diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 8109d46..c8d4d1e 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -9,26 +9,31 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.InvertType;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
 
 import frc4388.robot.Constants.DriveConstants;
 
 /**
  * Add your docs here.
  */
-public class Drive extends SubsystemBase {
+public class Drive extends ProfiledPIDSubsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
-  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
-  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
-  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
-  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
+  public static WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+  public static WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+  public static WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+  public static WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
   public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
 
   public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
@@ -36,7 +41,10 @@ public class Drive extends SubsystemBase {
   /**
    * Add your docs here.
    */
-  public Drive(){
+  public Drive() {
+    /*  */
+    super(new ProfiledPIDController(0, 0, 0, new TrapezoidProfile.Constraints(0, 0)), 0);
+
     /* factory default values */
     m_leftFrontMotor.configFactoryDefault();
     m_rightFrontMotor.configFactoryDefault();
@@ -65,6 +73,8 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
       SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
       SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
+      SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity());
+      SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
     } catch (Exception e) {
       System.err.println("The operation failed successfully.");
     }
@@ -99,7 +109,7 @@ public class Drive extends SubsystemBase {
     m_pigeon.getYawPitchRoll(ypr);
     return ypr[1];
   }
-  
+
   public double getGyroRoll() {
     double[] ypr = new double[3];
     m_pigeon.getYawPitchRoll(ypr);
@@ -110,4 +120,16 @@ public class Drive extends SubsystemBase {
     m_pigeon.setYaw(0);
     m_pigeon.setAccumZAngle(0);
   }
+
+  @Override
+  protected void useOutput(double output, TrapezoidProfile.State setpoint) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  protected double getMeasurement() {
+    // TODO Auto-generated method stub
+    return 0;
+  }
 }