diff --git a/cpp/Simulation/src/main/include/Robot.h b/cpp/Simulation/src/main/include/Robot.h
index 52b37fe2..1a216e43 100644
--- a/cpp/Simulation/src/main/include/Robot.h
+++ b/cpp/Simulation/src/main/include/Robot.h
@@ -28,7 +28,10 @@ class Robot : public frc::TimedRobot {
   ctre::phoenix6::sim::CANcoderSimState &rightSensSim = rightSensor.GetSimState();
   ctre::phoenix6::sim::Pigeon2SimState &imuSim = imu.GetSimState();
 
-  frc::DifferentialDrive drivetrain{leftFX, rightFX};
+  frc::DifferentialDrive drivetrain{
+    [this](double output) { leftFX.Set(output); },
+    [this](double output) { rightFX.Set(output); }
+  };
 
   frc::XboxController joystick{0};
 
diff --git a/cpp/SwerveWithChoreo/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp b/cpp/SwerveWithChoreo/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
index ca8f2a34..46339670 100644
--- a/cpp/SwerveWithChoreo/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
+++ b/cpp/SwerveWithChoreo/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
@@ -1,4 +1,5 @@
 #include "subsystems/CommandSwerveDrivetrain.h"
+#include <frc/RobotController.h>
 
 using namespace subsystems;
 
diff --git a/cpp/SwerveWithPathPlanner/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp b/cpp/SwerveWithPathPlanner/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
index 6d44b00e..0ac8be26 100644
--- a/cpp/SwerveWithPathPlanner/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
+++ b/cpp/SwerveWithPathPlanner/src/main/cpp/subsystems/CommandSwerveDrivetrain.cpp
@@ -1,4 +1,5 @@
 #include "subsystems/CommandSwerveDrivetrain.h"
+#include <frc/RobotController.h>
 #include <pathplanner/lib/auto/AutoBuilder.h>
 #include <pathplanner/lib/controllers/PPHolonomicDriveController.h>
 
diff --git a/java/Simulation/src/main/java/frc/robot/Robot.java b/java/Simulation/src/main/java/frc/robot/Robot.java
index e1bea477..f623caf5 100644
--- a/java/Simulation/src/main/java/frc/robot/Robot.java
+++ b/java/Simulation/src/main/java/frc/robot/Robot.java
@@ -59,7 +59,7 @@ public class Robot extends TimedRobot {
     private final CANcoderSimState rightSensSim = rightSensor.getSimState();
     private final Pigeon2SimState imuSim = imu.getSimState();
 
-    private final DifferentialDrive drivetrain = new DifferentialDrive(leftFX, rightFX);
+    private final DifferentialDrive drivetrain = new DifferentialDrive(leftFX::set, rightFX::set);
 
     /*
      * These numbers are an example AndyMark Drivetrain with some additional weight.
diff --git a/python/SwerveWithPathPlanner/robotcontainer.py b/python/SwerveWithPathPlanner/robotcontainer.py
index 158439bc..80429124 100644
--- a/python/SwerveWithPathPlanner/robotcontainer.py
+++ b/python/SwerveWithPathPlanner/robotcontainer.py
@@ -55,12 +55,12 @@ def __init__(self) -> None:
             )
         )
 
-        self._logger = Telemetry(self._max_speed)
-
         self._joystick = commands2.button.CommandXboxController(0)
 
         self.drivetrain = TunerConstants.create_drivetrain()
 
+        self._logger = Telemetry(self._max_speed)
+
         # Path follower
         self._auto_chooser = AutoBuilder.buildAutoChooser("Tests")
         SmartDashboard.putData("Auto Mode", self._auto_chooser)