diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index 0ceb0af..5f6f401 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -11,6 +11,21 @@ void HHRobot::Init(){
 }
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
-  RobotDrive->handler(DriveStick->GetJoystickAxis("x"),DriveStick->GetJoystickAxis("y"),DriveStick->GetJoystickAxis("z"),0);
+  double x,y,z;
+  if (DriveStick->GetJoystickButton(1)){
+    y = 0;
+    z = 0;
+  }else{
+    y = DriveStick->GetJoystickAxis("y");
+    z = DriveStick->GetJoystickAxis("z");
+  }
+  if (DriveStick->GetJoystickButton(2)){
+    x = 0;
+    z = 0;
+  }else{
+    x = DriveStick->GetJoystickAxis("x");
+    z = DriveStick->GetJoystickAxis("z");
+  }
+  RobotDrive->handler(x,y,z,0);
 }
 // vim: ts=2:sw=2:et
diff --git a/src/Makefile b/src/Makefile
index 01fcaa2..30207ea 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -4,7 +4,8 @@ CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
 LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
 SOURCES=$(shell find -type f -name "*.cpp")
 OBJECTS=$(SOURCES:.cpp=.o)
-WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram
+WPILIB=/var/frc/wpilib
+EXEC=bin/FRCUserProgram
 CLEANSER=rm -r
 
 all : $(OBJECTS)
diff --git a/src/Makefile.old b/src/Makefile.old
index 01fcaa2..30207ea 100644
--- a/src/Makefile.old
+++ b/src/Makefile.old
@@ -4,7 +4,8 @@ CFLAGS=-std=c++11 -O0 -g3 -Wall -c -fmessage-length=0
 LDFLAGS=-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a
 SOURCES=$(shell find -type f -name "*.cpp")
 OBJECTS=$(SOURCES:.cpp=.o)
-WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram
+WPILIB=/var/frc/wpilib
+EXEC=bin/FRCUserProgram
 CLEANSER=rm -r
 
 all : $(OBJECTS)