diff --git a/app/src/main/java/ejunkins/rovercontroller/ControlStick.java b/app/src/main/java/ejunkins/rovercontroller/ControlStick.java
index 637d7f9..b5fb55b 100644
--- a/app/src/main/java/ejunkins/rovercontroller/ControlStick.java
+++ b/app/src/main/java/ejunkins/rovercontroller/ControlStick.java
@@ -88,78 +88,31 @@ private void setupDimensions(){
 
     @SuppressLint("NewApi")
     private void drawJoystick(float newX, float newY){
+        /*
         int alpha = 255;
         int red = 100;
         int blue = 100;
         int green = 100;
+        */
+
         int ratio = 5;
         if(getHolder().getSurface().isValid()) {
             Canvas myCanvas = this.getHolder().lockCanvas();
             Paint colors = new Paint();
             myCanvas.drawColor(Color.TRANSPARENT, PorterDuff.Mode.CLEAR);
 
-            //Used to make 3-D effect on joystick
+            // Used to make 3-D effect on joystick
             float hypotenuse = (float) Math.sqrt(Math.pow(newX-centerX,2) + Math.pow(newY - centerY,2));
             float sin = (newY - centerY)/hypotenuse;
             float cos = (newX - centerX)/hypotenuse;
 
             Paint paint = new Paint();
-            int r = Math.min(getWidth(),getHeight());
+            int r = Math.min(getWidth(),getHeight()); // r as in polar
             //RectF borderRect = new RectF(centerX - getHeight() / 6, centerY + getWidth() / 3, centerX + getHeight() / 6, centerY - getWidth() / 3);
 
-            paint.setColor(Color.TRANSPARENT);
-            paint.setStyle(Paint.Style.FILL);
-            for (int i = 1; i <= 100; i++) {
-                int x = i;
-                if (i > 50){
-                    x = 2*i;
-                } else {
-                    x = i;
-                }
-                colors.setARGB(255, 0, 0, x);
-                RectF borderRect = new RectF(centerX -  r/6 +i, centerY + r*4/10, centerX + r/6 - i, centerY - r*4/10);
-                myCanvas.drawRoundRect(borderRect,50,50, colors);
-            }
-            //colors.setARGB(255,150,150,150);
-            paint.setColor(Color.WHITE);
-            paint.setStrokeWidth(15);
-            paint.setStyle(Paint.Style.STROKE);
-            myCanvas.drawCircle(centerX,centerY,Math.min(getWidth(),getHeight())*4/9,paint);
-
-            for (int i = 1; i <= 100; i++) {
-                if (i == 1){
-                    colors.setARGB(255,255,255,255);
-                } else {
-                    colors.setARGB(50, i, i, i * 2);
-                }
-                myCanvas.drawOval(centerX - r/4, centerY + r/4, centerX + r/4, centerY - r/4, colors);
-            }
-
-            for (int i =1; i <= (int) (baseRadius/ratio); i++){
-                colors.setARGB(255/i,0,0,0);
-                myCanvas.drawCircle(newX-cos*hypotenuse* (ratio/baseRadius)*i,
-                        newY - sin *hypotenuse * (ratio/baseRadius)* i, i*(hatRadius * ratio/baseRadius),colors);
-            }
-            colors.setARGB(255,0,0,0);
-            myCanvas.drawCircle(newX,newY,hatRadius+ (int) 0.2* hatRadius,colors );
-            int b1 = (int) (hatRadius/10);
-            int b2 = (int) (hatRadius/2);
-            int b3 = (int) (hatRadius*2/3);
-
-            for(int i =0; i<= (int)( hatRadius);i++) {
-
-                if (i <= b1){
-                    colors.setARGB(255,0,0,52);
-                } else if (i > b1 && i <= b2 ){
-                    colors.setARGB(255,0,0,52+2*i);
-                } else if (i > b2 && i < b3){
-                    colors.setARGB(255,0,0,0);
-                } else if (i >= b3){
-                    colors.setARGB(255,0,0,255) ;
-                }
-                myCanvas.drawCircle(newX, newY, hatRadius - (float) i*2/3, colors);
-            }
-            getHolder().unlockCanvasAndPost(myCanvas);
+            makeJoystickBase(paint, colors, myCanvas, r);
+            makeJoystickStem(paint, colors, myCanvas, r);
+            makeJoystickHat(colors, myCanvas, new JoystickHatFloats(newX, newY, hypotenuse, sin, cos, ratio));
         }
     }
 
