diff --git a/.gitmodules b/.gitmodules
index 4a5325d..6110a46 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -22,3 +22,6 @@
 [submodule "src/pure_pursuit"]
 	path = src/pure_pursuit
 	url = https://github.uconn.edu/ret15108/pure_pursuit
+[submodule "src/vesc"]
+	path = src/vesc
+	url = https://github.uconn.edu/ret15108/vesc
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3703df4..581e61d 120000
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1 +1 @@
-/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/src/vesc b/src/vesc
new file mode 160000
index 0000000..b7eb0b9
--- /dev/null
+++ b/src/vesc
@@ -0,0 +1 @@
+Subproject commit b7eb0b97929bbbe32c46a6e8c0cdcdd0496f2654