diff --git a/src/Commands/Drive.cpp b/src/Commands/Drive.cpp
index f8f5a0f..fd136b0 100644
--- a/src/Commands/Drive.cpp
+++ b/src/Commands/Drive.cpp
@@ -2,6 +2,7 @@
 #include <cmath>
 #include "../DentRobot.h"
 Drive::Drive() : Command("Drive"){
+        Requires(DentRobot::drivetrain);
 }
 void Drive::Initialize(){
 }
diff --git a/src/Commands/Drive.h b/src/Commands/Drive.h
index 8254d17..258cbc1 100644
--- a/src/Commands/Drive.h
+++ b/src/Commands/Drive.h
@@ -1,6 +1,8 @@
 #ifndef DRIVE_H
 #define DRIVE_H
 
+#include "../CommandBase.h"
+#include "../DentRobot.h"
 #include "Commands/Command.h"
 #include "WPILib.h"
 
diff --git a/src/Subsystems/Drivetrain.cpp b/src/Subsystems/Drivetrain.cpp
index be9878c..cfbf5bf 100644
--- a/src/Subsystems/Drivetrain.cpp
+++ b/src/Subsystems/Drivetrain.cpp
@@ -3,10 +3,10 @@
 #include "../Commands/Drive.h"
 
 Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
-  frontLeft=new Talon(0);
-  frontRight=new Talon(1);
-  backLeft=new Talon(2);
-  backRight=new Talon(3);
+  frontLeft=new CANTalon(40);
+  frontRight=new CANTalon(41);
+  backLeft=new CANTalon(42);
+  backRight=new CANTalon(43);
   drive=new RobotDrive(frontLeft, frontRight, backLeft, backRight);
 }
 void Drivetrain::InitDefaultCommand(){
diff --git a/src/Subsystems/Drivetrain.h b/src/Subsystems/Drivetrain.h
index 84274b1..d4b1a6c 100644
--- a/src/Subsystems/Drivetrain.h
+++ b/src/Subsystems/Drivetrain.h
@@ -5,7 +5,7 @@
 class Drivetrain: public Subsystem
 {
   private:
-    Talon *frontLeft, *frontRight, *backLeft, *backRight;
+    CANTalon *frontLeft, *frontRight, *backLeft, *backRight;
     RobotDrive *drive;
   public:
     Drivetrain();