diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 4576358..20518cc 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -133,11 +133,11 @@ public class RobotContainer {
         /* Driver Buttons */
         // sets solenoids into high gear
         new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
-            .whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
+            .whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
 
         // sets solenoids into low gear
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
-            .whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
+            .whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
 
         /* Operator Buttons */
         //TODO: Shooter Buttons
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
index 01375a4..4cd0d0e 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java
@@ -39,26 +39,32 @@ public class DriveWithJoystick extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double moveInput = m_controller.getRightXAxis();
-    double steerInput = -m_controller.getLeftYAxis();
+    double moveInput = -m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
     double moveOutput = 0;
     double steerOutput = 0;
-    if (steerInput >= 0){
-      steerOutput = -Math.cos(1.571*steerInput)+1;
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
     } else {
-      steerOutput = Math.cos(1.571*steerInput)-1;
+      moveOutput = Math.cos(1.571*moveInput)-1;
     }
 
     double cosMultiplier = 1.0;
     double deadzone = .1;
-    if (moveInput > 0){
-      moveOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*moveInput) + cosMultiplier;
-    } else if (moveInput < 0) {
-      moveOutput = (cosMultiplier - deadzone) * Math.cos(1.571*moveInput) - cosMultiplier;
+    if (steerInput > 0){
+      steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steerInput) + cosMultiplier;
+    } else if (steerInput < 0) {
+      steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steerInput) - cosMultiplier;
     } else {
-      moveOutput = 0;
+      steerOutput = 0;
     }
-    
+
+    if (moveOutput > 0.5) {
+      moveOutput = 0.5;
+    } else if(moveOutput < -0.5) {
+      moveOutput = -0.5;
+    }
+
     SmartDashboard.putNumber("Steer Output Test", moveOutput);
     m_drive.driveWithInput(moveOutput, steerOutput);
   }
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 422d2c7..f4541dc 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -322,7 +322,7 @@ public class Drive extends SubsystemBase {
    * using the Differential Drive class to manage the two inputs
    */
   public void driveWithInput(double move, double steer) {
-    m_driveTrain.arcadeDrive(move, steer);
+    m_driveTrain.arcadeDrive(steer, move);
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
   }