diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 4c96e86..1627a0a 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -28,12 +28,12 @@ public final class Constants {
 
         /* PID Constants Drive*/
         public static final int DRIVE_TIMEOUT_MS = 30;
-        public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
-        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.3);
-        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
+        public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
+        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 1.0);
+        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.0);
         public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
-        public static final int DRIVE_CRUISE_VELOCITY = 15000;
-        public static final int DRIVE_ACCELERATION = 6000;
+        public static final int DRIVE_CRUISE_VELOCITY = 2000;
+        public static final int DRIVE_ACCELERATION = 1000;
 
         /* Remote Sensors */
         public final static int REMOTE_0 = 0;
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 8c15e6a..41328b4 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -97,7 +97,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopInit() {
-    m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
+    m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
 
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index ba1ef76..ed87459 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -79,16 +79,17 @@ public class RobotContainer {
 
         /* PID Test Command */
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
-            .whenPressed(new DriveAtVelocityPID(m_robotDrive, 0));
+            .whenPressed(new DriveAtVelocityPID(m_robotDrive, 150))
+            .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
 
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
             .whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
 
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotDrive.driveWithInput(0, 0.3), m_robotDrive));
+            .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000), m_robotDrive));
 
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
-            .whenPressed(new InstantCommand(() -> m_robotDrive.getCurrentCommand().cancel(), m_robotDrive));
+            .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
     }
     
     /**
diff --git a/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java b/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
index 68fd295..7d241b6 100644
--- a/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
@@ -42,12 +42,13 @@ public class DriveAtVelocityPID extends CommandBase {
     m_rightTarget = m_targetVel;
     m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
     m_drive.setDriveTrainNeutralMode(NeutralMode.Coast);
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_drive.runVelocityPID(m_targetVel, m_targetGyro+1000);
+    m_drive.runVelocityPID(-20000, m_targetGyro);
 
     SmartDashboard.putNumber("Input Target Velocity", m_copiedTargetVel);
     SmartDashboard.putNumber("Output Target Velocity", m_targetVel);
@@ -60,7 +61,7 @@ public class DriveAtVelocityPID extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    m_drive.setDriveTrainNeutralMode(NeutralMode.Brake);
+    m_drive.setDriveTrainNeutralMode(NeutralMode.Coast);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
index 872a0ce..625e522 100644
--- a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
+++ b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
@@ -39,8 +39,8 @@ public class DriveToDistanceMM extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
-    m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
+    //m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
+    //m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 272bc54..489f97a 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -7,6 +7,7 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.FollowerType;
@@ -67,7 +68,7 @@ public class Drive extends SubsystemBase {
     m_rightBackMotor.follow(m_rightFrontMotor);
 
     /* set neutral mode */
-    setDriveTrainNeutralMode(NeutralMode.Brake);
+    setDriveTrainNeutralMode(NeutralMode.Coast);
 
     /* Setup Sensors for TalonFXs */
     m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -216,14 +217,17 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
       SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
 
-      SmartDashboard.putNumber("Right Motor Output", m_rightFrontMotor.getMotorOutputPercent());
-      SmartDashboard.putNumber("Left Motor Output", m_leftFrontMotor.getMotorOutputPercent());
-      SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
-      SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
-      SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
-      SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
-      SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
-      SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
+      SmartDashboard.putNumber("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent());
+      SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent());
+      SmartDashboard.putNumber("Right Back Motor Current", m_rightFrontMotor.getSupplyCurrent());
+      SmartDashboard.putNumber("Left Back Motor Current", m_leftFrontMotor.getSupplyCurrent());
+
+      ////SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
+      //SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+      //SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
+      //SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
+      //SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
+      //SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
 
       Gains gains = m_chooser.getSelected();
       if (gains.equals(gainsOld)) {
@@ -318,14 +322,19 @@ public class Drive extends SubsystemBase {
   public void runVelocityPID(double targetVel, double targetGyro) {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
-    m_rightFrontMotor.setInverted(false);
-    m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, targetVel, DemandType.AuxPID, targetGyro);
-    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
+    m_rightFrontMotor.setInverted(true);
+    m_rightFrontMotor.set(TalonFXControlMode.Velocity, 20000, DemandType.AuxPID, targetGyro);
+    //m_rightFrontMotor.set(ControlMode.PercentOutput, 0.2);
+    //m_leftFrontMotor.follow(m_rightFrontMotor);
+    //m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
   }
 
-  public void runMotionMagicPID(WPI_TalonFX talon, double targetPos){
-    talon.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
-    talon.set(TalonFXControlMode.MotionMagic, targetPos);
+  public void runMotionMagicPID(double targetPos){
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
+    m_rightFrontMotor.setInverted(true);
+    m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos);
+    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
   }
 
   public void runTurningPID(double targetAngle){