diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a254ac3..9f25a30 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 import edu.wpi.first.wpilibj.controller.RamseteController;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -49,6 +50,7 @@ import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.commands.TrackTarget;
+import frc4388.robot.commands.Wait;
 import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
@@ -89,7 +91,7 @@ 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
@@ -159,7 +161,7 @@ public class RobotContainer {
         
         // interrupts any running command
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
-            .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+            .whenPressed(new Wait(3, m_robotDrive));
 
         // safety for climber and leveler
         new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
diff --git a/src/main/java/frc4388/robot/commands/Wait.java b/src/main/java/frc4388/robot/commands/Wait.java
new file mode 100644
index 0000000..934b508
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Wait.java
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* 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.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Wait extends CommandBase {
+
+  long m_startTime;
+  long m_waitTime;
+  long m_currentTime;
+  SubsystemBase m_subsystem;
+
+  /**
+   * Creates a new WaitCommand.
+   */
+  public Wait(float seconds, SubsystemBase subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    m_waitTime = (long) (seconds * 1000);
+    m_subsystem = subsystem;
+
+    addRequirements(m_subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_currentTime = System.currentTimeMillis();
+    m_startTime = m_currentTime;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_currentTime = System.currentTimeMillis();
+    SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
+  }
+
+  // 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() {
+    if ((m_currentTime - m_startTime) >= m_waitTime) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 7d395cd..1cac650 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -388,7 +388,7 @@ 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);
   }