diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index b7a4e4c..e40aaaf 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -29,7 +29,7 @@ public final class Constants {
         public static final int DRIVE_SLOT_IDX = 0;
         public static final int DRIVE_PID_LOOP_IDX = 0;
         public static final int DRIVE_TIMEOUT_MS = 30;
-        public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);    
+        public static final Gains DRIVE_GAINS = new Gains(10.0, 0.0, 0.0, 0.2, 0, 1.0);
         
         public static final double ENCODER_TICKS_PER_REV = 2048;
     }
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 72d42fe..7264254 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -70,6 +70,7 @@ public class RobotContainer {
             .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
             .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
 
+        /* PID Test Command */
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
             .whenPressed(() -> m_robotDrive.goToTargetPos());
     }
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index babc27d..f0f5bf5 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -114,6 +114,12 @@ public class Drive extends SubsystemBase {
     SmartDashboard.putNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
     SmartDashboard.putNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
     SmartDashboard.putNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
+
+    int closedLoopTimeMs = 1;
+    m_leftFrontMotor.configClosedLoopPeriod(0, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_leftFrontMotor.configClosedLoopPeriod(1, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
+    
+
   }
 
   @Override
@@ -185,6 +191,6 @@ public class Drive extends SubsystemBase {
     double targetPos = XboxController.RIGHT_Y_AXIS * DriveConstants.ENCODER_TICKS_PER_REV * 10.0;
 
     m_leftFrontMotor.set(ControlMode.MotionMagic, targetPos);
-    m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos);
+    m_rightFrontMotor.follow(m_leftFrontMotor);
   }
 }