diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index b951b15..096f898 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -34,11 +34,11 @@ public final class Constants {
         public static final boolean isRightMotorInverted = true;
         public static final boolean isLeftMotorInverted = false;
         public static final boolean isRightArcadeInverted = false;
-        public static final boolean isAuxPIDInverted = false;
+        public static final boolean isAuxPIDInverted = true;
 
         /* Drive Configuration */
         public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
-        public static final double OPEN_LOOP_RAMP_RATE = 0.1; // Seconds from 0 to full power on motor
+        public static final double OPEN_LOOP_RAMP_RATE = 0.2; // Seconds from 0 to full power on motor
         public static final double NEUTRAL_DEADBAND = 0.04;
         public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
             new SupplyCurrentLimitConfiguration(false, 60, 40, 2);
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index d3027d6..bf19e3f 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -269,7 +269,7 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted);
     m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted);
     m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted);
-    // m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
+    m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
 
     /* Set up music for drive train */
     m_orchestra.addInstrument(m_leftBackMotor);
@@ -340,7 +340,7 @@ 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(steer, move);
+    m_driveTrain.arcadeDrive(move, steer);
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
   }
@@ -833,6 +833,7 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
       SmartDashboard.putData("Drive Train", m_driveTrain);
 
+
       //SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
       //SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
       //SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());