diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d8aae06..d2230ef 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -62,8 +62,8 @@ public class RobotContainer {
 
     /* Default Commands */
     // drives the robot with a two-axis input from the driver controller
-    m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.hotwireDrive(getController().getLeftY(), getController().getRightX()), m_robotDrive));
-    // m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.tankDrive(getController().getLeftY(), getController().getLeftY()), m_robotDrive));
+    m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.hotwireDrive(getController().getRightX(), getController().getLeftY()), m_robotDrive));
+    // m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.tankDrive(getController().getLeftY(), getController().getRightY()), m_robotDrive));
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index baf3377..2ce9618 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -34,25 +34,26 @@ public class Drive extends SubsystemBase {
   public void hotwireDrive(double xStick, double yStick) {
     // deadzone constraints
     final double deadzone = 0.1d;
+    yStick *= -1;
 
     if (Math.abs(xStick) < deadzone) xStick = 0;
     if (Math.abs(yStick) < deadzone) yStick = 0;
 
-    double maximum    = Math.max(xStick, yStick);
-    double total      = xStick + yStick;
+    double maximum    = Math.max(Math.abs(xStick), Math.abs(yStick));
+    double total      = yStick + xStick;
     double difference = yStick - xStick;
 
     double leftSpeed, rightSpeed;
-    if (xStick >= 0) {
-      leftSpeed  = rotate >= 0 ? maximum    : total;
-      rightSpeed = rotate >= 0 ? difference : maximum;
+    if (yStick >= 0) {
+      leftSpeed  = xStick >= 0 ? maximum    : total;
+      rightSpeed = xStick >= 0 ? difference : maximum;
     } else {
-      leftSpeed  = rotate >= 0 ? total    : -maximum;
-      rightSpeed = rotate >= 0 ? -maximum : difference;
+      leftSpeed  = xStick >= 0 ? total    : -maximum;
+      rightSpeed = xStick >= 0 ? -maximum : difference;
     }
 
-    leftMotor.set(-leftSpeed);
-    rightMotor.set(leftSpeed);
+    m_leftMotor.set(-leftSpeed);
+    m_rightMotor.set(rightSpeed);
   }
 
   public void tankDrive(double leftSpeed, double rightSpeed) {