diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index d87bad9..0e0790a 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -31,6 +31,7 @@ public final class Constants {
 
     public static final class SwerveDriveConstants {
         public static final double ROTATION_SPEED = 0.1;
+        public static final double WHEEL_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;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 0896ec2..a585084 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -79,7 +79,12 @@ public class SwerveDrive
 
         // Back right module state
         SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(m_rightBackEncoder.getPosition()));
-
+        
+        m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
+        m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
+        m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + lefBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
+        m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
+    
     }
 
     // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)