diff --git a/powerboardcode/powerboard/powerboard.h b/powerboardcode/powerboard/powerboard.h
index 5e15ccd..e02c80a 100644
--- a/powerboardcode/powerboard/powerboard.h
+++ b/powerboardcode/powerboard/powerboard.h
@@ -1,62 +1,107 @@
-
-#include "Energia.h"
+#ifndef POWERBOARD_H
+#define POWERBOARD_H
 #include "RoveComm.h"
+
+// Numbers of Toggleable Ports
+#define NUM_12V_PORTS           8   // Everything except Aux cuz Manifest
+#define NUM_MOTORS              7       
+
+IntervalTimer Telemetry;
+
 //12V Current Sensing
-#define AUX_MOUNT_SENSE     PK_3
-#define MULTIMEDIA_SENSE    PK_2
-#define LOW_CURRENT_SENSE   PK_1
-#define GIMBAL_SENSE        PK_0
+
+#define MULTIMEDIA_SENSE        A11
+#define NAV_SENSE               A12
+#define GIMBAL_ACT_SENSE        A10
+#define DRIVE_SENSE             A0
+#define CAM1_SENSE              A2
+#define CAM2_SENSE              A1
+#define BBB_SENSE               A3
+#define AUX_SENSE               A4
+#define SPARE_12V_SENSE         A13
+
+#define OVERCURRENT_PACK        19500 //mA
+#define OVERCURRENT_12V         4800 //mA
+#define CURRENT_ADC_MIN         0
+#define CURRENT_ADC_MAX         4096
+#define CURRENT_mA_MIN          0
+#define CURRENT_mA_MAX          20000
 
 //12V CTL
-#define MULTIMEDIA_LOG_CTL  PK_5
-#define MULTIMEDIA_ACT_CTL  PM_0
-#define AUX_LOG_CTL         PM_1
-#define AUX_ACT_CTL         PM_2
-#define GIMBAL_LOG_CTL      PH_0
-#define GIMBAL_ACT_CTL      PH_1
-#define NAV_BOARD_CTL       PK_7
-#define CAM_CTL             PP_3
-#define EXTRA_CTL           PQ_1
-#define DRIVE_CTL           PM_6
+#define SPARE_CTL               0
+#define NAV_CTL                 1
+#define MULTIMEDIA_CTL          2
+#define GIMBAL_CTL              3
+#define DRIVE_CTL               4
+#define CAM2_CTL                5
+#define CAM1_CTL                6
+#define BBB_CTL                 7
+#define AUX_CTL                 8
+
 
 //PACK CURRENT
-#define P_MOTOR1_SENSE       PD_5
-#define P_MOTOR2_SENSE       PD_4
-#define P_MOTOR3_SENSE       PD_2
-#define P_MOTOR4_SENSE       PD_3
-#define P_SPARE_SENSE        PE_4
-#define P_ROCKET_SENSE       PD_0
-#define P_TWELVE_SENSE       PD_1
-#define P_VACUUM_SENSE       PE_1
-#define P_DRIVE_SENSE        PE_5
-#define P_AUX_SENSE          PE_3
+#define P_MOTOR1_SENSE          A14
+#define P_MOTOR2_SENSE          A15
+#define P_MOTOR3_SENSE          A16  
+#define P_MOTOR4_SENSE          A17
+#define P_MOTOR5_SENSE          A5
+#define P_MOTOR6_SENSE          A6
+#define P_MOTOR7_SENSE          A7
+#define P_POE_SENSE             A8
+
+// Current sensing variables
+
+float MOTORBUSSENSEPINS[NUM_MOTORS] = {P_MOTOR1_SENSE, P_MOTOR2_SENSE, P_MOTOR3_SENSE, P_MOTOR4_SENSE, P_MOTOR5_SENSE, P_MOTOR6_SENSE, P_MOTOR7_SENSE};
+float TWELVELOGICBUSPINS[NUM_12V_PORTS] = {GIMBAL_ACT_SENSE, DRIVE_SENSE, MULTIMEDIA_SENSE, NAV_SENSE, CAM1_SENSE, CAM2_SENSE, BBB_SENSE, SPARE_12V_SENSE};
+
+float P_MOTOR1_CURRENT = 0;
+float P_MOTOR2_CURRENT = 0;
+float P_MOTOR3_CURRENT = 0;
+float P_MOTOR4_CURRENT = 0;
