diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index fe2e6c2..ee3506c 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -10,9 +10,9 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
-import frc4388.robot.commands.Drive.DriveWithJoystick;
 import frc4388.robot.commands.LED.UpdateLED;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.LED;
@@ -42,8 +42,10 @@ public class RobotContainer {
         configureButtonBindings();
 
         /* Default Commands */
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
         // drives the robot with a two-axis input from the driver controller
+        m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
+            getDriverController().getLeftYAxis(),
+            getDriverController().getRightXAxis())));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
     }
@@ -58,8 +60,7 @@ public class RobotContainer {
         /* Driver Buttons */
         //Test command to spin the robot while pressing A on the driver controller
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whenPressed(() -> m_robotDrive.driveWithInput(0, 1))
-            .whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
+            .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
 
         /* Operator Buttons */
     }
diff --git a/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
deleted file mode 100644
index 04b6870..0000000
--- a/src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
+++ /dev/null
@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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.Drive;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.subsystems.Drive;
-import frc4388.utility.controller.IHandController;
-
-public class DriveWithJoystick extends CommandBase {
-
-  private final Drive m_drive;
-  private final IHandController m_driverXbox;
-  public double m_inputMove, m_inputSteer;
-
-  /**
-   * Creates a new DriveWithJoystick, driving the robot with the given controller
-   */
-  public DriveWithJoystick(Drive subsystem, IHandController controller) {
-    m_drive = subsystem;
-    m_driverXbox = controller;
-    addRequirements(m_drive);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    m_inputMove = m_driverXbox.getLeftYAxis();
-    m_inputSteer = m_driverXbox.getRightXAxis();
-    m_drive.driveWithInput(m_inputMove, m_inputSteer);
-  }
-
-  // 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() {
-    return false;
-  }
-}