diff --git a/robot_builder/Robot2013/RobotMap.cpp b/robot_builder/Robot2013/RobotMap.cpp
new file mode 100644
index 0000000..67ef795
--- /dev/null
+++ b/robot_builder/Robot2013/RobotMap.cpp
@@ -0,0 +1,149 @@
+// RobotBuilder Version: 0.0.2
+//
+// This file was generated by RobotBuilder. It contains sections of
+// code that are automatically generated and assigned by robotbuilder.
+// These sections will be updated in the future when you export to
+// C++ from RobotBuilder. Do not put any code or make any change in
+// the blocks indicating autogenerated code or it will be lost on an
+// update. Deleting the comments indicating the section will prevent
+// it from being updated in th future.
+#include "RobotMap.h"
+#include "LiveWindow/LiveWindow.h"
+// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
+Compressor* RobotMap::airCompressorAirCompressor = NULL;
+Solenoid* RobotMap::driveTrainLeftShifter = NULL;
+Solenoid* RobotMap::driveTrainRightShifter = NULL;
+SpeedController* RobotMap::driveTrainLeftMotors1and2 = NULL;
+SpeedController* RobotMap::driveTrainLeftMotor3 = NULL;
+SpeedController* RobotMap::driveTrainRightMotors1and2 = NULL;
+SpeedController* RobotMap::driveTrainRightMotor3 = NULL;
+RobotDrive* RobotMap::driveTrainRobotDrive = NULL;
+Encoder* RobotMap::driveTrainQuadratureEncoderLeft = NULL;
+Encoder* RobotMap::driveTrainQuadratureEncoderRight = NULL;
+SpeedController* RobotMap::shooterWheelPIDControllerShooterMotor = NULL;
+Encoder* RobotMap::shooterWheelPIDControllerShooterSpeedEncoder = NULL;
+SpeedController* RobotMap::shooterShooterTiltMotor = NULL;
+Encoder* RobotMap::shooterShooterTiltEncoder = NULL;
+GearTooth* RobotMap::shooterShooterTiltHomeSensor = NULL;
+Solenoid* RobotMap::shooterLatchFrisbeeSolenoid = NULL;
+Solenoid* RobotMap::shooterLoadFrisbeeSolenoid = NULL;
+Solenoid* RobotMap::shooterShootSolenoid = NULL;
+SpeedController* RobotMap::frisbeeStorageFrisbeeIndexerMotor = NULL;
+Encoder* RobotMap::frisbeeStorageFrisbeeIndexerSpeedEncoder = NULL;
+DigitalInput* RobotMap::frisbeeStorageFrisbeeInputOpticalSensor = NULL;
+DigitalInput* RobotMap::frisbeeStorageFrisbeeIndexOpticalSensor = NULL;
+DigitalInput* RobotMap::frisbeeStorageFrisbeeReadytoshootOpticalSensor = NULL;
+SpeedController* RobotMap::frisbeePickupIntakeandCenteringRollerMotors = NULL;
+SpeedController* RobotMap::pickupArmPickupArmMotor = NULL;
+Encoder* RobotMap::pickupArmPickupArmEncoder = NULL;
+PIDController* RobotMap::pickupArmPickupArmPIDController = NULL;
+GearTooth* RobotMap::pickupArmPickupArmHomeSensor = NULL;
+    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=ALLOCATION
+void RobotMap::init() {
+	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+	LiveWindow* lw = LiveWindow::GetInstance();
+	airCompressorAirCompressor = new Compressor(1, 5, 1, 1);
+	
+	
+	driveTrainLeftShifter = new Solenoid(1, 1);
+	lw->AddActuator("Drive Train", "Left Shifter", driveTrainLeftShifter);
+	
+	driveTrainRightShifter = new Solenoid(1, 2);