+float P_MOTOR5_CURRENT = 0;
+float P_MOTOR6_CURRENT = 0;
+float P_MOTOR7_CURRENT = 0;
+
+float AUX_CURRENT = 0;
+
+float GIMBAL_ACT_CURRENT = 0;
+float DRIVE_CURRENT = 0;
+float MULTIMEDIA_CURRENT = 0;
+float NAV_CURRENT = 0;
+float CAM1_CURRENT = 0;
+float CAM2_CURRENT = 0;
+float BBB_CURRENT = 0;
+float SPARE_12V_CURRENT = 0;
+
+float MOTORBUSCURRENTS[NUM_MOTORS] = {P_MOTOR1_CURRENT, P_MOTOR2_CURRENT, P_MOTOR3_CURRENT, P_MOTOR4_CURRENT, P_MOTOR5_CURRENT, P_MOTOR6_CURRENT, P_MOTOR7_CURRENT};
+float TWELVELOGICBUSCURRENTS[NUM_12V_PORTS] = {GIMBAL_ACT_CURRENT, DRIVE_CURRENT, MULTIMEDIA_CURRENT, NAV_CURRENT, CAM1_CURRENT, CAM2_CURRENT, BBB_CURRENT, SPARE_12V_CURRENT};
+
+uint8_t motorOverCurrent = 0;
+uint8_t twelveActOverCurrent = 0;
+uint8_t twelveLogicOverCurrent = 0;
 
 //PACK BUSSES
-#define P_MOTOR1_CTL         PQ_0
-#define P_MOTOR2_CTL         PP_1
-#define P_MOTOR3_CTL         PP_0
-#define P_MOTOR4_CTL         PC_7
-#define P_SPARE_CTL          PC_4
-#define P_ROCKET_CTL         PN_2
-#define P_TWELVE_CTL         PH_3
-#define P_VACUUM_CTL         PE_0
-#define P_DRIVE_CTL          PC_6
-#define P_AUX_CTL            PE_2
-
-#define MOTOR_DELAY          5000
-#define DRIVE_DELAY          5000
-
-uint8_t currentSense12V[4] = { AUX_MOUNT_SENSE, MULTIMEDIA_SENSE, GIMBAL_SENSE, LOW_CURRENT_SENSE};
-uint8_t actuation12V[3] = { GIMBAL_ACT_CTL, MULTIMEDIA_ACT_CTL, AUX_ACT_CTL};
-uint8_t logic12V[7] = {GIMBAL_LOG_CTL, MULTIMEDIA_LOG_CTL, AUX_LOG_CTL, DRIVE_CTL, NAV_BOARD_CTL, CAM_CTL, EXTRA_CTL};
-uint8_t drivePack = P_DRIVE_CTL;
-uint8_t currentSensePack[10] = { P_MOTOR1_SENSE, P_MOTOR2_SENSE, P_MOTOR3_SENSE, P_MOTOR4_SENSE, P_SPARE_SENSE, P_ROCKET_SENSE, P_TWELVE_SENSE, P_VACUUM_SENSE, P_DRIVE_SENSE, P_AUX_SENSE};
-uint8_t bussesPackStart[3] = { P_ROCKET_CTL, P_TWELVE_CTL, P_AUX_CTL};
-uint8_t bussesPack[4] = { P_TWELVE_CTL, P_ROCKET_CTL, P_AUX_CTL, P_DRIVE_CTL};
-uint8_t vacuumCtrl[1] = {P_VACUUM_CTL};
-uint8_t bussesMotor[5] = {P_MOTOR1_CTL, P_MOTOR2_CTL, P_MOTOR3_CTL, P_MOTOR4_CTL, P_SPARE_CTL};
+#define POE_CTL                 29
+#define PACK_SPARE_CTL          37
+
+#define MOTOR1_CTL              33       
+#define MOTOR2_CTL              32
+#define MOTOR3_CTL              34
+#define MOTOR4_CTL              31
+#define MOTOR5_CTL              35
+#define MOTOR6_CTL              30
+#define MOTORS_CTL              36
+
+#define MOTOR_DELAY             500
+
+//uint8_t currentSense12V[] = {MULTIMEDIA_SENSE, NAV_SENSE, GIMBAL_ACT_SENSE, DRIVE_SENSE, SCISENSOR_ACT_SENSE, NETSWITCH_SENSE, CAM1_SENSE, CAM2_SENSE, BBB_SENSE, AUX_LOG_SENSE};
+uint8_t twelveVoltBusses[NUM_12V_PORTS] = {GIMBAL_CTL, DRIVE_CTL, MULTIMEDIA_CTL, NAV_CTL, CAM1_CTL, CAM2_CTL, BBB_CTL, SPARE_CTL};
+//uint8_t currentSensePack[9] = {P_MOTOR1_SENSE, P_MOTOR2_SENSE, P_MOTOR3_SENSE, P_MOTOR4_SENSE, P_MOTOR5_SENSE, P_MOTOR6_SENSE, P_MOTOR7_SENSE, P_POE_SENSE, P_AUX_SENSE};
+uint8_t motorBusses[NUM_MOTORS] = {MOTOR1_CTL, MOTOR2_CTL, MOTOR3_CTL, MOTOR4_CTL, MOTOR5_CTL, MOTOR6_CTL, MOTORS_CTL};
 
