diff --git a/include/pros/distance.hpp b/include/pros/distance.hpp
index 9ab2b4e39..fc7a4130d 100644
--- a/include/pros/distance.hpp
+++ b/include/pros/distance.hpp
@@ -50,7 +50,7 @@ class Distance {
    * errno.
    */
 
-  int32_t distance_get();
+  int32_t get();
 
   /**
    * Get the confidence in the distance reading
@@ -68,7 +68,7 @@ class Distance {
    * errno.
    */
 
-  int32_t distance_get_confidence();
+  int32_t get_confidence();
 
   /**
    * Get the current guess at relative object size
@@ -86,7 +86,7 @@ class Distance {
    * errno.
    */
 
-  double distance_get_object_size();
+  double get_object_size();
 
   /**
    * Get the object velocity in m/s
@@ -100,12 +100,12 @@ class Distance {
    * errno.
    */
 
-  double distance_get_object_velocity();
+  double get_object_velocity();
 
   /**
-	 * Gets the port number of the motor.
+	 * Gets the port number of the distance sensor.
 	 *
-	 * \return The motor's port number.
+	 * \return The distance sensor's port number.
 	 */
 	std::uint8_t get_port();
 
diff --git a/src/devices/vdml_distance.cpp b/src/devices/vdml_distance.cpp
new file mode 100644
index 000000000..c9d85cb46
--- /dev/null
+++ b/src/devices/vdml_distance.cpp
@@ -0,0 +1,39 @@
+/**
+ * \file devices/vdml_distance.cpp
+ *
+ * Contains functions for interacting with the V5 ADI.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include "pros/distance.hpp"
+
+namespace pros {
+using namespace pros::c;
+
+Distance::Distance(const std::uint8_t port):_port(port){}
+
+Distance::get(){
+  return distance_get(_port);
+}
+
+Distance::get_confidence(){
+  return distance_get_confidence(_port);
+}
+
+Distance::get_object_size(){
+  return distance_get_object_size(_port);
+}
+
+Distance::get_object_velocity(){
+  return distance_get_object_velocity(_port);
+}
+
+Distance::get_port(){
+  return _port;
+}
+}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index e4a07c91a..2cc89c635 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -7,12 +7,10 @@
  * "I was pressed!" and nothing.
  */
 void on_center_button() {
-	pros::Controller master(pros::E_CONTROLLER_MASTER);
 	static bool pressed = false;
 	pressed = !pressed;
 	if (pressed) {
 		pros::lcd::set_text(2, "I was pressed!");
-		master.clear_line(1);
 	} else {
 		pros::lcd::clear_line(2);
 	}
@@ -77,9 +75,18 @@ void autonomous() {}
  */
 void opcontrol() {
 	pros::Controller master(pros::E_CONTROLLER_MASTER);
-	master.set_text(1,0,"Adrenocorticotropic");
+	pros::Motor left_mtr(1);
+	pros::Motor right_mtr(2);
 
 	while (true) {
-		
+		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
+		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
+		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
+		int left = master.get_analog(ANALOG_LEFT_Y);
+		int right = master.get_analog(ANALOG_RIGHT_Y);
+
+		left_mtr = left;
+		right_mtr = right;
+		pros::delay(20);
 	}
 }