diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index f4f8c2b..04e18c3 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -21,7 +21,7 @@ public final class Constants {
     public static final class DriveConstants {
         /* Drive Train IDs */
         public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
-        public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
+        public static final int DRIVE_RIGHT_FRONT_CAN_ID = 8;
 	    public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
         public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
         public static final int PIGEON_ID = 6;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e46afbd..b259b06 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.PlaySongDrive;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.subsystems.Climber;
@@ -98,7 +99,7 @@ public class RobotContainer {
             .whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
 
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotDrive.playSong(), m_robotDrive));
+            .whileHeld(new PlaySongDrive(m_robotDrive));
 
         //new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
         //    .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
diff --git a/src/main/java/frc4388/robot/commands/PlaySongDrive.java b/src/main/java/frc4388/robot/commands/PlaySongDrive.java
new file mode 100644
index 0000000..79eb580
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/PlaySongDrive.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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 frc4388.robot.subsystems.Drive;
+
+public class PlaySongDrive extends CommandBase {
+  private Drive m_drive;
+  
+  /**
+   * Creates a new PlaySongDrive.
+   */
+  public PlaySongDrive(Drive subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_drive.playSong();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    System.err.println("Playing " + m_drive.m_orchestra.isPlaying());
+  }
+
+  // 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;
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 7e23293..7ad5551 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -239,15 +239,16 @@ public class Drive extends SubsystemBase {
 		 */
     m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
 
-    m_orchestra.addInstrument(m_leftBackMotor);
-    m_orchestra.addInstrument(m_leftFrontMotor);
-    m_orchestra.addInstrument(m_rightBackMotor);
+    //m_orchestra.addInstrument(m_leftBackMotor);
+    //m_orchestra.addInstrument(m_leftFrontMotor);
+    //m_orchestra.addInstrument(m_rightBackMotor);
     m_orchestra.addInstrument(m_rightFrontMotor);
 
-    File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "\\songs");
+    File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
+    System.err.println(songsDir.getPath());
     String[] songsStrings = songsDir.list();
     for (String songString : songsStrings){
-      m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "\\" + songString);
+      m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
     }
     Shuffleboard.getTab("Songs").add(m_songChooser);
   }