diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index 6af5c4e..f34e93e 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
 import org.usfirst.frc.team2059.robot.commands.drivetrain.LogEncoder;
 import org.usfirst.frc.team2059.robot.commands.drivetrain.PIDDrive;
+import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
 import org.usfirst.frc.team2059.robot.commands.shooter.MoveArm;
 import org.usfirst.frc.team2059.robot.commands.shooter.ResetLower;
 import org.usfirst.frc.team2059.robot.commands.shooter.ResetUpper;
@@ -40,6 +41,7 @@ public class OI {
     joystickButtons[0][2].whileHeld(new SpinRollers(-0.5, false));
     joystickButtons[0][3].whileHeld(new SpinRollers(1, false));
     joystickButtons[0][6].whileHeld(new SpinRollers(1, true));
+    joystickButtons[0][9].whileHeld(new Drive());
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
     joystickButtons[1][0].whileHeld(new MoveArm(1));
     joystickButtons[1][1].whileHeld(new MoveArm(-1));
diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index 65cc2ed..7c0b4e4 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -78,7 +78,7 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber("horizontalError", CommandBase.visionHelper.getHorizontalError());
     SmartDashboard.putNumber("verticalError", CommandBase.visionHelper.getVerticalError());
     SmartDashboard.putNumber("horizontalErrorCorrected", CommandBase.visionHelper.getHorizontalError() + 5);
-    SmartDashboard.putNumber("goalDistance", 72 / Math.tan(0.0175 * (35 + CommandBase.visionHelper.getVerticalError())));
+    SmartDashboard.putNumber("goalDistance", 71 / Math.tan((52.7 - CommandBase.visionHelper.getVerticalError())));
     if (Robot.oi.getJoysticks()[1].getRawButton(3)) {
       CommandBase.pneumatics.setArmStopState(true);
     } else {
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index 2fef2b5..f5f6b18 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -21,7 +21,7 @@ public class DriveBase extends Subsystem {
   PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
   double encoderGyroCorrection = 1;
   public void initDefaultCommand() {
-    setDefaultCommand(new Drive());
+//    setDefaultCommand(new Drive());
   }
   public void stopDriving() {
     leftMotorOne.set(0);
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java b/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java
index 2d4c342..2442e2f 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java
@@ -8,8 +8,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 public class VisionHelper {
   NetworkTable contoursTable;
-  double hfieldOfView = 67;
-  double vfieldOfView = 51;
   double imageWidth = 640;
   double imageHeight = 480;
   public VisionHelper() {
@@ -30,9 +28,9 @@ public class VisionHelper {
     }
   }
   public double getHorizontalError() {
-    return Math.atan2(getCenterX() - RobotMap.imageWidth / 2, RobotMap.fWidth);
+    return (180/Math.PI) * (Math.atan((getCenterX() - (RobotMap.imageWidth / 2)) / RobotMap.fWidth));
   }
   public double getVerticalError() {
-    return Math.atan2(getCenterY() - RobotMap.imageHeight / 2, RobotMap.fHeight);
+    return (180/Math.PI) * (Math.atan((getCenterY() - (RobotMap.imageHeight / 2)) / RobotMap.fHeight));
   }
 }