+	lw->AddActuator("Drive Train", "Right Shifter", driveTrainRightShifter);
+	
+	driveTrainLeftMotors1and2 = new Talon(1, 5);
+	lw->AddActuator("Drive Train", "Left Motors 1 and 2", (Talon*) driveTrainLeftMotors1and2);
+	
+	driveTrainLeftMotor3 = new Talon(1, 6);
+	lw->AddActuator("Drive Train", "Left Motor 3", (Talon*) driveTrainLeftMotor3);
+	
+	driveTrainRightMotors1and2 = new Talon(1, 2);
+	lw->AddActuator("Drive Train", "Right Motors 1 and 2", (Talon*) driveTrainRightMotors1and2);
+	
+	driveTrainRightMotor3 = new Talon(1, 3);
+	lw->AddActuator("Drive Train", "Right Motor 3", (Talon*) driveTrainRightMotor3);
+	
+	driveTrainRobotDrive = new RobotDrive(driveTrainLeftMotors1and2, driveTrainLeftMotor3,
+              driveTrainRightMotors1and2, driveTrainRightMotor3);
+	
+	driveTrainRobotDrive->SetSafetyEnabled(true);
+        driveTrainRobotDrive->SetExpiration(0.1);
+        driveTrainRobotDrive->SetSensitivity(0.5);
+        driveTrainRobotDrive->SetMaxOutput(1.0);
+        driveTrainRobotDrive->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
+        driveTrainRobotDrive->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
+	driveTrainQuadratureEncoderLeft = new Encoder(1, 1, 1, 2, false, Encoder::k4X);
+	lw->AddSensor("Drive Train", "Quadrature Encoder Left", driveTrainQuadratureEncoderLeft);
+	driveTrainQuadratureEncoderLeft->SetDistancePerPulse(1.0);
+        driveTrainQuadratureEncoderLeft->SetPIDSourceParameter(Encoder::kRate);
+        driveTrainQuadratureEncoderLeft->Start();
+	driveTrainQuadratureEncoderRight = new Encoder(1, 3, 1, 4, false, Encoder::k4X);
+	lw->AddSensor("Drive Train", "Quadrature Encoder Right", driveTrainQuadratureEncoderRight);
+	driveTrainQuadratureEncoderRight->SetDistancePerPulse(1.0);
+        driveTrainQuadratureEncoderRight->SetPIDSourceParameter(Encoder::kRate);
+        driveTrainQuadratureEncoderRight->Start();
+	shooterWheelPIDControllerShooterMotor = new Talon(1, 1);
+	lw->AddActuator("Shooter Wheel PID Controller", "Shooter Motor", (Talon*) shooterWheelPIDControllerShooterMotor);
+	
+	shooterWheelPIDControllerShooterSpeedEncoder = new Encoder(1, 6, 2, 1, false, Encoder::k4X);
+	lw->AddSensor("Shooter Wheel PID Controller", "Shooter Speed Encoder", shooterWheelPIDControllerShooterSpeedEncoder);
+	shooterWheelPIDControllerShooterSpeedEncoder->SetDistancePerPulse(1.0);
+        shooterWheelPIDControllerShooterSpeedEncoder->SetPIDSourceParameter(Encoder::kRate);
+        shooterWheelPIDControllerShooterSpeedEncoder->Start();
+	shooterShooterTiltMotor = new Talon(1, 4);
+	lw->AddActuator("Shooter", "Shooter Tilt Motor", (Talon*) shooterShooterTiltMotor);
+	
+	shooterShooterTiltEncoder = new Encoder(1, 7, 1, 8, false, Encoder::k4X);
+	lw->AddSensor("Shooter", "Shooter Tilt Encoder", shooterShooterTiltEncoder);
+	shooterShooterTiltEncoder->SetDistancePerPulse(1.0);
+        shooterShooterTiltEncoder->SetPIDSourceParameter(Encoder::kRate);
+        shooterShooterTiltEncoder->Start();