 RoveCommEthernet RoveComm;
 rovecomm_packet packet; 
+uint8_t* data;
 EthernetServer TCPServer(RC_ROVECOMM_POWERBOARD_PORT);
 
+#endif
\ No newline at end of file
diff --git a/powerboardcode/powerboard/powerboard.ino b/powerboardcode/powerboard/powerboard.ino
index b7721ef..28ce03c 100644
--- a/powerboardcode/powerboard/powerboard.ino
+++ b/powerboardcode/powerboard/powerboard.ino
@@ -1,206 +1,214 @@
 #include "powerboard.h"
 void setup() 
 {
-    Serial.begin(9600);
+    Serial.begin(115200);
     setPins();
     setPinStates();
-    Serial.begin(9600);
-    RoveComm.begin(RC_POWERBOARD_FOURTHOCTET, &TCPServer);
-    delay(100);
+    RoveComm.begin(RC_POWERBOARD_FOURTHOCTET, &TCPServer, RC_ROVECOMM_POWERBOARD_MAC);
+    Telemetry.begin(telemetry, 1500000);
 }
 
 void loop() 
 {
     packet = RoveComm.read();
+    data = (uint8_t*)packet.data;
     if(packet.data_id != 0)
     {
         switch(packet.data_id)
         {
             case RC_POWERBOARD_MOTORBUSENABLE_DATA_ID:
-                Serial.println("Enable/Disable Motor Busses");
-                for(int i = 0; i < 5; i++)
+                Serial.println("Enable/Disable Motor Busses: ");
+                for(int i = 0; i < NUM_MOTORS; i++)
                 {
-                    if (packet.data[0] & 1<<i)
+                    if (data[0] & 1<<i)
                     {
                         Serial.println("Enabling Bus:");
                         Serial.println(i);
-                        digitalWrite(bussesMotor[i], HIGH);
+                        digitalWrite(motorBusses[i], HIGH);
                     }
                     else
                     {
                         Serial.println("Disabling Bus:");
                         Serial.println(i);
-                        digitalWrite(bussesMotor[i], LOW);
+                        digitalWrite(motorBusses[i], LOW);
                     }
                 }
                 break;
-            case RC_POWERBOARD_12VACTBUSENABLE_DATA_ID:
-                Serial.println("Enable/Disable 12V Actuation Busses");
-                for(int i = 0; i < 3; i++)
+            case RC_POWERBOARD_TWELVEVACTBUSENABLE_DATA_ID:
+                Serial.println("Enable/Disable Aux Bus");
+                if (data[0] & 1)
                 {
-                    if (packet.data[0] & 1<<i)
-                    {
-                        Serial.println("Enabling Bus:");
-                        Serial.println(i);
-                        digitalWrite(actuation12V[i], HIGH);
-                    }
-                    else
-                    {
-                        Serial.println("Disabling Bus:");
-                        Serial.println(i);
-                        digitalWrite(actuation12V[i], LOW);
-                    }
+                    Serial.println("Enabling Aux");
+                    digitalWrite(AUX_CTL, HIGH);
                 }
-                break;
-            case RC_POWERBOARD_12VLOGICBUSENABLE_DATA_ID:
-                Serial.println("Enable/Disable 12V Logic Busses");
