diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 4f894c9..9e827dd 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -77,7 +77,7 @@ public class Robot extends TimedRobot {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
-    //m_robotContainer.setDriveGearState(true);
+    m_robotContainer.setDriveGearState(false);
     m_robotContainer.resetOdometry();
     //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
 
@@ -105,7 +105,7 @@ public class Robot extends TimedRobot {
   @Override
   public void teleopInit() {
     m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
-    //m_robotContainer.setDriveGearState(true);
+    m_robotContainer.setDriveGearState(false);
     //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
     
     // This makes sure that the autonomous stops running when
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 66537a3..5ce2fdc 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -35,6 +35,7 @@ import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
 import frc4388.robot.commands.GotoCoordinates;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
@@ -95,7 +96,10 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
+        
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
+        //m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
+        
         // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // runs the drum shooter in idle mode