diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java
index 7a03d48..706a5a4 100644
--- a/src/main/java/frc/robot/commands/DriveCommand.java
+++ b/src/main/java/frc/robot/commands/DriveCommand.java
@@ -2,26 +2,112 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.util.Constants;
+import frc.robot.subsystems.SwerveSubsystem;
+import java.util.List;
+import java.util.function.DoubleSupplier;
+import swervelib.SwerveController;
+import swervelib.math.SwerveMath;
+
 public class DriveCommand extends Command {
 
-  public DriveCommand() {
-    // each subsystem used by the command must be passed into the
-    // addRequirements() method (which takes a vararg of Subsystem)
-    addRequirements();
+
+  private final SwerveSubsystem swerve;
+  private final DoubleSupplier  vX, vY;
+  private final DoubleSupplier headingHorizontal, headingVertical;
+  private boolean initRotation = false;
+
+  /**
+   * Used to drive a swerve robot in full field-centric mode.  vX and vY supply translation inputs, where x is
+   * torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian
+   * coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot
+   * will rotate to.
+   *
+   * @param swerve            The swerve drivebase subsystem.
+   * @param vX                DoubleSupplier that supplies the x-translation joystick input.  Should be in the range -1
+   *                          to 1 with deadband already accounted for.  Positive X is away from the alliance wall.
+   * @param vY                DoubleSupplier that supplies the y-translation joystick input.  Should be in the range -1
+   *                          to 1 with deadband already accounted for.  Positive Y is towards the left wall when
+   *                          looking through the driver station glass.
+   * @param headingHorizontal DoubleSupplier that supplies the horizontal component of the robot's heading angle. In the
+   *                          robot coordinate system, this is along the same axis as vY. Should range from -1 to 1 with
+   *                          no deadband.  Positive is towards the left wall when looking through the driver station
+   *                          glass.
+   * @param headingVertical   DoubleSupplier that supplies the vertical component of the robot's heading angle.  In the
+   *                          robot coordinate system, this is along the same axis as vX.  Should range from -1 to 1
+   *                          with no deadband. Positive is away from the alliance wall.
+   */
+  public DriveCommand(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingHorizontal,
+                       DoubleSupplier headingVertical)
+  {
+    this.swerve = swerve;
+    this.vX = vX;
+    this.vY = vY;
+    this.headingHorizontal = headingHorizontal;
+    this.headingVertical = headingVertical;
+
+    addRequirements(swerve);
   }
 
   @Override
-  public void initialize() {}
+  public void initialize()
+  {
+    initRotation = true;
+  }
 
+  // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute()
+  {
+
+    // Get the desired chassis speeds based on a 2 joystick module.
+    ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(),
+        headingHorizontal.getAsDouble(),
+        headingVertical.getAsDouble());
+
+    // Prevent Movement After Auto
+    if (initRotation)
+    {
+      if (headingHorizontal.getAsDouble() == 0 && headingVertical.getAsDouble() == 0)
+      {
+        // Get the curretHeading
+        Rotation2d firstLoopHeading = swerve.getHeading();
 
+        // Set the Current Heading to the desired Heading
+        desiredSpeeds = swerve.getTargetSpeeds(0, 0, firstLoopHeading.getSin(), firstLoopHeading.getCos());
+      }
+      //Dont Init Rotation Again
+      initRotation = false;
+    }
+
+    // Limit velocity to prevent tippy
+    Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds);
+    translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(),
+        Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS),
+        swerve.getSwerveDriveConfiguration());
+    SmartDashboard.putNumber("LimitedTranslation", translation.getX());
+    SmartDashboard.putString("Translation", translation.toString());
+
+    // Make the robot move
+    swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true);
+
+  }
+
+  // Called once the command ends or is interrupted.
   @Override
-  public boolean isFinished() {
-    // TODO: Make this return true when this Command no longer needs to run execute()
-    return false;
+  public void end(boolean interrupted)
+  {
   }
 
+  // Returns true when the command should end.
   @Override
-  public void end(boolean interrupted) {}
+  public boolean isFinished()
+  {
+    return false;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
index a0e4055..7c31e69 100644
--- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -138,6 +138,7 @@ public SwerveDriveKinematics getKinematics() {
     return swerveDrive.kinematics;
   }
 
+  // https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/pose.html
   /**
    * Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when
    * calling this method. However, if either gyro angle or module position is reset, this must be