diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index bfd52ee..0de4d9c 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -16,6 +16,10 @@ public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
+    m_robotContainer.m_robotMap.driveBase.arcadeDrive(kDefaultPeriod, kDefaultPeriod);
+    m_robotContainer.m_robotMap.driveBase.setSafetyEnabled(true);;
+    m_robotContainer.m_robotMap.driveBase.setSafetyEnabled(true);;
+    
   }
 
   /** Periodic code for all robot modes should go here. */
@@ -56,6 +60,7 @@ public class Robot extends TimedRobot {
   @Override
   public void teleopPeriodic() {
     m_robotContainer.putReadyState();
+    m_robotContainer.m_robotMap.driveBase.arcadeDrive(m_robotContainer.getController().getLeftX(), m_robotContainer.getController().getLeftY());
   }
 
   /** Initialization code for test mode should go here. */
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d2230ef..537ef89 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -26,7 +26,7 @@ import frc4388.robot.subsystems.Shooter;
  */
 public class RobotContainer {
   /* RobotMap */
-  private final RobotMap m_robotMap = new RobotMap();
+  public final RobotMap m_robotMap = new RobotMap();
 
   /* Subsystems */
   private final Drive m_robotDrive = new Drive(m_robotMap.driveMotorLeftLeader, m_robotMap.driveMotorRightLeader, m_robotMap.driveMotorLeftFollower, m_robotMap.driveMotorRightFollower, m_robotMap.driveBase);
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index ef51539..75fd694 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -32,8 +32,6 @@ public class Shooter extends SubsystemBase {
    * @return True if the shooter was ready or false if the shooter was not ready
    */
   public boolean fire() {
-    if (!isReady())
-      return false;
     m_solenoid.set(true);
     return true;
   }