diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.cpp
index abbad78..75d6195 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.cpp
@@ -43,16 +43,16 @@
 	if (StatusIsFatal())
 		return;
 	// 3330 was the first shipping RDK firmware version for the Jaguar
-	if (fwVer >= 3330 || fwVer < 92)
+	if (fwVer >= 3330 || fwVer < 101)
 	{
 		char buf[256];
 		if (fwVer < 3330)
 		{
-			snprintf(buf, 256, "Jag #%d firmware (%d) is too old (must be at least version 92 of the FIRST approved firmware)", m_deviceNumber, fwVer);
+			snprintf(buf, 256, "Jag #%d firmware (%d) is too old (must be at least version 101 of the FIRST approved firmware)", m_deviceNumber, fwVer);
 		}
 		else
 		{
-			snprintf(buf, 256, "Jag #%d firmware (%d) is not FIRST approved (must be at least version 92 of the FIRST approved firmware)", m_deviceNumber, fwVer);
+			snprintf(buf, 256, "Jag #%d firmware (%d) is not FIRST approved (must be at least version 101 of the FIRST approved firmware)", m_deviceNumber, fwVer);
 		}
 		wpi_setWPIErrorWithContext(JaguarVersionError, buf);
 		return;
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp
index aea6fdf..957dda4 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.cpp
@@ -15,8 +15,11 @@
 static const char *kRunning = "running";
 static const char *kIsParented = "isParented";
 
+int Command::m_commandCounter = 0;
+
 void Command::InitCommand(const char *name, double timeout)
 {
+	m_commandID = m_commandCounter++;
 	m_timeout = timeout;
 	m_locked = false;
 	m_startTime = -1;
@@ -95,6 +98,15 @@
 }
 
 /**
+ * Get the ID (sequence number) for this command
+ * The ID is a unique sequence number that is incremented for each command.
+ * @return the ID of this command
+ */
+int Command::GetID() {
+	return m_commandID;
+}
+
+/**
  * Sets the timeout of this command.
  * @param timeout the timeout (in seconds)
  * @see Command#isTimedOut() isTimedOut()
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h
index 760c8f5..2704624 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Command.h
@@ -65,6 +65,7 @@
 	CommandGroup *GetGroup();
 	void SetRunWhenDisabled(bool run);
 	bool WillRunWhenDisabled();
+	int GetID();
 
 
 protected:
@@ -147,7 +148,8 @@
 	bool m_runWhenDisabled;
 	/** The {@link CommandGroup} this is in */
 	CommandGroup *m_parent;
-	
+	int m_commandID;
+	static int m_commandCounter;
 	
 public:
 	virtual std::string GetName();
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp
index 9cd67d6..1ee067a 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.cpp
@@ -19,20 +19,20 @@
 Scheduler *Scheduler::_instance = NULL;
 
 Scheduler::Scheduler() :
-	m_buttonsLock(NULL),
-	m_additionsLock(NULL),
-	m_adding(false)
-{
-	m_buttonsLock = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
-	m_additionsLock = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
+	m_buttonsLock(NULL), m_additionsLock(NULL), m_adding(false) {
+	m_buttonsLock = semMCreate(
+			SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
+	m_additionsLock = semMCreate(
+			SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
 
-	nUsageReporting::report(nUsageReporting::kResourceType_Command, nUsageReporting::kCommand_Scheduler);
-	
+	nUsageReporting::report(nUsageReporting::kResourceType_Command,
+			nUsageReporting::kCommand_Scheduler);
+
+	m_table = NULL;
 	m_enabled = true;
 }
 
-Scheduler::~Scheduler()
-{
+Scheduler::~Scheduler() {
 	semTake(m_additionsLock, WAIT_FOREVER);
 	semDelete(m_additionsLock);
 
