diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index acc92c8..ee7a165 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -42,8 +42,8 @@ public final class Constants {
         public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
             new SupplyCurrentLimitConfiguration(false, 60, 40, 2);
         public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops
-        public static final double COS_MULTIPLIER_LOW_DRIVE_STRAIGHT = 0.7;
-        public static final double COS_MULTIPLIER_HIGH_DRIVE_STRAIGHT = 0.7; 
+        public static final double COS_MULTIPLIER_LOW = 1.0;
+        public static final double COS_MULTIPLIER_HIGH = 0.8; 
 
         /* Drive Train Characteristics */
         public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index b488752..4793fc2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -127,7 +127,7 @@ public class RobotContainer {
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
         
-        m_robotDrive.setDefaultCommand(new DriveWithJoystickDriveStraight(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
         //m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
         
         // drives intake with input from triggers on the opperator controller
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
index 3c6e88f..e09140e 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
@@ -9,6 +9,7 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Pneumatics;
 import frc4388.utility.controller.IHandController;
@@ -52,13 +53,13 @@ public class DriveWithJoystick extends CommandBase {
       moveOutput = Math.cos(1.571*moveInput)-1;
     }
 
-    double cosMultiplier = 1.0;
+    double cosMultiplier;
     double deadzone = .1;
 
     if (m_pneumatics.m_isSpeedShiftHigh) {
-      cosMultiplier = 0.8;
+      cosMultiplier = DriveConstants.COS_MULTIPLIER_HIGH;
     } else {
-      cosMultiplier = 1.0;
+      cosMultiplier = DriveConstants.COS_MULTIPLIER_LOW;
     }
 
     if (steerInput > 0){
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java
index d6a3390..c69d4e9 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java
@@ -97,9 +97,9 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
     double deadzone = .1;
 
     if (m_pneumatics.m_isSpeedShiftHigh) {
-      cosMultiplier = DriveConstants.COS_MULTIPLIER_HIGH_DRIVE_STRAIGHT;
+      cosMultiplier = DriveConstants.COS_MULTIPLIER_HIGH;
     } else {
-      cosMultiplier = DriveConstants.COS_MULTIPLIER_LOW_DRIVE_STRAIGHT;
+      cosMultiplier = DriveConstants.COS_MULTIPLIER_LOW;
     }
 
     /* Curves the steer output to be similarily gradual */