diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 0000000..45c4356
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,34 @@
+# This is a basic workflow to build robot code.
+
+name: CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the main branch.
+on: [push, pull_request]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v4
+
+    # Declares the repository safe and not under dubious ownership.
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+    # Grant execute permission for gradlew
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+
+    # Runs a single command using the runners shell
+    - name: Compile and run tests on robot code
+      run: ./gradlew build
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..a9edf57
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+A template file containing tasks for programming the XRP Robot in WPILib Java.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 66b7d66..232bff6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,9 +6,12 @@
 
 import edu.wpi.first.wpilibj.XboxController;
 import frc.robot.commands.DriveCommands;
+import frc.robot.commands.ServoCommands;
+import frc.robot.subsystems.Rangefinder;
 import frc.robot.subsystems.Servo;
 import frc.robot.subsystems.XRPDrivetrain;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RepeatCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
@@ -22,6 +25,7 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   public static final XRPDrivetrain m_xrpDrivetrain = new XRPDrivetrain();
   public static final Servo m_servo = new Servo();
+  public static final Rangefinder m_rangefinder = new Rangefinder();
   public final CommandXboxController m_controller = new CommandXboxController(0);
 
 
@@ -48,8 +52,12 @@ public RobotContainer() {
   private void configureButtonBindings() {
     //TODO: Task 7-Uncomment the lines below and replace the null values with the commands you created to move the servo up and down, such that the y button moves it up
     //and the a button moves it down.
-    // m_controller.y().whileTrue(null);
-    // m_controller.a().whileTrue(null);
+    //BONUS:Complete one of the following: Look into all of the different types of commands in the documentation for WPILib. Try to find a command that does not need to be encapsulated
+    //in a RepeatCommand to repeat, and replace the type of moveServoUp and moveServoDown(or whatever they are called) with that type of Command.
+    //Then, delete the RepeatCommand, because your command should already repeat.
+
+    // m_controller.y().whileTrue(new RepeatCommand(null));
+    // m_controller.a().whileTrue(new RepeatCommand(null));
   }
 
   /**
@@ -58,7 +66,7 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    // An ExampleCommand will run in autonomous
+    // The following command will run during autonomous
     return null;
   }
 }
diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
index db32b89..e369414 100644
--- a/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -25,7 +25,7 @@ public class DriveCommands {
    * @return Command that causes the XRP to execute the functions below
    */
   public static Command driveDistance(double distance){
-    //A functional command is returned. A functional command is a basic command with parameters for initialization code, execution code, ending code, a boolean supplier to cause the command to end, and required subsystems.
+    //A functional command is returned. A functional command is a basic command with a constructor with parameters for initialization code, execution code, ending code, a boolean supplier to cause the command to end, and required subsystems.
     return new FunctionalCommand(
       /* 
        * The arrow -> causes the code to be what is called a "lambda". This means that the code is considered to be a method without needing to define it like normal.
@@ -66,6 +66,7 @@ public static Command driveDistance(double distance){
    * Our team usually uses code that looks like the above command.
    * Usage is basically the same, however add new in front of the function call.
    * Example: new DriveCommands.AltDriveDistance(5)
+   * NOTE: Class Commands do not extend FunctionalCommand, however Function Commands do return FunctionalCommand.
    */
   public static class AltDriveDistance extends Command{
     /**
@@ -191,17 +192,12 @@ has a wheel placement diameter (163 mm) - width of the wheel (8 mm) = 155 mm
       */
       double inchPerDegree = Math.PI * 6.102 / 360;
       // Compare distance travelled from start to distance based on degree turn
-      return getAverageTurningDistance() >= (inchPerDegree * m_degrees);
+      return m_drive.getAverageTurningDistance() >= (inchPerDegree * m_degrees);
     }
   
-    private double getAverageTurningDistance() {
-      double leftDistance = Math.abs(m_drive.getLeftDistanceInch());
-      double rightDistance = Math.abs(m_drive.getRightDistanceInch());
-      return (leftDistance + rightDistance) / 2.0;
-    }
   }
 
-  //TODO: Task 1-Rewrite TurnDegrees as a function
+  //TODO: Task 1-Rewrite TurnDegrees as a function that returns a functional command
   //Code here:
 
  public static Command turnDegrees(double speed, double degrees){
@@ -222,7 +218,7 @@ public static Command turnDegrees(double speed, double degrees){
   //TODO: Task 3-Rewrite the following functions to use tank drive
   //driveDistance or AltDriveDistance(choose 1)
   //arcadeDriveCommand(rename as tankDriveCommand)
-  //TurnDegrees(either class or function, choose 1)
+  //Bonus(optional):TurnDegrees(either class or function, choose 1)
 
   /**
    * Commands can also a part of command groups, which are sets of commands that run in certain ways. Sequential Command Groups
@@ -241,7 +237,7 @@ public static Command sequentialExampleCommand(){
   //TODO: Task 9-Write a Command(function or class) that causes the XRP to drive until the distance returned by the rangefinder
   //is less than 2 inches. Afterwards, test it by replacing the return value of getAutonomousCommand() in RobotContainer and setting it to instead return the command you wrote.
 
-  //TODO: Task 10-Write a Sequential Command Group to move the XRP backwards 2 inches, set the arm preset to index 1, spin the XRP 360 degrees
+  //TODO: Task 10-Write a Sequential Command Group to move the XRP backwards 2 inches(you may need to make new Commands or alter existing Commands for this), set the arm preset to index 1, spin the XRP 360 degrees
   //and move the XRP forward 3 inches while moving the arm to 0 degrees using a by Parallel Command group. Afterwards, test it by replacing 
   //the return value of getAutonomousCommand() in RobotContainer and setting it to instead return the command you wrote.
   //HINT: Parallel Command Groups are written the same way as Sequential Command Groups.
diff --git a/src/main/java/frc/robot/commands/ServoCommands.java b/src/main/java/frc/robot/commands/ServoCommands.java
index 9d02334..a924e0d 100644
--- a/src/main/java/frc/robot/commands/ServoCommands.java
+++ b/src/main/java/frc/robot/commands/ServoCommands.java
@@ -2,6 +2,7 @@
 package frc.robot.commands;
 
 public class ServoCommands {
-    //TODO: Task 6-Write commands to move the arm up, down, and to a specific preset by taking in an integer value for which preset to select.
+    //TODO: Task 6-Write commands to move the arm up, down, and to a specific preset. The latter should be done by taking in an integer input.
     //The presets are in the constants file.
+    
 }
diff --git a/src/main/java/frc/robot/subsystems/Rangefinder.java b/src/main/java/frc/robot/subsystems/Rangefinder.java
index 95d31b0..e0344ca 100644
--- a/src/main/java/frc/robot/subsystems/Rangefinder.java
+++ b/src/main/java/frc/robot/subsystems/Rangefinder.java
@@ -2,11 +2,13 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj.xrp.XRPRangefinder;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Rangefinder {
-    private final XRPRangefinder rangefinder;
+public class Rangefinder extends SubsystemBase{
+    private final XRPRangefinder m_rangefinder;
     public Rangefinder(){
-        rangefinder=new XRPRangefinder();
+        m_rangefinder=new XRPRangefinder();
     }
-    //TODO: Task 8-Write a method to get the distance returned by the sensor in inches
+    //TODO: Task 8-Write a method to get the distance returned by the sensor in inches.
+    //HINT: Type 'm_rangefinder.' (without quotes) in a method body to see all of the different methods the rangefinder has.
 }
diff --git a/src/main/java/frc/robot/subsystems/Servo.java b/src/main/java/frc/robot/subsystems/Servo.java
index bc74941..7c7e35e 100644
--- a/src/main/java/frc/robot/subsystems/Servo.java
+++ b/src/main/java/frc/robot/subsystems/Servo.java
@@ -13,4 +13,5 @@ public Servo(){
     }
     //TODO: Task 5-Write functions to control the arm. You should be able to set the arm's angle and get the angle
     //it is at.
+    //HINT: Type 'm_armServo.' (without quotes) in a method body to see all of the different methods the servo has.
 }
diff --git a/src/main/java/frc/robot/subsystems/XRPDrivetrain.java b/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
index 2c119f5..1f7f69c 100644
--- a/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
@@ -47,6 +47,7 @@ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
 
   //TODO:Task 2-Write a function that makes the robot take in a left wheel speed and a right wheel speed, and move at those speeds.
   //HINT:This is called a tank drive, maybe there is a function that can easily allow for it?
+  //HINT:To see all the functions that the drivetrain has, type "m_diffDrive." without the quotes and look at the options generated by auto complete.
 
   public void resetEncoders() {
     m_leftEncoder.reset();
@@ -64,14 +65,11 @@ public double getRightDistanceInch() {
   public double getAverageDistanceInch() {
     return (getLeftDistanceInch()+getRightDistanceInch())/2;
   }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
 
-  @Override
-  public void simulationPeriodic() {
-    // This method will be called once per scheduler run during simulation
+  public double getAverageTurningDistance() {
+    double leftDistance = Math.abs(getLeftDistanceInch());
+    double rightDistance = Math.abs(getRightDistanceInch());
+    return (leftDistance + rightDistance) / 2.0;
   }
   // @Override
   // public void periodic() {