diff --git a/electrical/schematics/circuitmaker/485_termination.SchDoc b/electrical/schematics/circuitmaker/485_termination.SchDoc
deleted file mode 100644
index 626999b..0000000
Binary files a/electrical/schematics/circuitmaker/485_termination.SchDoc and /dev/null differ
diff --git a/electrical/schematics/circuitmaker/485_tranceiver.SchDoc b/electrical/schematics/circuitmaker/485_tranceiver.SchDoc
deleted file mode 100644
index 73e9e73..0000000
Binary files a/electrical/schematics/circuitmaker/485_tranceiver.SchDoc and /dev/null differ
diff --git a/electrical/schematics/circuitmaker/5v_power.SchDoc b/electrical/schematics/circuitmaker/5v_power.SchDoc
index 59ebe07..d4e417d 100644
Binary files a/electrical/schematics/circuitmaker/5v_power.SchDoc and b/electrical/schematics/circuitmaker/5v_power.SchDoc differ
diff --git a/electrical/schematics/circuitmaker/mcu.SchDoc b/electrical/schematics/circuitmaker/mcu.SchDoc
index a03bf53..6e70f4e 100644
Binary files a/electrical/schematics/circuitmaker/mcu.SchDoc and b/electrical/schematics/circuitmaker/mcu.SchDoc differ
diff --git a/electrical/schematics/circuitmaker/reverse_protection.SchDoc b/electrical/schematics/circuitmaker/reverse_protection.SchDoc
index 7a56781..32c6130 100644
Binary files a/electrical/schematics/circuitmaker/reverse_protection.SchDoc and b/electrical/schematics/circuitmaker/reverse_protection.SchDoc differ
diff --git a/electrical/schematics/circuitmaker/rs485_transceiver.SchDoc b/electrical/schematics/circuitmaker/rs485_transceiver.SchDoc
new file mode 100644
index 0000000..cae7b81
Binary files /dev/null and b/electrical/schematics/circuitmaker/rs485_transceiver.SchDoc differ
diff --git a/electrical/schematics/circuitmaker_stuff.md b/electrical/schematics/circuitmaker_stuff.md
index 859e477..22aea53 100644
--- a/electrical/schematics/circuitmaker_stuff.md
+++ b/electrical/schematics/circuitmaker_stuff.md
@@ -11,7 +11,6 @@ Next download the sheets you will need for your project, at the bare minimum you
 * mcu
 * reverse protection
 * rs485_tranceiver
-* rs485_termination
 * 5v_power
 * 3v3_power
 
diff --git a/mechanical/drawings.md b/mechanical/drawings.md
new file mode 100644
index 0000000..c914892
--- /dev/null
+++ b/mechanical/drawings.md
@@ -0,0 +1,8 @@
+# Part Drawing Checklist
+----
+
+1. Units
+2. Tolerances / fits
+3. No clutter (uneccisary dimensions)
+4. Everything needed (hole callouts)
+5. Material assigned
diff --git a/mechanical/part_drawings/mr1718-arm-base-cup_bearing.PDF b/mechanical/part_drawings/mr1718-arm-base-cup_bearing.PDF
new file mode 100644
index 0000000..19b92a7
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-cup_bearing.PDF differ
diff --git a/mechanical/part_drawings/mr1718-arm-base-encoder_mount_standoff.PDF b/mechanical/part_drawings/mr1718-arm-base-encoder_mount_standoff.PDF
new file mode 100644
index 0000000..9f4eab5
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-encoder_mount_standoff.PDF differ
diff --git a/mechanical/part_drawings/mr1718-arm-base-large_pulley_bearing_spacer.PDF b/mechanical/part_drawings/mr1718-arm-base-large_pulley_bearing_spacer.PDF
new file mode 100644
index 0000000..e9ba1e9
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-large_pulley_bearing_spacer.PDF differ
diff --git a/mechanical/part_drawings/mr1718-arm-base-mounting_output.PDF b/mechanical/part_drawings/mr1718-arm-base-mounting_output.PDF
new file mode 100644
index 0000000..f345cbd
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-mounting_output.PDF differ
diff --git a/mechanical/part_drawings/mr1718-arm-base-output_shaft.PDF b/mechanical/part_drawings/mr1718-arm-base-output_shaft.PDF
new file mode 100644
index 0000000..9ae379c
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-output_shaft.PDF differ
diff --git a/mechanical/part_drawings/mr1718-arm-base-rotor_shaft-inner.PDF b/mechanical/part_drawings/mr1718-arm-base-rotor_shaft-inner.PDF
new file mode 100644
index 0000000..3574d31
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-rotor_shaft-inner.PDF differ
diff --git a/mechanical/part_drawings/mr1718-arm-base-rotor_shaft-outer_sleeve.PDF b/mechanical/part_drawings/mr1718-arm-base-rotor_shaft-outer_sleeve.PDF
new file mode 100644
index 0000000..36e248b
Binary files /dev/null and b/mechanical/part_drawings/mr1718-arm-base-rotor_shaft-outer_sleeve.PDF differ
diff --git a/rover/rover_main/launch/rover_main.launch b/rover/rover_main/launch/rover_main.launch
index ae87561..e90eb51 100644
--- a/rover/rover_main/launch/rover_main.launch
+++ b/rover/rover_main/launch/rover_main.launch
@@ -19,7 +19,7 @@
 <!-- ### Start 2D Cameras ### -->
 <group ns="cameras">
 <!-- Start Undercarriage Camera -->
-    <node name="camera_undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
+    <node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
         <param name="device_path" value="/dev/rover/camera_undercarriage"/>
     </node>
 
@@ -29,7 +29,7 @@
     </node>
 
 <!-- Start Gimbal Camera -->
-    <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
+    <node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
         <param name="device_path" value="/dev/rover/camera_gimbal" />
     </node>
 
diff --git a/rover/ublox-master/ublox_gps/config/nmea.yaml b/rover/ublox-master/ublox_gps/config/nmea.yaml
index 829e444..7c26f05 100644
--- a/rover/ublox-master/ublox_gps/config/nmea.yaml
+++ b/rover/ublox-master/ublox_gps/config/nmea.yaml
@@ -1,5 +1,5 @@
 # Sample NMEA parameter configuration
-device: /dev/ttyUSB4
+device: /dev/rover/ttyGPS
 
 uart1:
   baudrate: 9600           # C94-M8P specific