diff --git a/src/Robot.cpp b/src/Robot.cpp
index 1bbb859..ce3e84e 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -254,13 +254,15 @@ private:
 			oldXY = x + y;
 			if (x > 0)
 			{
-				left_drive.Set(y * driver_stick.GetThrottle());
-				right_drive.Set((1-x)*y * driver_stick.GetThrottle());
+				float left = y * driver_stick.GetThrottle();
+				float right = (1-x)*y * driver_stick.GetThrottle();
+				drive.TankDrive(left, right);
 			}
 			else
 			{
-				right_drive.Set(y * driver_stick.GetThrottle());
-				left_drive.Set((1+x)*y * driver_stick.GetThrottle());
+				float left = y * driver_stick.GetThrottle();
+				float right = (1+x)*y * driver_stick.GetThrottle();
+				drive.TankDrive(left, right);
 			}
 		}
 	}