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diff --git a/src/org/usfirst/frc/team4272/robot2015/HwRobot.java b/src/org/usfirst/frc/team4272/robot2015/HwRobot.java
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+package org.usfirst.frc.team4272.robot2015;
+
+import org.mckenzierobotics.lib.robot.PIDController;
+import org.mckenzierobotics.lib.robot.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.DoubleSolenoid;
+import org.usfirst.frc.team4272.robotlib.LimitSwitchedPIDOutput;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
+import edu.wpi.first.wpilibj.Relay;
+import edu.wpi.first.wpilibj.Talon;
+
+public class HwRobot {
+	/* Relay == a Spike */
+	/* PCM = Pneumatics Control Module */
+
+	/* All of the numbered inputs are in the classes:
+	 * - DIO: 0-9
+	 * - Relay: 0-3
+	 * - Analog In: 0-3
+	 * - PWM: 0-9
+	 * - PCM: 0-7 (the PCM is connected via CAN).
+	 * - CAN
+	 * 
+	 * For completeness, the roboRIO also has: i2c, RS-232, SPI,
+	 * RSL, 2xUSB-A, an accelerometer, and an expansion port.
+	 *
+	 * And, for communication: USB-B and Ethernet.
+	 */
+	
+	static class OutDumper implements PIDOutput {
+		private String p;
+		public OutDumper(String prefix) { p = prefix; }
+		public void pidWrite(double v) {
+			System.out.println(p+": "+v);
+		}
+	}
+	static class InDumper implements PIDSource {
+		private String p;
+		public final PIDSource r;
+		public InDumper(String prefix, PIDSource real) { p = prefix; r = real; }
+		public double pidGet() {
+			double v = r.pidGet();
+			System.out.println(p+": "+v);
+			return v;
+		}
+	}
+	public Encoder   lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
+	public PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0),
+	                                                 new Talon(/*PWM*/1));
+	public Encoder   rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
+	public PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2),
+	                                                 new Talon(/*PWM*/3));
+	public Encoder   winchE = new Encoder(/*DIO*/4,/*DIO*/5);//),
+	public PIDOutput winchM = new LimitSwitchedPIDOutput(
+		new PIDOutputSplitter(new Talon(/*PWM*/4),
+		                      new Talon(/*PWM*/5)),
+		/*bottom*/new DigitalInput(/*DIO*/6),
+		/*top*/   new DigitalInput(/*DIO*/7),
+		true);
+	public DoubleSolenoid grab = new DoubleSolenoid(/*PCM*/2,/*PCM*/3);
+	public DoubleSolenoid push = new DoubleSolenoid(/*PCM*/0,/*PCM*/1);
+	public Relay lIntake = new Relay(/*Relay*/1, Relay.Direction.kBoth);
+	public Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth);
+	public Relay lights  = new Relay(/*Relay*/2, Relay.Direction.kForward);
+	
+	public HwRobot() {
+		lDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
+		rDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
+		winchE.setPIDSourceParameter(PIDSourceParameter.kRate);
+	}
+}