@@ -44,8 +44,7 @@
  * Returns the {@link Scheduler}, creating it if one does not exist.
  * @return the {@link Scheduler}
  */
-Scheduler *Scheduler::GetInstance()
-{
+Scheduler *Scheduler::GetInstance() {
 	if (_instance == NULL)
 		_instance = new Scheduler();
 	return _instance;
@@ -61,53 +60,47 @@
  * at the end of the pass, they are all scheduled.
  * @param command The command to be scheduled
  */
-void Scheduler::AddCommand(Command *command)
-{
+void Scheduler::AddCommand(Command *command) {
 	Synchronized sync(m_additionsLock);
-	if (std::find(m_additions.begin(), m_additions.end(), command) != m_additions.end())
+	if (std::find(m_additions.begin(), m_additions.end(), command)
+			!= m_additions.end())
 		return;
 	m_additions.push_back(command);
 }
 
-void Scheduler::AddButton(ButtonScheduler *button)
-{
+void Scheduler::AddButton(ButtonScheduler *button) {
 	Synchronized sync(m_buttonsLock);
 	m_buttons.push_back(button);
 }
 
-void Scheduler::ProcessCommandAddition(Command *command)
-{
+void Scheduler::ProcessCommandAddition(Command *command) {
 	if (command == NULL)
 		return;
 
 	// Check to make sure no adding during adding
-	if (m_adding)
-	{
+	if (m_adding) {
 		wpi_setWPIErrorWithContext(IncompatibleState, "Can not start command from cancel method");
 		return;
 	}
 
 	// Only add if not already in
 	CommandSet::iterator found = m_commands.find(command);
-	if (found == m_commands.end())
-	{
+	if (found == m_commands.end()) {
 		// Check that the requirements can be had
 		Command::SubsystemSet requirements = command->GetRequirements();
 		Command::SubsystemSet::iterator iter;
-		for (iter = requirements.begin(); iter != requirements.end(); iter++)
-		{
+		for (iter = requirements.begin(); iter != requirements.end(); iter++) {
 			Subsystem *lock = *iter;
-			if (lock->GetCurrentCommand() != NULL && !lock->GetCurrentCommand()->IsInterruptible())
+			if (lock->GetCurrentCommand() != NULL
+					&& !lock->GetCurrentCommand()->IsInterruptible())
 				return;
 		}
 
 		// Give it the requirements
 		m_adding = true;
-		for (iter = requirements.begin(); iter != requirements.end(); iter++)
-		{
+		for (iter = requirements.begin(); iter != requirements.end(); iter++) {
 			Subsystem *lock = *iter;
-			if (lock->GetCurrentCommand() != NULL)
-			{
+			if (lock->GetCurrentCommand() != NULL) {
 				lock->GetCurrentCommand()->Cancel();
 				Remove(lock->GetCurrentCommand());
 			}
@@ -118,6 +111,7 @@
 		m_commands.insert(command);
 
 		command->StartRunning();
+		m_runningCommandsChanged = true;
 	}
 }
 
@@ -133,30 +127,30 @@
  * <li> Add Defaults </li>
  * </ol>
  */
-void Scheduler::Run()
-{
+void Scheduler::Run() {
 	// Get button input (going backwards preserves button priority)
 	{
-		if (!m_enabled) return;
+		if (!m_enabled)
+			return;
 
 		Synchronized sync(m_buttonsLock);
 		ButtonVector::reverse_iterator rButtonIter = m_buttons.rbegin();
-		for (; rButtonIter != m_buttons.rend(); rButtonIter++)
-		{
+		for (; rButtonIter != m_buttons.rend(); rButtonIter++) {
 			(*rButtonIter)->Execute();
 		}
 	}
+	
+	m_runningCommandsChanged = false;
 
 	// Loop through the commands
 	CommandSet::iterator commandIter = m_commands.begin();
-	for (; commandIter != m_commands.end();)
-	{
+	for (; commandIter != m_commands.end();) {
 		Command *command = *commandIter;
 		// Increment before potentially removing to keep the iterator valid
 		commandIter++;
-		if (!command->Run())
-		{
+		if (!command->Run()) {
 			Remove(command);
+			m_runningCommandsChanged = true;
 		}
 	}
 
@@ -164,8 +158,7 @@
 	{
 		Synchronized sync(m_additionsLock);
 		CommandVector::iterator additionsIter = m_additions.begin();
-		for (; additionsIter != m_additions.end(); additionsIter++)
-		{
+		for (; additionsIter != m_additions.end(); additionsIter++) {
 			ProcessCommandAddition(*additionsIter);
 		}
 		m_additions.clear();
@@ -173,16 +166,14 @@
 
