diff --git a/README.md b/README.md
index e97aa70..44737fe 100644
--- a/README.md
+++ b/README.md
@@ -21,6 +21,38 @@ get a version of pynetworktables that works with Python 2.7:
sudo pip install pynetworktables==2018.2.1
+## Ports and other important information
+| Type | Description | Number | Our Use |
+| :--- | :----: | :----: | ---: |
+| Camera Data | For cameras and video | UDP/TCP 1180 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1181 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1182 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1183 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1184 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1185 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1186 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1187 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1188 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1189 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1190 | Available |
+| SmartDashboard | Unsure if this also includes other networktables tables | TCP 1735 | Can't use |
+| DS-Robot Comms | Contains the data from the DS to the robot | UDP 1130 | Can't use |
+| Robot to DS | Unsure what this contans | UDP 1140 | Can't use |
+| Camera/Web interface | Unsecure web interface connection | HTTP 80 | Available |
+| Camera/Web interface | Secure web interface connection | HTTP 443 | Available |
+| h.264 Streaming | Real time streaming | UDP/TCP 554 | Available |
+| Team Use | Team Use | UDP/TCP 5800 | Available |
+| Team Use | Team Use | UDP/TCP 5801 | Available |
+| Team Use | Team Use | UDP/TCP 5802 | Available |
+| Team Use | Team Use | UDP/TCP 5803 | Available |
+| Team Use | Team Use | UDP/TCP 5804 | Available |
+| Team Use | Team Use | UDP/TCP 5805 | Available |
+| Team Use | Team Use | UDP/TCP 5806 | Available |
+| Team Use | Team Use | UDP/TCP 5807 | Available |
+| Team Use | Team Use | UDP/TCP 5808 | Available |
+| Team Use | Team Use | UDP/TCP 5809 | Available |
+| Team Use | Team Use | UDP/TCP 5810 | Available |
+
## Communicating with the Robot
We do not want to rely on DNS for communications. Therefore, we need to tell
diff --git a/hungry_toaster_gui/CMakeLists.txt b/hungry_toaster_gui/CMakeLists.txt
new file mode 100644
index 0000000..3c91d03
--- /dev/null
+++ b/hungry_toaster_gui/CMakeLists.txt
@@ -0,0 +1,204 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hungry_toaster_gui)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ rosbridge_server
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES hungry_toaster_gui
+# CATKIN_DEPENDS rosbridge_server
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/hungry_toaster_gui.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/hungry_toaster_gui_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hungry_toaster_gui.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/hungry_toaster_gui/gui/InputSim.js b/hungry_toaster_gui/gui/InputSim.js
new file mode 100644
index 0000000..a220bf3
--- /dev/null
+++ b/hungry_toaster_gui/gui/InputSim.js
@@ -0,0 +1,6 @@
+var robotX = Math.round((Math.random()*821-(821/2))*0.316);
+var robotY = Math.round((Math.random()*1598-(1598/2))*0.316);
+robotX = String("calc(63vw + "+robotX+"px)");
+robotY = String("calc(52vh + "+robotY+"px)");
+
+var roboRotate = Math.round(Math.random()*360);
\ No newline at end of file
diff --git a/hungry_toaster_gui/gui/Map.PNG b/hungry_toaster_gui/gui/Map.PNG
new file mode 100644
index 0000000..14d386e
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diff --git a/hungry_toaster_gui/gui/gui-the_good_one.html b/hungry_toaster_gui/gui/gui-the_good_one.html
new file mode 100644
index 0000000..7354ea4
--- /dev/null
+++ b/hungry_toaster_gui/gui/gui-the_good_one.html
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
+
+
+
+ ROS Interface Board
+ Connection status: Connecting...
+
+ Field Map
+
+ Map Style
+
+ Robot Color
+
+
+ Descriptor Area
+
+
+ |^^|
|__|
+
+
+
\ No newline at end of file
diff --git a/hungry_toaster_gui/gui/gui.html b/hungry_toaster_gui/gui/gui.html
new file mode 100644
index 0000000..19676ed
--- /dev/null
+++ b/hungry_toaster_gui/gui/gui.html
@@ -0,0 +1,192 @@
+ROS Interface Board
Connection status: Connecting...
Field Map
Map Style
Robot ColorDescriptor Area|^^|
|__|
\ No newline at end of file
diff --git a/hungry_toaster_gui/gui/perfect_dos_vga_437-webfont.woff b/hungry_toaster_gui/gui/perfect_dos_vga_437-webfont.woff
new file mode 100644
index 0000000..d8eb7ec
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diff --git a/hungry_toaster_gui/launch/websocket.launch b/hungry_toaster_gui/launch/websocket.launch
new file mode 100644
index 0000000..7790c72
--- /dev/null
+++ b/hungry_toaster_gui/launch/websocket.launch
@@ -0,0 +1,3 @@
+
+
+
diff --git a/hungry_toaster_gui/package.xml b/hungry_toaster_gui/package.xml
new file mode 100644
index 0000000..4117881
--- /dev/null
+++ b/hungry_toaster_gui/package.xml
@@ -0,0 +1,62 @@
+
+
+ hungry_toaster_gui
+ 0.0.0
+ The hungry_toaster_gui package
+
+
+
+
+ user
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ rosbridge_server
+ rosbridge_server
+ rosbridge_server
+
+
+
+
+
+
+
+