diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 35672cc..c241591 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -39,7 +39,7 @@ public final class Constants {
         /* Trajectory Constants */
         public static final double kMaxSpeedMetersPerSecond = 3;
         public static final double kMaxAccelerationMetersPerSecondSquared = 3;
-        public static final double kTrackwidthMeters = 0.69; ///TODO: SET THIS SOON!
+        public static final double kTrackwidthMeters = 0.648; ///TODO: SET THIS SOON!
         public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(kTrackwidthMeters);
 
         /* Remote Sensors */
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 161b7f1..3cbf888 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -372,7 +372,7 @@ public class Drive extends SubsystemBase {
    * @param rightSpeed the commanded right output
    */
   public void tankDriveVelocity(double leftSpeed, double rightSpeed) {
-    DifferentialDriveWheelSpeeds wheelSpeeds = new DifferentialDriveWheelSpeeds(leftSpeed, rightSpeed);
+    /*DifferentialDriveWheelSpeeds wheelSpeeds = new DifferentialDriveWheelSpeeds(leftSpeed, rightSpeed);
     ChassisSpeeds chassisSpeeds = DriveConstants.kDriveKinematics.toChassisSpeeds(wheelSpeeds);
     double moveVelMPS = chassisSpeeds.vxMetersPerSecond;
     double angleVelRad = chassisSpeeds.omegaRadiansPerSecond;
@@ -382,10 +382,14 @@ public class Drive extends SubsystemBase {
     m_kinematicsTargetAngle = MathUtil.clamp( m_kinematicsTargetAngle, 
                                               m_currentAngleYaw-(360),
                                               m_currentAngleYaw+(360));
-    double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
-    double moveVel = inchesToMeters(metersToInches(moveVelMPS))/DriveConstants.SECONDS_TO_TICK_TIME;
+    double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;*/
+    double moveVelLeft = inchesToMeters(metersToInches(leftSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
+    double moveVelRight = inchesToMeters(metersToInches(rightSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
 
-    runDriveStraightVelocityPID(moveVel, targetGyro);
+    //runDriveStraightVelocityPID(moveVel, targetGyro);
+
+    m_rightFrontMotor.set(TalonFXControlMode.Velocity, moveVelRight);
+    m_leftFrontMotor.set(TalonFXControlMode.Velocity, moveVelLeft);
   }
 
   /**