 	// Add in the defaults
 	Command::SubsystemSet::iterator subsystemIter = m_subsystems.begin();
-	for (; subsystemIter != m_subsystems.end(); subsystemIter++)
-	{
+	for (; subsystemIter != m_subsystems.end(); subsystemIter++) {
 		Subsystem *lock = *subsystemIter;
-		if (lock->GetCurrentCommand() == NULL)
-		{
+		if (lock->GetCurrentCommand() == NULL) {
 			ProcessCommandAddition(lock->GetDefaultCommand());
 		}
 		lock->ConfirmCommand();
 	}
-	
+
 	UpdateTable();
 }
 
@@ -191,10 +182,8 @@
  * if a default {@link Command} needs to be run.  All {@link Subsystem Subsystems} should call this.
  * @param system the system
  */
-void Scheduler::RegisterSubsystem(Subsystem *subsystem)
-{
-	if (subsystem == NULL)
-	{
+void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
+	if (subsystem == NULL) {
 		wpi_setWPIErrorWithContext(NullParameter, "subsystem");
 		return;
 	}
@@ -205,10 +194,8 @@
  * Removes the {@link Command} from the {@link Scheduler}.
  * @param command the command to remove
  */
-void Scheduler::Remove(Command *command)
-{
-	if (command == NULL)
-	{
+void Scheduler::Remove(Command *command) {
+	if (command == NULL) {
 		wpi_setWPIErrorWithContext(NullParameter, "command");
 		return;
 	}
@@ -218,8 +205,7 @@
 
 	Command::SubsystemSet requirements = command->GetRequirements();
 	Command::SubsystemSet::iterator iter = requirements.begin();
-	for (; iter != requirements.end(); iter++)
-	{
+	for (; iter != requirements.end(); iter++) {
 		Subsystem *lock = *iter;
 		lock->SetCurrentCommand(NULL);
 	}
@@ -228,39 +214,49 @@
 }
 
 void Scheduler::RemoveAll() {
-	while(m_commands.size()>0){
+	while (m_commands.size() > 0) {
 		Remove(*m_commands.begin());
 	}
 }
 
+/**
+ * Update the network tables associated with the Scheduler object on the SmartDashboard
+ */
 void Scheduler::UpdateTable() {
 	CommandSet::iterator commandIter;
 	if (m_table != NULL) {
-		// Get the commands to cancel
+		// Get the list of possible commands to cancel
 		m_table->RetrieveValue("Cancel", *toCancel);
-		
-		for (commandIter = m_commands.begin(); commandIter != m_commands.end();) {
-			for (unsigned i = 0; i < toCancel->size(); i++) {
-				Command *c = *commandIter;
-				if ((unsigned)c == toCancel->get(i)) {
-					c->Cancel();
+//		m_table->RetrieveValue("Ids", *ids);
+
+		// cancel commands that have had the cancel buttons pressed
+		// on the SmartDashboad
+		if (toCancel->size() > 0) {
+			for (commandIter = m_commands.begin(); commandIter
+					!= m_commands.end(); ++commandIter) {
+				for (unsigned i = 0; i < toCancel->size(); i++) {
+					Command *c = *commandIter;
+					if (c->GetID() == toCancel->get(i)) {
+						c->Cancel();
+					}
 				}
 			}
+			toCancel->setSize(0);
+			m_table->PutValue("Cancel", *toCancel);
 		}
-		toCancel->setSize(0);
-		m_table->PutValue("Cancel", *toCancel);
-		
-		commands->setSize(0);
-		ids->setSize(0);
 		
