",
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
new file mode 100644
index 0000000..7f4d50a
--- /dev/null
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.InstantCommand;
+import frc4388.robot.Constants.*;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.LED;
+import frc4388.utility.controller.IHandController;
+import frc4388.utility.controller.XboxController;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+    /* Subsystems */
+    public static final Drive m_robotDrive = new Drive();
+    public static final LED m_robotLED = new LED();
+
+    /* Controllers */
+    XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+    XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+
+    /**
+     * The container for the robot.  Contains subsystems, OI devices, and commands.
+     */
+    public RobotContainer() {
+        
+    }
+
+    /**
+     * Use this to pass the autonomous command to the main {@link Robot} class.
+     *
+     * @return the command to run in autonomous
+     */
+    public Command getAutonomousCommand() {
+        // no auto
+        return new InstantCommand();
+    }
+
+    public IHandController getDriverController() {
+        return m_driverXbox;
+    }
+    
+    public IHandController getOperatorController()
+    {
+        return m_operatorXbox;
+    }
+    
+    public Joystick getOperatorJoystick()
+    {
+        return m_operatorXbox.getJoyStick();
+    }
+    
+    public Joystick getDriverJoystick()
+    {
+        return m_driverXbox.getJoyStick();
+    }
+}
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 67aff89..2fce0f5 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -12,6 +12,8 @@ package frc4388.robot;
  * to a variable name. This provides flexibility changing wiring, makes checking
  * the wiring easier and significantly reduces the number of magic numbers
  * floating around.
+ * 
+ * @deprecated
  */
 public class RobotMap {
   // For example to map the left and right motors, you could define the
diff --git a/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
index 572b875..14bcf21 100644
--- a/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
+++ b/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
@@ -8,8 +8,8 @@
 package frc4388.robot.commands.Drive;
 
 import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.OI;
 import frc4388.robot.Robot;
+import frc4388.robot.RobotContainer;
 
 public class DriveWithJoystick extends Command {
 
@@ -18,7 +18,6 @@ public class DriveWithJoystick extends Command {
   public DriveWithJoystick() {
     // Use requires() here to declare subsystem dependencies
     // eg. requires(chassis);
-    requires(Robot.m_Drive);
   }
 
   // Called just before this Command runs the first time
@@ -29,9 +28,9 @@ public class DriveWithJoystick extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
-    m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
-    Robot.m_Drive.driveWithInput(m_inputMove, m_inputSteer);
+    m_inputMove = Robot.m_robotContainer.getDriverController().getLeftYAxis();
+    m_inputSteer = -(Robot.m_robotContainer.getDriverController().getRightXAxis());
+    RobotContainer.m_robotDrive.driveWithInput(m_inputMove, m_inputSteer);
   }
 
   // Make this return true when this Command no longer needs to run execute()
diff --git a/src/main/java/frc4388/robot/commands/Drive/GamerMove.java b/src/main/java/frc4388/robot/commands/Drive/GamerMove.java
index b890aa5..6169453 100644
--- a/src/main/java/frc4388/robot/commands/Drive/GamerMove.java
+++ b/src/main/java/frc4388/robot/commands/Drive/GamerMove.java
@@ -8,13 +8,12 @@
 package frc4388.robot.commands.Drive;
 
 import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.Robot;
+import frc4388.robot.RobotContainer;
 
 public class GamerMove extends Command {
   public GamerMove() {
     // Use requires() here to declare subsystem dependencies
     // eg. requires(chassis);
-    requires(Robot.m_Drive);
   }
 
   // Called just before this Command runs the first time
@@ -25,7 +24,7 @@ public class GamerMove extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    Robot.m_Drive.driveWithInput(0, 1);
+    RobotContainer.m_robotDrive.driveWithInput(0, 1);
   }
 
