diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 0424d45..baa348f 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -5,24 +5,15 @@ Drive::Drive(): Command("Drive") {
 }
 void Drive::Initialize() {}
 void Drive::Execute() {
-  double x, y, z;
-  x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
-  y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1);
+  float x, y, z;
+  x = -DentRobot::oi->GetLeftStick()->GetRawAxis(0);
+  y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
-  // Lock the x axis when not holding button 1
-  //if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){
-  //  x = 0;
-  //}
-  //if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){
-  //  y = 0;
-  //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
   if(DentRobot::oi->GetLeftStick()->GetRawButton(11)) {
     x = -x;
     y = -y;
   }
-  printf("X:%d\n",x);
-  printf("Y:%d\n",y);
   DentRobot::drivetrain->DriveArcade(x, y, z, 0.9);
 }
 bool Drive::IsFinished() {
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 48ee988..99b4d68 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -21,8 +21,8 @@ void Drivetrain::DriveArcade(double x, double y, double z, double sensitivity, b
   } else {
     correctZ = -z * 0.5;
   }
-  leftRear->Set(correctY+correctX);
-  rightRear->Set(correctY-correctX);
+  leftRear->Set(correctY+(correctX-correctZ));
+  rightRear->Set(correctY-(correctX-correctZ));
 }
 //Used in pretest
 void Drivetrain::TestMotor(e_motors motor, double power) {