diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2756f2f..c7a18fc 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,5 +1,6 @@
 package frc.robot;
 
+import org.littletonrobotics.conduit.schema.Joystick;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -7,7 +8,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot.RobotRunType;
 import frc.robot.subsystems.drive.Drivetrain;
 import frc.robot.subsystems.drive.DrivetrainIO;
@@ -21,15 +21,14 @@
  */
 public class RobotContainer {
     /* Controllers */
-    private final CommandXboxController driver = new CommandXboxController(Constants.driverID);
-    private final CommandXboxController operator = new CommandXboxController(Constants.operatorID);
-
+    Joystick driver = new Joystick();
     // Initialize AutoChooser Sendable
     private final SendableChooser<String> autoChooser = new SendableChooser<>();
 
     /* Subsystems */
     private Drivetrain drivetrain;
 
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
diff --git a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
index 1cb4e93..ed9d6b5 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
@@ -2,7 +2,6 @@
 
 import org.littletonrobotics.junction.Logger;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * Drivetrain subsystem.
@@ -11,24 +10,22 @@
 public class Drivetrain extends SubsystemBase {
     private DrivetrainIO io;
     private DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged();
-    private CommandXboxController driver;
 
     /**
      * Create Wrist Intake Subsystem
      */
-    public Drivetrain(DrivetrainIO iop, CommandXboxController driverp) {
-        this.io = iop;
-        io.updateInputs(inputs);
-
+    public Drivetrain(DrivetrainIO io) {
+        this.io = io;
     }
 
     @Override
     public void periodic() {
         io.updateInputs(inputs);
         Logger.processInputs("Drivetrain", inputs);
+    }
 
-        double driverY = driver.getLeftY();
-        double driverX = driver.getRightY();
+    public void setPower(double lPower, double rPower) {
+        io.setDriveVoltage(lPower, rPower);
     }
 }
 
diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
index 95de9f6..2acfeed 100644
--- a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
+++ b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
@@ -22,6 +22,7 @@ public DrivetrainReal() {
         FRMotor.addFollower(BRMotor);
 
         FRMotor.setInverted(true);
+        BRMotor.setInverted(true);
     }