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diff --git a/System_Python/system.py b/System_Python/system.py
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+#!/usr/bin/env python
+from motor import Motor
+from encoder import Encoder
+
+# IO pin definitions
+### Motor pins
+motor_speed_pin = 17
+motor_forward_pin = 27
+motor_reverse_pin = 22
+### Encoder pins (shared by both encoders)
+encoder_clock_pin = 2
+encoder_data_pin = 3
+### Angular encoder pins
+encoder_angular_cs_pin = 4
+### Linear encoder pins
+encoder_linear_cs_pin = 5
+
+
+# System Class
+# This is the primary interface a student will use to control the pendulum.
+class System:
+    def __init__(self):
+		# Initialize the motor.
+		self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
+		# Initialize the angular encoder.
+		self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
+		self.encoder_angular.set_zero()
+		# Initialize the linear encoder.
+		self.encoder_linear = Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
+		self.encoder_linear.set_zero()
+    # END __init__()
+	
+	# Get the values of the encoders to determine the angular and linear position of the pendulum.
+	# Values are returned as a tuple: (angle, linear).
+	### angle: 0 indicates the pendulum is exactly straight up.
+	#####	   180 or -180 indicate the pendulum is exactly straight down.
+	#####	   Positive values indicate the pendulum is leaning to the right.
+	#####	   Negative values indicate the pendulum is leaning to the left.
+	### linear: 0 indicates the pendulum is exactly in the middle of the track.
+	#####		Positive values indicate the pendulum is right-of-center.
+	#####		Negative values indicate the pendulum is left-of-center.
+	def measure(self):
+		angular_position = self.encoder_angular.read_position('Degrees')
+		if angular_position > 180:
+			angular_position = angular_position - 360
+		# TODO: Implement linear position
+		# Need to determine how to keep track of position based on gearing and rotations.
+		#linear_position = self.encoder_linear.read_position('Raw')
+		linear_position = 0
+		return (angular_position, linear_position)
+	# END measure()
+	
+	# Adjust the pendulum's linear position using the motor.
+	### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
+	#####	   Negative values will move the pendulum to the left.
+	#####	   Positive values will move the pendulum to the right.
+	def adjust(self, speed):
+		# cap the speed inputs
+		if speed > 100.0:
+			speed = 100.0
+		if speed < -100.0:
+			speed = -100.0
+		# change the motor speed
+		# TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
+		self.motor.move(speed)
+	# END adjust()
+# END System
+    
+\ No newline at end of file