diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a431921..22455f3 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -18,6 +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.DriveWithJoystickUsingDeadAssistPID;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
@@ -64,7 +65,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystick(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
index 0a7938e..352030b 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
@@ -86,21 +86,32 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
           steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
         }
         m_drive.driveWithInput(moveOutput, steerOutput);
+        System.out.println("Driving With Input");
         isAuxPIDEnabled = false;
       }
       /* If only the move stick is being used */
       else {
         m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+        System.out.println("Driving with Input Aux with Target: " + m_targetGyro);
         isAuxPIDEnabled = true;
       }
     }
     /* If the move stick is not being used */
     else {
       m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      System.out.println("Driving with Velocity PID with Target: " + m_targetGyro);
       isAuxPIDEnabled = true;
     }
   }
 
+  private void updateGyroTarget() {
+
+  }
+
+  private void resetGyroTarget() {
+
+  }
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {