diff --git a/src/Robot.cpp b/src/Robot.cpp
index ce3e84e..ac53015 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -44,7 +44,6 @@ private:
 	// instance variables
 	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
 	bool inverting;
-	float oldXY;
 	bool ramping;
 	bool shooting;
 	bool unjamming;
@@ -117,8 +116,10 @@ private:
 	{
 		if (driver_stick.GetRawButton(THUMB))
 		{
-			left_drive.Set(driver_stick.GetThrottle() * driver_stick.GetTwist());
-			right_drive.Set(-1 * driver_stick.GetThrottle() * driver_stick.GetTwist());
+			float left = driver_stick.GetTwist();
+			float right = -driver_stick.GetTwist();
+
+			drive.TankDrive(left, right);
 		}
 		else
 		{
@@ -187,25 +188,25 @@ private:
 
 		/*
 		 *	The 'inverting' variable is used to make sure that the drive train isn't getting
-		 *	inverted every itteration of the TeleopPeriodic method while the button is held down.
+		 *	inverted every iteration of the TeleopPeriodic method while the button is held down.
 		 *	This is important because the TeleopPeriodic method executes something like once every 10ms.
 		 *	Thus, this if-else if pair make the button a toggle.
 		 */
-		if(driver_stick.GetRawButton(THUMB) && !inverting)
+		if(driver_stick.GetRawButton(TRIGGER) && !inverting)
 		{
 			std::cout << "Inverting Drive Train.";
 			left_drive.SetInverted(!left_drive.GetInverted());
 			right_drive.SetInverted(!right_drive.GetInverted());
 			inverting = true;
 		}
-		else if(!driver_stick.GetRawButton(THUMB))
+		else if(!driver_stick.GetRawButton(TRIGGER))
 		{
 			inverting = false;
 		}
 		
 		
 		/*
-		 * 	Unlike the previous actions, this method does need to be called every itteration of
+		 * 	Unlike the previous actions, this method does need to be called every iteration of
 		 *	TeleopPeriodic.  This is because the logic running this operation needs to be checked
 		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
 		 *  that would lock the robot every time the trigger is hit.
@@ -247,23 +248,19 @@ private:
 
 	void UpdateDrive()
 	{
-		float x = driver_stick.GetX();
-		float y = driver_stick.GetY();
-		if ((x + y) != oldXY)
+		float x = -driver_stick.GetX();
+		float y = -driver_stick.GetY();
+		if (x > 0)
 		{
-			oldXY = x + y;
-			if (x > 0)
-			{
-				float left = y * driver_stick.GetThrottle();
-				float right = (1-x)*y * driver_stick.GetThrottle();
-				drive.TankDrive(left, right);
-			}
-			else
-			{
-				float left = y * driver_stick.GetThrottle();
-				float right = (1+x)*y * driver_stick.GetThrottle();
-				drive.TankDrive(left, right);
-			}
+			float right = y * SaneThrottle(driver_stick.GetThrottle());
+			float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
+			drive.TankDrive(left, right);
+		}
+		else
+		{
+			float left = y * SaneThrottle(driver_stick.GetThrottle());
+			float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
+			drive.TankDrive(left, right);
 		}
 	}
 };