diff --git a/DriveBase/src/Robot.cpp b/DriveBase/src/Robot.cpp
index be21023..6e6b357 100644
--- a/DriveBase/src/Robot.cpp
+++ b/DriveBase/src/Robot.cpp
@@ -12,8 +12,10 @@ class Robot : public IterativeRobot {
 	CANTalon r2_drive;
 	CANTalon l1_drive;
 	CANTalon l2_drive;
+	RobotDrive drivetrain1;
+	RobotDrive drivetrain2;
 
-  Joystick m_stick;
+  Joystick lstick;
 
 	// update every 0.01 seconds/10 milliseconds.
   // The talon only receives control packets every 10ms.
@@ -25,17 +27,28 @@ public:
 	   r2_drive(2),             // interface to change the device number on the talons.
 	   l1_drive(3),
 	   l2_drive(4),
-       m_stick(0)
+	   drivetrain1(l1_drive, r1_drive),
+	   drivetrain2(l2_drive, r2_drive),
+       lstick(0)
  {
 	 printf("Initializing Robot...");
 	 printf("Initializing TankDrive");
-	 drive = new TankDrive(&l1_drive, &l2_drive, &r1_drive, &r2_drive);
+	 //drive = new TankDrive(&l1_drive, &l2_drive, &r1_drive, &r2_drive);
 	 printf("Ready!");
+	 //l1_drive.SetInverted(true);
+	 //l2_drive.SetInverted(true);
+	 //l1_drive.Set(0, 0);
+	 //l2_drive.Set(0, 0);
+	 //r1_drive.Set(0, 1);
+	 //r2_drive.Set(0, 1);
  }
 
  	 void DisabledInit()
  	 {
-
+ 		 r1_drive.SetSafetyEnabled(false);
+ 		 r2_drive.SetSafetyEnabled(false);
+ 		 l1_drive.SetSafetyEnabled(false);
+ 		 l2_drive.SetSafetyEnabled(false);
  	 }
 
  	 void TeleopInit()
@@ -46,12 +59,18 @@ public:
  		l1_drive.Enable();
  		l2_drive.Enable();
 
+
+
  	 }
 
  	 void TeleopPeriodic()
  	 {
  		 printf("Teleop Periodic Start.");
- 		 drive->Drive(&m_stick);
+			float speed = lstick.GetY() * (lstick.GetThrottle());
+			float rot = (-1) * lstick.GetTwist();
+
+			drivetrain1.ArcadeDrive(speed, rot, false);
+			drivetrain2.ArcadeDrive(speed, rot, false);
  		 printf("~Teleop Periodic End.");
  	 }
 	/**
@@ -66,7 +85,7 @@ public:
 		}
 	}*/
 
-	TankDrive *drive;
+	//TankDrive *drive;
 };
 
 START_ROBOT_CLASS(Robot)