diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6d0e6b1..f93c676 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -67,8 +67,8 @@ private:
 		SmartDashboard::PutData("Auto Modes", chooser);
 		shooter1.Enable();
 		shooter2.Enable();
-		//left_drive.SetInverted(true);
-		//right_drive.SetInverted(true);
+		left_drive.SetInverted(true);
+		right_drive.SetInverted(true);
 		//ramp.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
@@ -117,7 +117,7 @@ private:
 	{
 		std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
 		std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
-		drive.ArcadeDrive(&driver_stick, true);
+		drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX()*0.75);
 
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.