diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
index c56a36b..925f07a 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
@@ -28,7 +28,7 @@ public class DriveStraightToPositionMM extends CommandBase {
   public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
     addRequirements(m_drive);
     //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }
diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
index 9d84087..c31944e 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
@@ -27,7 +27,7 @@ public class DriveStraightToPositionPID extends CommandBase {
   public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
     addRequirements(m_drive);
     //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
index 4cd0d0e..1802f22 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
@@ -58,11 +58,18 @@ public class DriveWithJoystick extends CommandBase {
     } else {
       steerOutput = 0;
     }
+    double tempOutputLimit = 0.8;
 
-    if (moveOutput > 0.5) {
-      moveOutput = 0.5;
-    } else if(moveOutput < -0.5) {
-      moveOutput = -0.5;
+    if (moveOutput > tempOutputLimit) {
+      moveOutput = tempOutputLimit;
+    } else if(moveOutput < -tempOutputLimit) {
+      moveOutput = -tempOutputLimit;
+    }
+
+    if (steerOutput > tempOutputLimit) {
+      steerOutput = tempOutputLimit;
+    } else if(steerOutput < -tempOutputLimit) {
+      steerOutput = -tempOutputLimit;
     }
 
     SmartDashboard.putNumber("Steer Output Test", moveOutput);