@@ -201,4 +154,148 @@ public boolean onTouch(View view, MotionEvent myEvent){
     public interface JoystickListener {
         void onJoystickMoved(float xPercent, float yPercent, int id);
     }
+
+    // ########################################
+    // BEGIN drawJoystick Helper Methods
+    // ########################################
+
+
+    private RectF makeJoystickRectF(int x_rDisplacement, int y_rDisplacement, int shift) {
+        return new RectF(centerX -  x_rDisplacement + shift, centerY + y_rDisplacement,
+                         centerX + x_rDisplacement - shift, centerY - y_rDisplacement);
+    }
+
+    private void setJoystickHatColor(int drawIteration, Paint colors) {
+        int tenPercHatRadius = (int) (hatRadius/10);
+        int halfHatRadius = (int) (hatRadius/2);
+        int twoThirdHatRadius = (int) (hatRadius*2/3);
+
+        if (drawIteration <= tenPercHatRadius){
+            colors.setARGB(255,0,0,52);
+
+        } else if (drawIteration > tenPercHatRadius &&
+                   drawIteration <= halfHatRadius ){
+            colors.setARGB(255,0,0,52+2*i);
+
+        } else if (drawIteration > halfHatRadius &&
+                   drawIteration < twoThirdHatRadius){
+            colors.setARGB(255,0,0,0);
+
+        } else if (drawIteration >= twoThirdHatRadius){
+            colors.setARGB(255,0,0,255) ;
+        }
+    }
+
+
+    // TODO: Add documentation
+    private void makeJoystickBase(Paint paint, Paint colors, Canvas myCanvas, int r) {
+        paint.setColor(Color.TRANSPARENT);
+        paint.setStyle(Paint.Style.FILL);
+
+        int x_rDisplacement = r / 6,
+            y_rDisplacement = r * (4/10); // Why not (2/5) instead?
+
+        for (int shift = 1; shift <= 100; shift++) {
+            int blueVal = shift;
+            if (i > 50){
+                blueVal = 2 * shift;
+            }
+
+            colors.setARGB(255, 0, 0, blueVal);
+            RectF borderRect = makeJoystickRectF(x_rDisplacement, y_rDisplacement, shift);
+            myCanvas.drawRoundRect(borderRect,50,50, colors);
+        }
+    }
+
+    private void makeJoystickStem(Paint paint, Paint colors, Canvas myCanvas, int r) {
+        //colors.setARGB(255,150,150,150);
+        paint.setColor(Color.WHITE);
+        paint.setStrokeWidth(15);
+        paint.setStyle(Paint.Style.STROKE);
+        myCanvas.drawCircle(centerX, centerY, r * (4/9), paint);
+
+        int ovalDisplacement = r / 4;
+        // Make background oval
+        colors.setARGB(255,255,255,255);
+        myCanvas.drawOval(centerX - ovalDisplacement, centerY + ovalDisplacement,
+                          centerX + ovalDisplacement, centerY - ovalDisplacement, colors);
+
+        // Fill in over background oval
+        for (int i = 2; i <= 100; i++) {
+            colors.setARGB(50, i, i, i * 2);
+            myCanvas.drawOval(centerX - ovalDisplacement, centerY + ovalDisplacement,
+                              centerX + ovalDisplacement, centerY - ovalDisplacement, colors);
+        }
+    }
+
+    private void makeJoystickHat(Paint colors, Canvas myCanvas, JoystickHatFloats hatFloats) {
+        float newX = hatFloats.newX(),
+            newY = hatFloats.newY(),
+            hypotenuse = hatFloats.hypotenuse(),
+            sin = hatFloats.sin(),
+            cos = hatFloats.cos(),
+            ratio = hatFloats.ratio();
+
+        for (int i =1; i <= (int) (baseRadius/ratio); i++){
+            colors.setARGB(255/i,0,0,0);
+            myCanvas.drawCircle(newX - (cos * hypotenuse) * (ratio / baseRadius) * i,
+                                newY - (sin * hypotenuse) * (ratio / baseRadius) * i,
+                                i * (hatRadius * ratio / baseRadius),
+                                colors);
+        }
+
+        colors.setARGB(255,0,0,0);
+        myCanvas.drawCircle(newX, newY, hatRadius + (int) 0.2* hatRadius , colors);
+
+        for(int drawIteration =0; drawIteration <= (int)( hatRadius); drawIteration++) {
+            setJoystickHatColor(drawIteration, colors);
+            myCanvas.drawCircle(newX, newY, hatRadius - (float) drawIteration * 2/3, colors);
+        }
+
+        getHolder().unlockCanvasAndPost(myCanvas);
+    }
+
+    // ########################################
+    // END drawJoystick Helper Methods
+    // ########################################
+
+    /**
+     * Immutable type to contain float parameters for ControlStick::drawJoyStick
+     */
+    private class JoystickHatFloats {
+        private float newX, newY, hypotenuse, sin, cos, ratio;
+
+        JoystickHatFloats(float newX, float newY, float hypotenuse, float sin, float cos, float ratio) {
+            this.newX = newX;
+            this.newY = newY;
+            this.hypotenuse = hypotenuse;
+            this.sin = sin;
+            this.cos = cos;
+            this.ratio = ratio;
+        }
+
+        float newX() {
+            return newX;
+        }
+
+        float newY() {
+            return newY;
+        }
+
+        float hypotenuse() {
+            return hypotenuse;
+        }
+
+        float sin() {
+            return sin;
+        }
+
+        float cos() {
+            return cos;
+        }
+
+        float ratio() {
+            return ratio;
+        }
+    }
 }