 		// Set the running commands
-		for (commandIter = m_commands.begin(); commandIter != m_commands.end();) {
-			Command *c = *commandIter;
-			commands->add(c->GetName());
-			ids->add((unsigned)c);
+		if (m_runningCommandsChanged) {
+			commands->setSize(0);
+			ids->setSize(0);
+			for (commandIter = m_commands.begin(); commandIter != m_commands.end(); ++commandIter) {
+				Command *c = *commandIter;
+				commands->add(c->GetName());
+				ids->add(c->GetID());
+			}
+			m_table->PutValue("Names", *commands);
+			m_table->PutValue("Ids", *ids);
 		}
-		m_table->PutValue("Names", *commands);
-		m_table->PutValue("Ids", *ids);
 	}
 }
 
@@ -281,7 +277,7 @@
 	commands = new StringArray();
 	ids = new NumberArray();
 	toCancel = new NumberArray();
-	
+
 	m_table->PutValue("Names", *commands);
 	m_table->PutValue("Ids", *ids);
 	m_table->PutValue("Cancel", *toCancel);
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h
index 2636ac6..deef356 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Scheduler.h
@@ -64,6 +64,7 @@
 	NumberArray *ids;
 	NumberArray *toCancel;
 	ITable *m_table;
+	bool m_runningCommandsChanged;
 };
 #endif
 
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp
index dfd559c..c0d8c62 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.cpp
@@ -22,6 +22,7 @@
 	m_name = name;
 	Scheduler::GetInstance()->RegisterSubsystem(this);
 	m_table = NULL;
+	m_currentCommandChanged = true;
 }
 /**
  * Initialize the default command for this subsystem
@@ -106,6 +107,7 @@
 void Subsystem::SetCurrentCommand(Command *command)
 {
 	m_currentCommand = command;
+	m_currentCommandChanged = true;
 }
 
 /**
@@ -124,17 +126,20 @@
  */
 void Subsystem::ConfirmCommand()
 {
-	if (m_table != NULL)
-	{
-		if (m_currentCommand != NULL)
+	if (m_currentCommandChanged) {
+		if (m_table != NULL)
 		{
-			m_table->PutBoolean("hasCommand", true);
-			m_table->PutString("command", m_currentCommand->GetName());
+			if (m_currentCommand != NULL)
+			{
+				m_table->PutBoolean("hasCommand", true);
+				m_table->PutString("command", m_currentCommand->GetName());
+			}
+			else
+			{
+				m_table->PutBoolean("hasCommand", false);
+			}
 		}
-		else
-		{
-			m_table->PutBoolean("hasCommand", false);
-		}
+		m_currentCommandChanged = false;
 	}
 }
 
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h
index b04616d..9ef4f76 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/Subsystem.h
@@ -31,6 +31,7 @@
 	void ConfirmCommand();
 
 	Command *m_currentCommand;
+	bool m_currentCommandChanged;
 	Command *m_defaultCommand;
 	std::string m_name;
 	bool m_initializedDefaultCommand;
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Preferences.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Preferences.cpp
index 7948d9f..7a3d9ea 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/Preferences.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Preferences.cpp
@@ -44,9 +44,6 @@
 	m_readTask.Start((UINT32)this);
 	semTake(m_fileOpStarted, WAIT_FOREVER);
 
-	NetworkTable::GetTable(kTableName)->PutBoolean(kSaveField, false);
-	NetworkTable::GetTable(kTableName)->AddTableListener(this);
-
 	nUsageReporting::report(nUsageReporting::kResourceType_Preferences, 0);
 }
 
@@ -430,7 +427,7 @@
 			{
 				value = fgetc(file);
 			} while (value == ' ' || value == '\t');
-
+			
 			if (value == '\n' || value == ';')
 			{
 				if (value == '\n')
@@ -501,7 +498,7 @@
 				{
 					m_keys.push_back(name);
 					m_values.insert(std::pair<std::string, std::string>(name, value));
-					//NetworkTable::GetTable(kTableName)->PutString(name, value);
+					NetworkTable::GetTable(kTableName)->PutString(name, value);
 
 					if (!comment.empty())
 					{
@@ -525,6 +522,9 @@
 
 	if (!comment.empty())
 		m_endComment = comment;
+	
+	NetworkTable::GetTable(kTableName)->PutBoolean(kSaveField, false);
+	NetworkTable::GetTable(kTableName)->AddTableListener(this);
 }
 
