diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 7efbfda..3456b71 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -9,7 +9,7 @@ package frc4388.robot;
 
 import com.ctre.phoenix.motorcontrol.InvertType;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
 import edu.wpi.first.wpilibj.Spark;
@@ -37,10 +37,10 @@ public class RobotMap {
     }
 
     /* Drive Subsystem */
-    public final WPI_TalonSRX leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
-    public final WPI_TalonSRX rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
-    public final WPI_TalonSRX leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
-    public final WPI_TalonSRX rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
+    public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+    public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+    public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+    public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
     public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
     public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
 
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 1703513..9bbdee7 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -7,7 +7,7 @@
 
 package frc4388.robot.subsystems;
 
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -26,18 +26,18 @@ public class Drive extends SubsystemBase {
 
   private RobotTime m_robotTime = RobotTime.getInstance();
 
-  private WPI_TalonSRX m_leftFrontMotor;
-  private WPI_TalonSRX m_rightFrontMotor;
-  private WPI_TalonSRX m_leftBackMotor;
-  private WPI_TalonSRX m_rightBackMotor;
+  private WPI_TalonFX m_leftFrontMotor;
+  private WPI_TalonFX m_rightFrontMotor;
+  private WPI_TalonFX m_leftBackMotor;
+  private WPI_TalonFX m_rightBackMotor;
   private DifferentialDrive m_driveTrain;
   private RobotGyro m_gyro;
 
   /**
    * Add your docs here.
    */
-  public Drive(WPI_TalonSRX leftFrontMotor, WPI_TalonSRX rightFrontMotor, WPI_TalonSRX leftBackMotor,
-      WPI_TalonSRX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
+  public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
+      WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
 
     m_leftFrontMotor = leftFrontMotor;
     m_rightFrontMotor = rightFrontMotor;