diff --git a/build.gradle b/build.gradle
index 6ae9dcf..e00a044 100644
--- a/build.gradle
+++ b/build.gradle
@@ -11,8 +11,7 @@ def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project EmbeddedTools.
 deploy {
-    targets {
-        roboRIO("roborio") {
+    targets {        roboRIO("roborio") {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 8c15e6a..41328b4 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -97,7 +97,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopInit() {
-    m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
+    m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
 
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2b36ff6..d52b23e 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
+import frc4388.robot.commands.DriveWithJoystick;
 import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
@@ -48,9 +49,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
-            getDriverController().getLeftYAxis(),
-            getDriverController().getRightXAxis()), m_robotDrive));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
         // drives motor with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
new file mode 100644
index 0000000..2b31457
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystick extends CommandBase {
+  private Drive m_drive;
+  private IHandController m_controller;
+
+  /**
+   * Creates a new DriveWithJoystick.
+   */
+  public DriveWithJoystick(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    double steerOutput = 0;
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    double cosMultiplier = .45;
+    double deadzone = .2;
+    if (steerInput > 0){
+      steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
+    } else {
+      steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
+    }
+
+    m_drive.driveWithInput(moveOutput, steerOutput);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}