diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 22137dd..931c600 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -33,8 +33,15 @@ public final class Constants {
         public static final double ROTATION_SPEED = 0.1;
         public static final double WIDTH = 0;
         public static final double HEIGHT = 0;
+        public static final int LEFT_FRONT_STEER_CAN_ID = 0;
+        public static final int LEFT_FRONT_WHEEL_CAN_ID = 0;
+        public static final int RIGHT_FRONT_STEER_CAN_ID = 0;
+        public static final int RIGHT_FRONT_WHEEL_CAN_ID = 0;
+        public static final int LEFT_BACK_STEER_CAN_ID = 0;
+        public static final int LEFT_BACK_WHEEL_CAN_ID = 0;
+        public static final int RIGHT_BACK_STEER_CAN_ID = 0;
+        public static final int RIGHT_BACK_WHEEL_CAN_ID = 0;
     }
-
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
 
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index ac8d7d5..61eba53 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.ArcadeDriveConstants;
 import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.RobotGyro;
 
 /**
@@ -68,4 +69,13 @@ public class RobotMap {
         leftBackMotor.setInverted(InvertType.FollowMaster);
         rightBackMotor.setInverted(InvertType.FollowMaster);
     }
+    /* Swerve Subsystem */
+    public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
+    public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
+    public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
+    public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
+    public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
+    public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
+    public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
+    public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
 }
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 131cf44..448af23 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -7,6 +7,8 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
@@ -17,9 +19,25 @@ import frc4388.robot.Constants.SwerveDriveConstants;
 public class SwerveDrive
 {
     SwerveDriveKinematics m_kinematics;
-
-    public SwerveDrive()
+    private WPI_TalonFX m_leftFrontSteerMotor;
+    private WPI_TalonFX m_leftFrontWheelMotor;
+    private WPI_TalonFX m_rightFrontSteerMotor;
+    private WPI_TalonFX m_rightFrontWheelMotor;
+    private WPI_TalonFX m_leftBackSteerMotor;
+    private WPI_TalonFX m_leftBackWheelMotor;
+    private WPI_TalonFX m_rightBackSteerMotor;
+    private WPI_TalonFX m_rightBackWheelMotor;
+    public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
+    WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor)
     {
+        m_leftFrontSteerMotor = leftFrontSteerMotor;
+        m_leftFrontWheelMotor = leftFrontWheelMotor;
+        m_rightFrontSteerMotor = rightFrontSteerMotor;
+        m_rightFrontWheelMotor = rightFrontWheelMotor;
+        m_leftBackSteerMotor = leftBackSteerMotor;
+        m_leftBackWheelMotor = leftBackWheelMotor;
+        m_rightBackSteerMotor = rightBackSteerMotor;
+        m_rightBackWheelMotor = rightBackWheelMotor;
         double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
         double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
 
@@ -49,6 +67,7 @@ public class SwerveDrive
 
         // Back right module state
         SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/));
+
     }
 
     // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)