+	shooterShooterTiltHomeSensor = new GearTooth(1, 9, false);
+	lw->AddSensor("Shooter", "Shooter Tilt Home Sensor", shooterShooterTiltHomeSensor);
+	
+	shooterLatchFrisbeeSolenoid = new Solenoid(1, 5);
+	lw->AddActuator("Shooter", "Latch Frisbee Solenoid", shooterLatchFrisbeeSolenoid);
+	
+	shooterLoadFrisbeeSolenoid = new Solenoid(1, 3);
+	lw->AddActuator("Shooter", "Load Frisbee Solenoid", shooterLoadFrisbeeSolenoid);
+	
+	shooterShootSolenoid = new Solenoid(1, 4);
+	lw->AddActuator("Shooter", "Shoot Solenoid", shooterShootSolenoid);
+	
+	frisbeeStorageFrisbeeIndexerMotor = new Talon(1, 7);
+	lw->AddActuator("Frisbee Storage", "Frisbee Indexer Motor", (Talon*) frisbeeStorageFrisbeeIndexerMotor);
+	
+	frisbeeStorageFrisbeeIndexerSpeedEncoder = new Encoder(1, 10, 1, 11, false, Encoder::k4X);
+	lw->AddSensor("Frisbee Storage", "Frisbee Indexer Speed Encoder", frisbeeStorageFrisbeeIndexerSpeedEncoder);
+	frisbeeStorageFrisbeeIndexerSpeedEncoder->SetDistancePerPulse(1.0);
+        frisbeeStorageFrisbeeIndexerSpeedEncoder->SetPIDSourceParameter(Encoder::kRate);
+        frisbeeStorageFrisbeeIndexerSpeedEncoder->Start();
+	frisbeeStorageFrisbeeInputOpticalSensor = new DigitalInput(1, 12);
+	lw->AddSensor("Frisbee Storage", "Frisbee Input Optical Sensor", frisbeeStorageFrisbeeInputOpticalSensor);
+	
+	frisbeeStorageFrisbeeIndexOpticalSensor = new DigitalInput(1, 13);
+	lw->AddSensor("Frisbee Storage", "Frisbee Index Optical Sensor", frisbeeStorageFrisbeeIndexOpticalSensor);
+	
+	frisbeeStorageFrisbeeReadytoshootOpticalSensor = new DigitalInput(1, 14);
+	lw->AddSensor("Frisbee Storage", "Frisbee Ready to shoot Optical Sensor", frisbeeStorageFrisbeeReadytoshootOpticalSensor);
+	
+	frisbeePickupIntakeandCenteringRollerMotors = new Talon(1, 8);
+	lw->AddActuator("Frisbee Pickup", "Intake and Centering Roller Motors", (Talon*) frisbeePickupIntakeandCenteringRollerMotors);
+	
+	pickupArmPickupArmMotor = new Talon(1, 9);
+	lw->AddActuator("Pickup Arm", "Pickup Arm Motor", (Talon*) pickupArmPickupArmMotor);
+	
+	pickupArmPickupArmEncoder = new Encoder(2, 2, 2, 3, false, Encoder::k4X);
+	lw->AddSensor("Pickup Arm", "Pickup Arm Encoder", pickupArmPickupArmEncoder);
+	pickupArmPickupArmEncoder->SetDistancePerPulse(1.0);
+        pickupArmPickupArmEncoder->SetPIDSourceParameter(Encoder::kRate);
+        pickupArmPickupArmEncoder->Start();
+	pickupArmPickupArmPIDController = new PIDController(1.0, 0.0, 0.0,/* F: 0.0, */ pickupArmPickupArmEncoder, pickupArmPickupArmMotor, 0.02);
+	lw->AddActuator("Pickup Arm", "Pickup Arm PID Controller", pickupArmPickupArmPIDController);
+	pickupArmPickupArmPIDController->SetContinuous(false); pickupArmPickupArmPIDController->SetAbsoluteTolerance(0.2); 
+        pickupArmPickupArmPIDController->SetOutputRange(-1.0, 1.0);
+	pickupArmPickupArmHomeSensor = new GearTooth(2, 4, false);
+	lw->AddSensor("Pickup Arm", "Pickup Arm Home Sensor", pickupArmPickupArmHomeSensor);
+	
+    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+}