diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index bcd15f8..e05af11 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -29,8 +29,8 @@ 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, 0.3);
-        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
-        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
+        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.1, 0, 1.0);
+        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.5);
         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 = 20000;
         public static final int DRIVE_ACCELERATION = 7000;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2585fbc..a431921 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -18,8 +18,7 @@ import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
-import frc4388.robot.commands.DriveWithJoystick;
-import frc4388.robot.commands.DriveWithJoystickAuxPID;
+import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -30,9 +29,6 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.commands.RunLevelerWithJoystick;
-import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.Intake;
-import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
@@ -68,7 +64,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
         // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // drives climber with input from triggers on the opperator controller
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
new file mode 100644
index 0000000..0a7938e
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+  boolean isAuxPIDEnabled = false;
+
+  /**
+   * Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
+   * Applies a curved ramp to the input from the controllers to make the robot less "touchy".
+   * Also uses PIDs to keep the robot on course when given a "dead" or 0 input.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public DriveWithJoystickUsingDeadAssistPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.    
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    double steerOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+
+    /* If AuxPID is enabled, then update using the steer input */
+    if (isAuxPIDEnabled) {
+      m_targetGyro += 2 * steerInput * deltaTime;
+  
+      m_targetGyro = MathUtil.clamp(  m_targetGyro, 
+                                      currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                      currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+    }
+    /* Otherwise set target angle to current angle (prevents buildup of gyro error) */
+    else {
+      m_targetGyro = currentGyro;
+    }
+
+    /* If move stick is being used */
+    if (moveInput != 0) {
+      /* Curves the moveInput to be slightly more gradual at first */
+      if (moveInput >= 0) {
+        moveOutput = -Math.cos(1.571*moveInput)+1;
+      } else {
+        moveOutput = Math.cos(1.571*moveInput)-1;
+      }
+
+      /* If steer stick is being used. */
+      if (steerInput != 0) {
+        double cosMultiplier = .45;
+        double deadzone = .2;
+        /* Curves the steer output to be similarily gradual */
+        if (steerInput > 0){
+          steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
+        } else {
+          steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
+        }
+        m_drive.driveWithInput(moveOutput, steerOutput);
+        isAuxPIDEnabled = false;
+      }
+      /* If only the move stick is being used */
+      else {
+        m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+        isAuxPIDEnabled = true;
+      }
+    }
+    /* If the move stick is not being used */
+    else {
+      m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      isAuxPIDEnabled = true;
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}