diff --git a/DecisionSystem/CentralisedDecision/ballotvoter.py b/DecisionSystem/CentralisedDecision/ballotvoter.py
index 5c994cf..b2e1bff 100644
--- a/DecisionSystem/CentralisedDecision/ballotvoter.py
+++ b/DecisionSystem/CentralisedDecision/ballotvoter.py
@@ -2,10 +2,11 @@ import paho.mqtt.client as mqtt
 import umsgpack
 
 class BallotVoter:
-    def __init__(self):
+    def __init__(self, on_vote):
         self.client = mqtt.Client()
         # id is generated automatically.
         self.client.connect('172.16.13.128')
+        self.on_vote = on_vote
 
     def on_connect(self, client, userdata, flags, rc):
         print("Connected with result code " + str(rc))
@@ -19,19 +20,26 @@ class BallotVoter:
         # Leaving this until core centralised system is working.
         #will_message = {"type": "UDisconnect"}
 
-        # Send a connected message to let any commanders know that 
-        # it is available. 
-        self.client.publish("swarm/commander", "connect," + self.client._client_id)
+        self.send_connect()
 
     def on_message(self, client, userdata, message):
         messageDict = umsgpack.unpackb(message)
         if "type" in messageDict.keys:
             # Ok message.
             if messageDict["type"] == "reqVote":
-                submit_vote()
+                self.submit_vote()
+            if messageDict["type"] == "listening":
+                self.send_connect()
         else:
             # Bad message.
+            pass
 
     def submit_vote(self):
-        self.client.publish('swarm1/')
-    
\ No newline at end of file
+        binary = umsgpack.packb("type": "vote", "client": self.client._client_id, "vote": self.on_vote())
+        self.client.publish('swarm1/commander', binary)
+        
+    def send_connect(self):
+        # Send a connected message to let any commanders know that 
+        # it is available. 
+        binary = umsgpack.packb({"type": "connect", "id": self.client._client_id})
+        self.client.publish("swarm/commander", binary)
\ No newline at end of file