diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2585fbc..a431921 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -18,8 +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.DriveWithJoystickAuxPID;
+import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -30,9 +29,6 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.commands.RunLevelerWithJoystick;
-import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.Intake;
-import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
@@ -68,7 +64,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(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 11f3261..0a7938e 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
@@ -61,7 +61,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
                                       currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
                                       currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
     }
-    /* Otherwise set target angle to current angle */
+    /* Otherwise set target angle to current angle (prevents buildup of gyro error) */
     else {
       m_targetGyro = currentGyro;
     }