diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 0558df5..4cf913b 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -27,10 +27,24 @@ public final class Constants {
         public static final int PIGEON_ID = 6;
 
         /* PID Constants Drive*/
-        public static final int DRIVE_SLOT_IDX = 0;
-        public static final int DRIVE_PID_LOOP_IDX = 0;
         public static final int DRIVE_TIMEOUT_MS = 30;
         public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
+        public static final int DRIVE_CRUISE_VELOCITY = 15000;
+        public static final int DRIVE_ACCELERATION = 6000;
+
+        /* Remote Sensors */
+        public final static int REMOTE_0 = 0;
+        public final static int REMOTE_1 = 1;
+        
+        /* PID Indexes */
+        public final static int PID_PRIMARY = 0;
+        public final static int PID_TURN = 1;
+        
+        /* PID SLOTS */
+        public final static int SLOT_DISTANCE = 0;
+	    public final static int SLOT_VELOCITY = 1;
+	    public final static int SLOT_TURNING = 2;
+	    public final static int SLOT_MOTION_MAGIC = 3;
         
         /* Drive Train Characteristics */
         public static final double TICKS_PER_MOTOR_REV = 2048;
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index c168c9d..7d007b5 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -7,8 +7,10 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.InvertType;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.SensorTerm;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
@@ -61,34 +63,14 @@ public class Drive extends SubsystemBase {
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
+    /* deadbands */
     m_leftBackMotor.configNeutralDeadband(0.0); // DO NOT CHANGE
     m_rightBackMotor.configNeutralDeadband(0.0); //Ensures motors run at the same speed
 
-    /* Motor Encoders */
-    //m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
-    //m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
-  
-    /*m_leftFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
 
-    m_leftFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);*/
-
-    setDriveTrainGains();
-
-    m_leftFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
-    
-    m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
+    setDriveTrainGains();   
+    m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
 
     /* Smart Dashboard Initial Values */
     SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
@@ -108,8 +90,6 @@ public class Drive extends SubsystemBase {
     int closedLoopTimeMs = 1;
     m_leftFrontMotor.configClosedLoopPeriod(0, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
     m_leftFrontMotor.configClosedLoopPeriod(1, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
-    
-
   }
 
   @Override
@@ -153,17 +133,16 @@ public class Drive extends SubsystemBase {
    * Add your docs here.
    */
   public void setDriveTrainGains(){
-    m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
-    m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
+    /* Distance */
+    m_leftFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
+    m_leftFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_leftFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_leftFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_leftFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
 
-    m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
-    m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
+    /* Motion Magic */
+    m_leftFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_leftFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
   }
 
   /**