-                for(int i = 0; i < 7; i++)
+                else
                 {
-                    if (packet.data[0] & 1<<i)
-                    {
-                        Serial.println("Enabling Bus:");
-                        Serial.println(i);
-                        digitalWrite(logic12V[i], HIGH);
-                    }
-                    else
-                    {
-                        Serial.println("Disabling Bus:");
-                        Serial.println(i);
-                        digitalWrite(logic12V[i], LOW);
-                    }
+                    Serial.println("Disabling Aux");
+                    digitalWrite(AUX_CTL, LOW);
                 }
                 break;
-            case RC_POWERBOARD_30VBUSENABLE_DATA_ID:
-                Serial.println("Enable/Disable 30V Busses");
-                for(int i = 0; i < 4; i++)
+            case RC_POWERBOARD_TWELVEVLOGICBUSENABLE_DATA_ID:
+                Serial.println("Enable/Disable 12V Busses");
+                for(int i = 0; i < NUM_12V_PORTS; i++)
                 {
-                    if (packet.data[0] & 1<<i)
+                    if (data[0] & 1<<i)
                     {
                         Serial.println("Enabling Bus:");
                         Serial.println(i);
-                        digitalWrite(bussesPack[i], HIGH);
+                        digitalWrite(twelveVoltBusses[i], HIGH);
                     }
                     else
                     {
                         Serial.println("Disabling Bus:");
                         Serial.println(i);
-                        digitalWrite(bussesPack[i], LOW);
+                        digitalWrite(twelveVoltBusses[i], LOW);
                     }
                 }
                 break;
-            case RC_POWERBOARD_VACUUMENABLE_DATA_ID:
-                Serial.println("Enable/Disable Vacuum Busses");
-                if (packet.data[0] == 1)
+            case RC_POWERBOARD_THIRTYVBUSENABLE_DATA_ID:
+                Serial.println("Enable/Disable 30V Spare");
+                if (data[0] & 1)
                 {
-                    Serial.println("Enabling Bus:");
-                    Serial.println(0);
-                    digitalWrite(vacuumCtrl[0], HIGH);
+                    Serial.println("Enabling Spare");
+                    digitalWrite(PACK_SPARE_CTL, HIGH);
                 }
                 else
                 {
-                    Serial.println("Disabling Bus:");
-                    Serial.println(0);
-                    digitalWrite(vacuumCtrl[0], LOW);
+                    Serial.println("Disabling Spare");
+                    digitalWrite(PACK_SPARE_CTL, LOW);
                 }
                 break;
         }
     }
+
+    measureCurrent();
+    overCurrent();
 }
 
 void setPins()
 {
-    // sets input/output of pack busses and 12V current sense
-    for (int i = 0 ; i < 4 ; i++)
-    {
-        pinMode(currentSense12V[i], INPUT);
-        pinMode(bussesPack[i], OUTPUT);