 /**
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/networktables/NetworkTable.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/networktables/NetworkTable.cpp
index f14b590..daefd88 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/networktables/NetworkTable.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/networktables/NetworkTable.cpp
@@ -53,7 +53,7 @@
 
 void NetworkTable::SetClientMode(){
 	CheckInit();
-	mode = &NetworkTableMode::Server;
+	mode = &NetworkTableMode::Client;
 }
 
 void NetworkTable::SetServerMode(){
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/AbstractNetworkTableEntryStore.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/AbstractNetworkTableEntryStore.cpp
index dd1936d..f9ac35c 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/AbstractNetworkTableEntryStore.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/AbstractNetworkTableEntryStore.cpp
@@ -9,7 +9,8 @@
 #include "networktables2/TableKeyExistsWithDifferentTypeException.h"
 #include <map>
 #include <vector>
-
+#include <iostream>
+#include <stdio.h>
 
 	AbstractNetworkTableEntryStore::AbstractNetworkTableEntryStore(TableListenerManager& lstnManager): 
 			listenerManager(lstnManager){
@@ -32,14 +33,23 @@
 	NetworkTableEntry* AbstractNetworkTableEntryStore::GetEntry(std::string& name){
 		{ 
 			Synchronized sync(LOCK);
-			return namedEntries[name];//TODO check for not existing
+			std::map<std::string, NetworkTableEntry*>::iterator value_itr = namedEntries.find(name);
+			if(value_itr != namedEntries.end()) {
+				return value_itr->second;
+			}
+			return NULL;
 		}
 	}
 	
 	NetworkTableEntry* AbstractNetworkTableEntryStore::GetEntry(EntryId entryId){
 		{ 
 			Synchronized sync(LOCK);
-			return idEntries[entryId];//TODO check for not existing
+			
+			std::map<EntryId, NetworkTableEntry*>::iterator value_itr = idEntries.find(entryId);
+			if(value_itr != idEntries.end()) {
+				return value_itr->second;
+			}
+			return NULL;
 		}
 	}
 	
@@ -112,8 +122,8 @@
 			Synchronized sync(LOCK);
 			std::map<std::string, NetworkTableEntry*>::iterator index = namedEntries.find(name);
 			NetworkTableEntry* tableEntry;
-			if(index == namedEntries.end() || namedEntries[name]==NULL)//if the name does not exist in the current entries
-			  {//TODO why doesn't find correctly detect that the entry does not exist
+			if(index == namedEntries.end())//if the name does not exist in the current entries
+			  {
 				tableEntry = new NetworkTableEntry(name, type, value);
 				if(addEntry(tableEntry))
 				{
@@ -123,7 +133,7 @@
 			}
 			else
 			{
-				tableEntry = namedEntries[name];
+				tableEntry = index->second;
 				if(tableEntry->GetType()->id != type->id){
 					throw TableKeyExistsWithDifferentTypeException(name, tableEntry->GetType());
 				}
@@ -155,7 +165,7 @@
 			NetworkTableEntry* tableEntry;
 			if(addEntry(entry)){
 				if(itr != namedEntries.end()){
-					tableEntry = namedEntries[entry->name];
+					tableEntry = itr->second;
 				}
 				else{
 					tableEntry = entry;
@@ -190,8 +200,8 @@
 			std::map<std::string, NetworkTableEntry*>::iterator itr;
 			for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
 			{
-				NetworkTableEntry* entry = namedEntries[(*itr).first];//this may seem odd, but its so we get the address of the list element, rather than the copy stored in the itr
-				listener->ValueChanged(table, (*itr).first, entry->GetValue(), true);
+				NetworkTableEntry* entry = itr->second;
+				listener->ValueChanged(table, itr->first, entry->GetValue(), true);
 			}
 		}
 	}
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/type/NumberArray.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/type/NumberArray.cpp
index cdc69e8..ad51905 100644
--- a/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/type/NumberArray.cpp
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/networktables2/type/NumberArray.cpp
@@ -16,7 +16,7 @@
 }
 
 double NumberArray::get(int index){
-	return _get(index).b;
+	return _get(index).f;
 }
 
 void NumberArray::set(int index, double value){