diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 80484b4..65199c5 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -78,7 +78,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystick(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
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 58c14fb..9afa4c9 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -66,7 +66,7 @@ public class Drive extends SubsystemBase {
   public DoubleSolenoid m_speedShift;
   public DoubleSolenoid m_coolFalcon;
 
-  public int m_currentTimeSec = (int)(System.currentTimeMillis() * 1000);
+  public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
 
   public long m_lastTime, m_deltaTime; //in milliseconds
 
@@ -271,11 +271,15 @@ public class Drive extends SubsystemBase {
 
   @Override
   public void periodic() {
+    m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
+    SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
 
     if (m_currentTimeSec % 10 == 0) {
       coolFalcon(true);
+      SmartDashboard.putBoolean("Solenoid", true);
     } else if ((m_currentTimeSec - 2) % 10 == 0) {
       coolFalcon(false);
+      SmartDashboard.putBoolean("Solenoid", false);
     }
 
     m_deltaTime = System.currentTimeMillis() - m_lastTime;