diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1e59a82..af796f7 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -171,9 +171,9 @@ public class RobotContainer {
     //                       m_robotBoomBoom, 
     //                       m_robotTurret).withName("Storage ManageStorage defaultCommand"));
     
-    m_robotClimber.setDefaultCommand(
-      new RunCommand(() -> m_robotClimber.runBothMotorsWithInputs(getDriverController().getLeftY() * 0.1, getDriverController().getRightY() * 0.1), m_robotClimber)
-    );
+    // m_robotClimber.setDefaultCommand(
+    //   new RunCommand(() -> m_robotClimber.runBothMotorsWithInputs(getDriverController().getLeftY() * 0.1, getDriverController().getRightY() * 0.1), m_robotClimber)
+    // );
       // Storage Management
     /*m_robotStorage.setDefaultCommand(
         new RunCommand(() -> m_robotStorage.manageStorage(), 
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 9a4a5e9..555ef83 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -113,17 +113,17 @@ public class SwerveDrive extends SubsystemBase {
 
   public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
     ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
-    Translation2d speed = new Translation2d(-leftX, leftY);
+    Translation2d speed = new Translation2d(leftX, leftY);
     speed = speed.times(speed.getNorm() * speedAdjust);
     if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
-      rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
+      rotTarget = new Rotation2d(rightX, rightY);
     double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
-    double xSpeedMetersPerSecond = -speed.getX();
+    double xSpeedMetersPerSecond = speed.getX();
     double ySpeedMetersPerSecond = speed.getY();
     chassisSpeeds = fieldRelative
         ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
-            rot * SwerveDriveConstants.ROTATION_SPEED, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI*2)))
-        : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED * 8);
+            rot * SwerveDriveConstants.ROTATION_SPEED * speedAdjust, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI*2) + (Math.PI /2)))
+        : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED * speedAdjust);
     SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(
         chassisSpeeds);
     setModuleStates(states);