diff --git a/README.md b/README.md
index 034a087..87c3476 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,2 @@
-# 1771-2016-Robot
\ No newline at end of file
+# 1771-2016-Robot
+the only current errors are spelling errors
diff --git a/Transmission.hpp b/Transmission.hpp
index ef3f16b..846acbf 100644
--- a/Transmission.hpp
+++ b/Transmission.hpp
@@ -8,32 +8,58 @@
 #ifndef SRC_TRANSMISSION_HPP_
 #define SRC_TRANSMISSION_HPP_
 
-Solenoid* shift = new Solenoid(0);
+#include"robotMap.h"
 
-template<class motorController>
-struct Transmission : motorController
+Solenoid* shift = new Solenoid(SHIFT_SOLENOID);
+
+struct Transmission : CANTalon
 {
 public:
-	explicit Transmission(int t1,int t2):
-		con1{new motorController(t1)},
-		con2{new motorController(t2)}
+	explicit Transmission(int t1,int t2)
 	{
+		con1 = new CANTalon(t1);
 		con1->SetFeedbackDevice(CANTalon::QuadEncoder);
 		con1->SetControlMode(CANSpeedController::kCurrent);
 		con1->ConfigNeutralMode(CANSpeedController::kNeutralMode_Coast);
 		con1->EnableControl();
 
+		con2 = new CANTalon(t2);
 		con2->SetFeedbackDevice(CANTalon::QuadEncoder);
 		con2->SetControlMode(CANSpeedController::kCurrent);
 		con2->ConfigNeutralMode(CANSpeedController::kNeutralMode_Coast);
 		con2->EnableControl();
 	}
-	void Shove(double j1)
+	virtual ~Transmission();
+
+	/**
+	 * General percentage based speed control
+	 * params: -1 - 1
+	 */
+	void Set(float set)
+	{
+		if(con1->GetControlMode()!=CANSpeedController::kPercentVbus)
+			con1->SetControlMode(CANSpeedController::kPercentVbus);
+		con1->Set(set);
+		con2->Set(set);
+	}
+
+	/**
+	 * Prevents the breaker from blowing and
+	 * increases torque in a shoving match
+	 */
+	void Shove(double set)
 	{
+		shift->Set(0);			// Shift to low gear
+		set-=set/80;			// Prevent breaker from blowing
+		set*=40;
+		if(con1->GetControlMode()!=CANSpeedController::kCurrent)
+			con1->SetControlMode(CANSpeedController::kCurrent);
+		con1->Set(set);
+		con2->Set(set);
 	}
 private:
-	motorController *con1,
-					*con2;
+	CANTalon *con1,
+		 *con2;
 };
 
 #endif /* SRC_TRANSMISSION_HPP_ */