   // Make this return true when this Command no longer needs to run execute()
diff --git a/src/main/java/frc4388/robot/commands/ExampleCommand.java b/src/main/java/frc4388/robot/commands/ExampleCommand.java
deleted file mode 100644
index cb8a9f6..0000000
--- a/src/main/java/frc4388/robot/commands/ExampleCommand.java
+++ /dev/null
@@ -1,48 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands;
-
-import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.Robot;
-
-/**
- * An example command.  You can replace me with your own command.
- */
-public class ExampleCommand extends Command {
-  public ExampleCommand() {
-    // Use requires() here to declare subsystem dependencies
-    requires(Robot.m_subsystem);
-  }
-
-  // Called just before this Command runs the first time
-  @Override
-  protected void initialize() {
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  @Override
-  protected void execute() {
-  }
-
-  // Make this return true when this Command no longer needs to run execute()
-  @Override
-  protected boolean isFinished() {
-    return false;
-  }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
-}
diff --git a/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java b/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
index 11c4447..152f81a 100644
--- a/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
+++ b/src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
@@ -7,7 +7,7 @@
 
 package frc4388.robot.commands.LED;
 
-import frc4388.robot.Robot;
+import frc4388.robot.RobotContainer;
 import frc4388.robot.constants.LEDPatterns;
 
 import edu.wpi.first.wpilibj.command.Command;
@@ -17,7 +17,6 @@ public class SetLEDPattern extends Command {
   public static LEDPatterns m_pattern;
 
   public SetLEDPattern(LEDPatterns pattern) {
-    requires(Robot.m_led);
     m_pattern = pattern;
   }
 
@@ -29,7 +28,7 @@ public class SetLEDPattern extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    Robot.m_led.setPattern(m_pattern);
+    RobotContainer.m_robotLED.setPattern(m_pattern);
   }
 
   // Make this return true when this Command no longer needs to run execute()
diff --git a/src/main/java/frc4388/robot/commands/LED/UpdateLED.java b/src/main/java/frc4388/robot/commands/LED/UpdateLED.java
index 3d6c374..44f195c 100644
--- a/src/main/java/frc4388/robot/commands/LED/UpdateLED.java
+++ b/src/main/java/frc4388/robot/commands/LED/UpdateLED.java
@@ -8,12 +8,11 @@
 package frc4388.robot.commands.LED;
 
 import edu.wpi.first.wpilibj.command.Command;
-import frc4388.robot.Robot;
+import frc4388.robot.RobotContainer;
 
 public class UpdateLED extends Command {
   public UpdateLED() {
     // Use requires() here to declare subsystem dependencies
-    requires(Robot.m_led);
   }
 
   // Called just before this Command runs the first time
@@ -24,7 +23,7 @@ public class UpdateLED extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    Robot.m_led.updateLED();
+    RobotContainer.m_robotLED.updateLED();
   }
 
   // Make this return true when this Command no longer needs to run execute()
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 8d9b3b2..135afd0 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -12,7 +12,8 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import frc4388.robot.RobotMap;
+
+import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.commands.Drive.DriveWithJoystick;
 
 /**
@@ -22,10 +23,10 @@ public class Drive extends Subsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
-  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
-  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
-  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
-  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
 
   public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
 
diff --git a/src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java
deleted file mode 100644
index 50ace89..0000000
--- a/src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java
+++ /dev/null
@@ -1,24 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-/**
- * An example subsystem.  You can replace me with your own Subsystem.
- */
-public class ExampleSubsystem extends Subsystem {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
-
-  @Override
-  public void initDefaultCommand() {
-    // Set the default command for a subsystem here.
-    // setDefaultCommand(new MySpecialCommand());
-  }
-}
diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java
index 3c66878..7dc940c 100644
--- a/src/main/java/frc4388/robot/subsystems/LED.java
+++ b/src/main/java/frc4388/robot/subsystems/LED.java
@@ -7,13 +7,14 @@
 
 package frc4388.robot.subsystems;
 
-import frc4388.robot.RobotMap;
-import frc4388.robot.commands.LED.UpdateLED;
-import frc4388.robot.constants.LEDPatterns;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.commands.LED.UpdateLED;
+import frc4388.robot.constants.LEDPatterns;
+
 /**
  * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED Driver
  */
@@ -23,7 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
   public static Spark LEDController;
 
   public LED(){
-    LEDController = new Spark(RobotMap.LED_SPARK_ID);
+    LEDController = new Spark(LEDConstants.LED_SPARK_ID);
     setPattern(LEDPatterns.FOREST_WAVES);
     LEDController.set(currentLED);
   }