diff --git a/DecisionSystem/CentralisedDecision/ballotvoter.py b/DecisionSystem/CentralisedDecision/ballotvoter.py
new file mode 100644
index 0000000..fd24914
--- /dev/null
+++ b/DecisionSystem/CentralisedDecision/ballotvoter.py
@@ -0,0 +1,21 @@
+import paho.mqtt.client as mqtt
+
+class BallotVoter:
+    def __init__(self):
+        self.client = mqtt.Client()
+        self.client.connect('172.16.43.2')
+
+    def on_connect(self, client, userdata, flags, rc):
+        print("Connected with result code " + str(rc))
+        if rc == 0:
+            global connected
+            connected = True
+
+        self.client.subscribe('swarm1/voters', qos=1)
+
+    def on_message(self, client, userdata, message):
+        
+
+    def submit_vote(self):
+        self.client.publish('swarm1/')
+    
\ No newline at end of file
diff --git a/DecisionSystem/CentralisedDecision/commander.py b/DecisionSystem/CentralisedDecision/commander.py
new file mode 100644
index 0000000..ac3d0f0
--- /dev/null
+++ b/DecisionSystem/CentralisedDecision/commander.py
@@ -0,0 +1,53 @@
+import Messaging.mqttsession as ms
+import time
+import umsgpack
+
+class Commander:
+    currentVote = None
+
+    def __init__(self, timeout = 60):
+        '''
+        Initial/default waiting time is 1 minute for votes to come in. 
+        '''
+        self.timeout = timeout
+        self._votes = []
+        ms.Client()
+
+        def on_message(client, userdata, message):
+            self._votes.append(umsgpack.unpackb(message.payload))
+        
+        ms.client.subscribe("FakeSwarm/FirstTest", on_message)
+
+        ms.client.loop_start()
+
+    def make_decision(self):
+        votes = self._votes
+        dif_votes = {}
+
+        for vote in votes:
+            # Get the average/max, etc.
+            if str(vote) in dif_votes:
+                dif_votes[str(vote)] = dif_votes[str(vote)] + 1
+            else:
+                dif_votes[str(vote)] = 1
+
+        max_vote = None
+        max_vote_num = 0
+        for vote in dif_votes.keys():
+            if dif_votes[vote] > max_vote_num:
+                max_vote = vote
+                max_vote_num = dif_votes[vote]
+
+        return max_vote
+
+    def get_votes(self, topic, message, qos=0):
+        # Publish a message that votes are needed.
+        ms.client.publish(topic, message, qos)
+        time.sleep(self.timeout)
+        self.make_decision()
+
+    def add_subscription(self, topic, callback=None, qos=0):
+        ms.client.subscribe(topic)
+
+        if callback is not None:
+            ms.client.message_callback_add(topic, callback)
\ No newline at end of file