diff --git a/src/main/java/frc/team7242/robot/Robot.java b/src/main/java/frc/team7242/robot/Robot.java
index 5257432..e0c779f 100644
--- a/src/main/java/frc/team7242/robot/Robot.java
+++ b/src/main/java/frc/team7242/robot/Robot.java
@@ -1,124 +1,94 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package frc.team7242.robot;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
-import edu.wpi.first.wpilibj.Victor;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.*;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.team7242.robot.subsystem.Drivetrain;
-
-/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the IterativeRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.properties file in the
- * project.
- */
+import edu.wpi.first.wpilibj.Spark;
+import frc.team7242.robot.subsystem.ScalableSpeedControllerGroup;
+import edu.wpi.first.wpilibj.CameraServer;
+
+
 public class Robot extends IterativeRobot {
 	private static final String kDefaultAuto = "Default";
 	private static final String kCustomAuto = "My Auto";
 	private String m_autoSelected;
 	private SendableChooser<String> m_chooser = new SendableChooser<>();
-	
 	Joystick driverStick = new Joystick(0);
-	XboxController xboxdriver = new XboxController(1); //xbox controller in port 1
-
-	Drivetrain drivetrain = new Drivetrain();
-	
-	Spark leftFront = new Spark(0);
-	Spark rightFront = new Spark(1);
-	Spark leftBack = new Spark(2);
-	Spark rightBack = new Spark(3);
-	
-	double autonomousSpeed = 0.5;
-	double autonomousTime = 7;
-	
+
+	double autonomousTime = 3;
+
 	double autonomousStartTime;
-	
-	/**
-	 * This function is run when the robot is first started up and should be
-	 * used for any initialization code.
-	 */
-	@Override
+
+	ScalableSpeedControllerGroup left = new ScalableSpeedControllerGroup(0.75, new Spark(0), new Spark(1));
+	ScalableSpeedControllerGroup right = new ScalableSpeedControllerGroup(0.72,  new Spark(2), new Spark(3));
+
+	DifferentialDrive drive = new DifferentialDrive(left, right);
+
+
 	public void robotInit() {
 		m_chooser.addDefault("Default Auto", kDefaultAuto);
 		m_chooser.addObject("My Auto", kCustomAuto);
 		SmartDashboard.putData("Auto choices", m_chooser);
+		CameraServer.getInstance().startAutomaticCapture();
+
 
 	}
 
-	/**
-	 * This autonomous (along with the chooser code above) shows how to select
-	 * between different autonomous modes using the dashboard. The sendable
-	 * chooser code works with the Java SmartDashboard. If you prefer the
-	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-	 * getString line to get the auto name from the text box below the Gyro
-	 *
-	 * <p>You can add additional auto modes by adding additional comparisons to
-	 * the switch structure below with additional strings. If using the
-	 * SendableChooser make sure to add them to the chooser code above as well.
-	 */
-	@Override
 	public void autonomousInit() {
 		m_autoSelected = m_chooser.getSelected();
-		// autoSelected = SmartDashboard.getString("Auto Selector",
-		// defaultAuto);
 		System.out.println("Auto selected: " + m_autoSelected);
 
 		autonomousStartTime = Timer.getFPGATimestamp();
 
 	}
 
-	/**
-	 * This function is called periodically during autonomous.
-	 */
-	@Override
 	public void autonomousPeriodic() {
 		double deltaTime = Timer.getFPGATimestamp() - autonomousStartTime;
-		if(deltaTime < autonomousTime){
-			drivetrain.drive(autonomousSpeed, 0.0);
-		}else{
-			drivetrain.drive(0.0, 0.0);
+		if (deltaTime < autonomousTime) {
+			drive.arcadeDrive(0.8, 0.0);
+		} else {
+			drive.arcadeDrive(0.0, 0.0);
+		}
+
+
+	}
+
+	public void teleopPeriodic() {
+
+		double xvalue = driverStick.getX();
+		double yvalue = driverStick.getY();
+		double boost;
+		double braking;
+
+		boolean trigger = driverStick.getRawButton(1);
+		if (trigger) {
+			boost = 2;
+		} else {
+			boost = 1;
+		}
+
+		boolean brake = driverStick.getRawButton(2);
+		if (brake){
+			braking = 0;
+		}
+		else {
+			braking = 1;
 		}
 
