diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 0a69c97..e5ea972 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -8,12 +8,14 @@
 package frc4388.robot;
 
 import java.util.ArrayList;
+import java.util.ConcurrentModificationException;
 import java.util.Vector;
 import java.util.function.Consumer;
 
 import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
 
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.utility.Gains;
 import frc4388.utility.LEDPatterns;
 
@@ -29,18 +31,25 @@ import frc4388.utility.LEDPatterns;
 public final class Constants {
     public enum Mode {
         COMPETITIVE, CASUAL;
-        private static Mode mode;
+
+        private static Mode mode = Mode.COMPETITIVE;
         private static Vector<Consumer<Mode>> changeHandlers = new Vector<>();
+
         public static void register(Consumer<Mode> changeHandler) {
             changeHandlers.add(changeHandler);
         }
+
         public static Mode get() {
             return mode;
         }
+
         public static void set(Mode mode) {
-            Mode.mode = mode;
+            System.out.println(mode);
             int i = mode.ordinal();
-            // changeHandlers.forEach(c -> c.accept(mode));
+            Mode.mode = mode;
+            CommandScheduler.getInstance().disable();
+            changeHandlers.forEach(c -> c.accept(mode));
+            CommandScheduler.getInstance().enable();
             DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR = DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR_MODES[i];
             IntakeConstants.INTAKE_SPEED = IntakeConstants.INTAKE_SPEED_MODES[i];
             StorageConstants.STORAGE_SPEED = StorageConstants.STORAGE_SPEED_MODES[i];
@@ -50,7 +59,6 @@ public final class Constants {
             Mode[] values = values();
             i = i >= values.length ? 0 : i;
             set(values[i]);
-            System.out.println(mode);
         }
     }
 
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 91628b1..cd1f779 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -13,6 +13,9 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -33,6 +36,7 @@ public class Robot extends TimedRobot {
   double m_currentTime;
   double m_deltaTime;
   
+  SendableChooser<Mode> m_modeChooser = new SendableChooser<>();
   /**
    * This function is run when the robot is first started up and should be
    * used for any initialization code.
@@ -43,6 +47,10 @@ public class Robot extends TimedRobot {
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
     SmartDashboard.putString("Is Auto Start?", "NAH");
+    Mode.set(Mode.COMPETITIVE);
+    m_modeChooser.setDefaultOption(Mode.COMPETITIVE.name(), Mode.COMPETITIVE);
+    m_modeChooser.addOption(Mode.CASUAL.name(), Mode.CASUAL);
+    SmartDashboard.putData("Mode", m_modeChooser);
   }
 
   /**
@@ -80,6 +88,8 @@ public class Robot extends TimedRobot {
   public void disabledPeriodic() {
     m_robotContainer.resetOdometry(new Pose2d());
     m_robotContainer.idenPath();
+    if (m_modeChooser.getSelected() != Mode.get())
+      Mode.set(m_modeChooser.getSelected());
   }
 
   /**
@@ -87,7 +97,6 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void autonomousInit() {
-    Mode.set(Mode.COMPETITIVE);
     //m_robotContainer.buildAutos();
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
@@ -129,7 +138,6 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopInit() {
-    Mode.set(Mode.COMPETITIVE);
     m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
     m_robotContainer.setDriveGearState(true);
 
@@ -156,7 +164,6 @@ public class Robot extends TimedRobot {
 
   @Override
   public void testInit() {
-    Mode.set(Mode.CASUAL);
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 34c668f..7ee872b 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -271,9 +271,6 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
             .whenPressed(new InstantCommand());
 
-        new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
-            .whenPressed(new InstantCommand(Mode::toggle));
-
         /* Driver Buttons */
         // sets solenoids into high gear
         new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -390,9 +387,6 @@ public class RobotContainer {
         // A driver test button
     
 
-        new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
-            .whenPressed(new InstantCommand(Mode::toggle));
-
         /* Driver Buttons */
         // sets solenoids into high gear
         new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)