diff --git a/src/org/usfirst/frc/team4737/lib/LogitechController.java b/src/org/usfirst/frc/team4737/lib/LogitechController.java
new file mode 100644
index 0000000..bc02705
--- /dev/null
+++ b/src/org/usfirst/frc/team4737/lib/LogitechController.java
@@ -0,0 +1,82 @@
+package org.usfirst.frc.team4737.lib;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+
+public class LogitechController {
+	
+	public class Axis {
+        private final Joystick controller;
+        private final int axis;
+
+        private double deadzone;
+
+        public Axis(Joystick controller, int axis) {
+            this.controller = controller;
+            this.axis = axis;
+        }
+
+        public void setDeadzone(double radius) {
+            if (radius < 0) throw new IllegalArgumentException("Deadzone cannot be less than 0.");
+            this.deadzone = radius;
+        }
+
+        public double getRaw() {
+            return controller.getRawAxis(axis);
+        }
+
+        public double get() {
+            double raw = getRaw();
+            if (raw < -deadzone) {
+                return scale(raw, -1, -deadzone, -1, 0);
+            } else if (raw > deadzone) {
+                return scale(raw, deadzone, 1, 0, 1);
+            } else {
+                return 0;
+            }
+        }
+
+        private double scale(double val, double valLow, double valHigh, double newLow, double newHigh) {
+            double reduced = (val - valLow) / (valHigh - valLow);
+            return reduced * (newHigh - newLow) + newLow;
+        }
+    }
+
+    public class Thumbstick {
+        public final Axis X, Y;
+
+        public Thumbstick(Joystick controller, int axisX, int axisY) {
+            X = new Axis(controller, axisX);
+            Y = new Axis(controller, axisY);
+        }
+    }
+    
+    public final Joystick controller;
+    public final JoystickButton A;
+    public final JoystickButton B;
+    public final JoystickButton X;
+    public final JoystickButton Y;
+    public final JoystickButton RB;
+    public final JoystickButton LB;
+    public final Thumbstick LS;
+    public final Thumbstick RS;
+    public final Axis LT;
+    public final Axis RT;
+    
+    public LogitechController(int usbPort) {
+    	controller = new Joystick(usbPort);
+    	A = new JoystickButton(controller, -1); // TODO map the correct button IDs
+    	B = new JoystickButton(controller, -1);
+    	X = new JoystickButton(controller, -1);
+    	Y = new JoystickButton(controller, -1);
+    	RB = new JoystickButton(controller, -1);
+    	LB = new JoystickButton(controller, -1);
+    	LS = new Thumbstick(controller, -1, -1);
+    	RS = new Thumbstick(controller, -1, -1);
+    	LT = new Axis(controller, -1);
+    	RT = new Axis(controller, -1);
+    }
+    
+    // TODO add rumble if possible
+
+}
diff --git a/src/org/usfirst/frc/team4737/robot/OI.java b/src/org/usfirst/frc/team4737/robot/OI.java
index fae76d3..52cfda5 100644
--- a/src/org/usfirst/frc/team4737/robot/OI.java
+++ b/src/org/usfirst/frc/team4737/robot/OI.java
@@ -7,7 +7,10 @@
 
 package org.usfirst.frc.team4737.robot;
 
-import edu.wpi.first.wpilibj.Joystick;
+import org.usfirst.frc.team4737.lib.LogitechController;
+import org.usfirst.frc.team4737.robot.commands.ReverseIntake;
+import org.usfirst.frc.team4737.robot.commands.RunIntake;
+
 
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -42,12 +45,14 @@ public class OI {
 	// until it is finished as determined by it's isFinished method.
 	// button.whenReleased(new ExampleCommand());
 	
-	public Joystick leftJoystick;
-	public Joystick rightJoystick;
+	public LogitechController controller;
 	
 	public OI() {
-		leftJoystick = new Joystick(0);
-		rightJoystick = new Joystick(1);
+		controller = new LogitechController(0);
+		
+		controller.A.whileHeld(new RunIntake());
+		controller.B.whileHeld(new ReverseIntake());
+		
 	}
 	
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java b/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
index 1c31da5..81be37e 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
@@ -21,8 +21,8 @@ protected void initialize() {
     // Called repeatedly when this Command is scheduled to run
     protected void execute() {
     	Robot.DRIVETRAIN.tankDrive(
-    			Robot.OI.leftJoystick.getRawAxis(1),
-    			Robot.OI.rightJoystick.getRawAxis(1));
+    			Robot.OI.controller.LS.Y.get(),
+    			Robot.OI.controller.RS.Y.get());
     }
 
     // Make this return true when this Command no longer needs to run execute()