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diff --git a/src/org/mckenzierobotics/lib/robot/CommandBase.java b/src/org/mckenzierobotics/lib/robot/CommandBase.java
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+/**
+ * CommandBase - defines robot hardware; superclass of all commands.
+ * 
+ * Copyright (c) FIRST 2008. 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.
+ * 
+ * Copyright (c) 2012 Precise Path Robotics, Inc
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+package org.mckenzierobotics.lib.robot;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * The base for all commands, also the class defining robot hardware/config.
+ * All atomic commands should subclass CommandBase. CommandBase stores creates
+ * and stores each control system.
+ * 
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public abstract class CommandBase extends Command {
+
+	private boolean has_subsystems = true;
+	protected synchronized void requires(Subsystem subsystem) {
+		if (subsystem == null) {
+			has_subsystems = false;
+		}
+		super.requires(subsystem);
+	}
+	
+	public synchronized void start() {
+		if (has_subsystems) { super.start(); }
+	}
+
+	/**
+	 * Instantiate a CANJaguar, handling exceptions.
+	 * 
+	 * @param id CANJaguar ID to use.
+	 * @return the CANJaguar
+	 */
+	public static CANJaguar getJaguar(int id) {
+		CANJaguar ret = null;
+		try {
+			ret = new CANJaguar(id);
+		} catch(Exception e) {
+			e.printStackTrace();
+		}
+		return ret;
+	}
+	
+	public CommandBase() { super(); }
+	public CommandBase(double timeout) { super(timeout); }
+	public CommandBase(String name) { super(name); }
+	public CommandBase(String name, double timeout) { super(name, timeout); }
+}