+		double sens = 2;
+		double threshold = 0.1;
+		double tres;
+			if((Math.abs(xvalue)<threshold) &&  (Math.abs(yvalue)<threshold)){
+				tres = 0;
+			}
+			else {
+				tres = 1;
+			}
 
 
+		right.set((yvalue + xvalue/sens) * (0.5) * boost * braking * 1.1 * tres);
+		left.set((yvalue - xvalue/sens) * (-0.5) * boost * braking * tres);
 	}
-		
-
-	/**
-	 * This function is called periodically during operator control.
-	 */
-	@Override
-		public void teleopPeriodic() {
- 		
- 		//if using joystick
-		double leftStickValue = driverStick.getRawAxis(1);
-		double rightStickValue = driverStick.getRawAxis(3);
-
- 		
- 		//if using xbox, idk how to map xbox
-	//	double leftStickvalue = xboxdriver.getX();
-	//	double rightStickvalue = xboxdriver.getY();
-		
- 		
- 		
- 		// runs motors at speed
-		leftFront.set(leftStickValue);
-		leftBack.set(leftStickValue);
-		rightFront.set(rightStickValue);
-		rightBack.set(rightStickValue);
-
- 	}
- 
- 	/**
+}
diff --git a/src/main/java/frc/team7242/robot/subsystem/Drivetrain.java b/src/main/java/frc/team7242/robot/subsystem/Drivetrain.java
index 022f53e..c28d843 100644
--- a/src/main/java/frc/team7242/robot/subsystem/Drivetrain.java
+++ b/src/main/java/frc/team7242/robot/subsystem/Drivetrain.java
@@ -5,17 +5,17 @@
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 public class Drivetrain {
-    private Spark leftFront = new Spark(0);
-    private Spark rightFront = new Spark(1);
-    private Spark leftBack = new Spark(2);
-    private Spark rightBack = new Spark(3);
+    private Spark leftFront = new Spark(1);
+    private Spark rightFront = new Spark(3);
+    private Spark leftBack = new Spark(0);
+    private Spark rightBack = new Spark(2);
     private SpeedControllerGroup leftMotors = new SpeedControllerGroup(leftFront, leftBack);
     private SpeedControllerGroup rightMotors = new SpeedControllerGroup(rightFront, rightBack);
     private DifferentialDrive robotDrive = new DifferentialDrive(leftMotors, rightMotors);
 
 
-    public void drive(double throttle, double turn){
-        robotDrive.arcadeDrive(throttle, turn);
+    public void drive(double throttle, double turn, boolean square){
+        robotDrive.arcadeDrive(throttle, turn, square);
     }
 }
 
diff --git a/src/main/java/frc/team7242/robot/subsystem/ScalableSpeedControllerGroup.java b/src/main/java/frc/team7242/robot/subsystem/ScalableSpeedControllerGroup.java
new file mode 100644
index 0000000..072bbeb
--- /dev/null
+++ b/src/main/java/frc/team7242/robot/subsystem/ScalableSpeedControllerGroup.java
@@ -0,0 +1,17 @@
+package frc.team7242.robot.subsystem;
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+
+public class ScalableSpeedControllerGroup extends SpeedControllerGroup {
+    private double scalar = 1.0;
+    public ScalableSpeedControllerGroup(double scalar, SpeedController speedController, SpeedController... speedControllers) {
+        super(speedController, speedControllers);
+        this.scalar = scalar;
+    }
+
+    @Override
+    public void set(double value) {
+        super.set(scalar * value);
+    }
+}