diff --git a/Commands/Collector/RollVar.cpp b/Commands/Collector/RollVar.cpp
index 62c1572..5066bf1 100644
--- a/Commands/Collector/RollVar.cpp
+++ b/Commands/Collector/RollVar.cpp
@@ -8,9 +8,8 @@ void RollVar::Initialize(){
   Requires(DentRobot::drivetrain);
 }
 void RollVar::Execute(){
-  DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
-  DentRobot::collector->MoveLeftRoller(speed*DentRobot::oi->GetLeftStick()->GetRawAxis(2));
-  DentRobot::collector->MoveRightRoller(speed*-DentRobot::oi->GetLeftStick()->GetRawAxis(2));
+  DentRobot::collector->MoveLeftRoller(1-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
+  DentRobot::collector->MoveRightRoller(-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
   DentRobot::collector->MoveBottomRollers(speed*1.0);
 }
 bool RollVar::IsFinished(){
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 93d0e44..a4717ff 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -22,7 +22,11 @@ void Drive::Execute(){
     x = -x;
     y = -y;
   }
-  DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9);
+  if(DentRobot::oi->GetLeftStick()->GetRawButton(7)){
+    DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9);
+  }else{
+    DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9);
+  }
 }
 bool Drive::IsFinished(){
   return IsTimedOut();