diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 212cff9..5381f38 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -81,12 +81,12 @@ public class Drive extends SubsystemBase {
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
 
-      m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
-      m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kF, DriveConstants.DRIVE_TIMEOUT_MS);
-      m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kP, DriveConstants.DRIVE_TIMEOUT_MS);
-      m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kI, DriveConstants.DRIVE_TIMEOUT_MS);
-      m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kD, DriveConstants.DRIVE_TIMEOUT_MS);
-      m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
+    m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kF, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kP, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kI, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kD, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
 
       //Beginning of nada
     /* Setup Sensors for WPI_TalonFXs */
@@ -317,8 +317,6 @@ public class Drive extends SubsystemBase {
    */
   public void driveWithInput(double move, double steer){
     m_driveTrain.arcadeDrive(move, steer);
-
-    m_driveTrain.feedWatchdog();
   }
 
   public void runPositionPID(WPI_TalonFX talon, double targetPos) {