-    }
-    // sets input/output of pack current sense
-    for (int i = 0 ; i < 10 ; i++)
+    // sets motor busses to OUTPUT
+    for (int i = 0 ; i < NUM_MOTORS ; i++)
     {
-        pinMode(currentSensePack[i], INPUT);
+        pinMode(motorBusses[i], OUTPUT);
+        digitalWrite(motorBusses[i], LOW);
     }
-    // sets output of motor busses
-    for (int i = 0 ; i < 5 ; i++)
+
+    pinMode(PACK_SPARE_CTL, OUTPUT);
+    pinMode(POE_CTL, OUTPUT);
+    // sets Aux to OUTPUT
+    pinMode(AUX_CTL, OUTPUT);
+
+    // sets 12V busses to OUTPUT
+    for (int i = 0 ; i < NUM_12V_PORTS ; i++)
     {
-        pinMode(bussesMotor[i], OUTPUT);
+        pinMode(twelveVoltBusses[i], OUTPUT);
     }
-    // sets output of 12V Actuation
-    for (int i = 0 ; i < 3 ; i++)
+}
+
+void setPinStates()
+{
+    // turns on 12 volt busses
+    for (int i = 0 ; i < NUM_12V_PORTS ; i++)
     {
-        pinMode(actuation12V[i], OUTPUT);
+        digitalWrite(twelveVoltBusses[i], HIGH);
     }
-    // sets output of 12V Logic
-    for (int i = 0 ; i < 7 ; i++)
+
+    // turns on Aux bus
+    digitalWrite(AUX_CTL, LOW);
+
+    // turns on motor busses after a delay
+    for (int i = 0 ; i < NUM_MOTORS ; i++)
     {
-        pinMode(logic12V[i], OUTPUT);
+        delay(MOTOR_DELAY);
+        digitalWrite(motorBusses[i], HIGH);
     }
-    pinMode(drivePack, OUTPUT);
-    pinMode(vacuumCtrl[0], OUTPUT);
+    digitalWrite(PACK_SPARE_CTL, HIGH);
+    digitalWrite(POE_CTL, HIGH);
+
 }
 
-void setPinStates()
+float senseCurrent(const uint8_t sensePin)
 {
-    // turn on 12 volt busses
-    for (int i = 0 ; i < 7 ; i++)
+    float meas_current = analogRead(sensePin);
+    float current = map(meas_current, CURRENT_ADC_MIN, CURRENT_ADC_MAX, CURRENT_mA_MIN, CURRENT_mA_MAX);
+    return current;
+}
+
+void measureCurrent()
+{
+    for (uint8_t i = 0; i < 7; i++)
     {
-        digitalWrite(logic12V[i], HIGH);
+        MOTORBUSCURRENTS[i] = senseCurrent(MOTORBUSSENSEPINS[i]);
+
+        if (MOTORBUSCURRENTS[i] > OVERCURRENT_PACK)
+        {
+            motorOverCurrent |= (1 << i);
+            digitalWrite(motorBusses[i], LOW);
+            delay(1000);
+            digitalWrite(motorBusses[i], HIGH);
+        }
+        else
+        {
+            motorOverCurrent &= !(1 << i);
+        }
     }
-    // turn on 12 volt busses
-    for (int i = 0 ; i < 3 ; i++)
+    
+    AUX_CURRENT = senseCurrent(AUX_SENSE);
+    if (AUX_CURRENT > OVERCURRENT_12V)
     {
-        digitalWrite(actuation12V[i], HIGH);
+        twelveActOverCurrent = 1;
+        digitalWrite(AUX_CTL, LOW);
+        delay(1000);
+        digitalWrite(AUX_CTL, HIGH);
     }
-    // turns on Pack busses
-    for (int i = 0 ; i < 3 ; i++)
+    else
     {
-        digitalWrite(bussesPackStart[i], HIGH);
+        twelveActOverCurrent = 0;
     }
-    //turns off pack drive board bus
-    digitalWrite(drivePack, LOW);
-    digitalWrite(vacuumCtrl[0], LOW);
-    delay(MOTOR_DELAY);
-    // turns on motor busses after a delay
-    for (int i = 0 ; i < 5 ; i++)
+
+    for (uint8_t i = 0; i < 8; i++)
     {
-        digitalWrite(bussesMotor[i], HIGH);
+        TWELVELOGICBUSCURRENTS[i] = senseCurrent(TWELVELOGICBUSPINS[i]);
+
+        if (TWELVELOGICBUSCURRENTS[i] > OVERCURRENT_12V)
+        {
+            twelveLogicOverCurrent |= (1 << i);
+            digitalWrite(twelveVoltBusses[i], LOW);
+            delay(1000);
+            digitalWrite(twelveVoltBusses[i], HIGH);
+        }
+        else
+        {
+            twelveLogicOverCurrent &= !(1 << i);
+        }
     }
-    delay(DRIVE_DELAY);
-    // turns on pack drive bus
-    digitalWrite(drivePack, HIGH);
+    return;
 }
 
-void read_CurrentSense()
+void overCurrent()
 {
-    int motor1_sense = analogRead(P_MOTOR1_SENSE);
-    int motor2_sense = analogRead(P_MOTOR2_SENSE);
-    int motor3_sense = analogRead(P_MOTOR3_SENSE);
-    int motor4_sense = analogRead(P_MOTOR4_SENSE);
-    int spare_sense = analogRead(P_SPARE_SENSE);
-    int rocket_sense = analogRead(P_ROCKET_SENSE);
-    int twelve_sense = analogRead(P_TWELVE_SENSE);
-    int vacuum_sense = analogRead(P_VACUUM_SENSE);
-    int drive_sense = analogRead(P_DRIVE_SENSE);
-    int aux_sense = analogRead(P_AUX_SENSE);
-     
-    Serial.println("Motor 1 sense: ");
-    Serial.println(motor1_sense);
-    Serial.println("Motor 2 sense: ");
-    Serial.println(motor2_sense);
-    Serial.println("Motor 3 sense: ");
-    Serial.println(motor3_sense);
-    Serial.println("Motor 4 sense: ");
-    Serial.println(motor4_sense);
-    Serial.println("Spare sense: ");
-    Serial.println(spare_sense);
-    Serial.println("Rocket sense: ");
-    Serial.println(rocket_sense);
-    Serial.println("Twelve sense: ");
-    Serial.println(twelve_sense);
-    Serial.println("Vacuum sense: ");
-    Serial.println(vacuum_sense);
-    Serial.println("Drive sense: ");
-    Serial.println(drive_sense);
-    Serial.println("Aux sense: ");
-    Serial.println(aux_sense);
+    if (motorOverCurrent)
+    {
+        RoveComm.write(RC_POWERBOARD_MOTORBUSOVERCURRENT_DATA_ID, RC_POWERBOARD_MOTORBUSOVERCURRENT_DATA_COUNT, motorOverCurrent);
+    }
+    if (twelveActOverCurrent)
+    {
+        RoveComm.write(RC_POWERBOARD_TWELVEVACTBUSOVERCURRENT_DATA_ID, RC_POWERBOARD_TWELVEVACTBUSOVERCURRENT_DATA_COUNT, twelveActOverCurrent);
+    }
+    if (twelveLogicOverCurrent)
+    {
+        RoveComm.write(RC_POWERBOARD_TWELVEVLOGICBUSOVERCURRENT_DATA_ID, RC_POWERBOARD_TWELVEVLOGICBUSOVERCURRENT_DATA_COUNT, twelveLogicOverCurrent);
+    }
+    return;
+}
+
+void telemetry()
+{
+    RoveComm.write(RC_POWERBOARD_MOTORBUSCURRENT_DATA_ID, RC_POWERBOARD_MOTORBUSCURRENT_DATA_COUNT, MOTORBUSCURRENTS);
+    delay(100);
+    RoveComm.write(RC_POWERBOARD_TWELVEVACTBUSCURRENT_DATA_ID, RC_POWERBOARD_TWELVEVACTBUSCURRENT_DATA_COUNT, AUX_CURRENT);
+    delay(100);
+    RoveComm.write(RC_POWERBOARD_TWELVEVLOGICBUSCURRENT_DATA_ID, RC_POWERBOARD_TWELVEVLOGICBUSCURRENT_DATA_COUNT, TWELVELOGICBUSCURRENTS);
+    delay(100);
 }
\ No newline at end of file