diff --git a/src/main/java/com/stuypulse/robot/commands/DrivetrainDriveCommand.java b/src/main/java/com/stuypulse/robot/commands/DrivetrainDriveCommand.java
index ab43b3d..b0a434e 100644
--- a/src/main/java/com/stuypulse/robot/commands/DrivetrainDriveCommand.java
+++ b/src/main/java/com/stuypulse/robot/commands/DrivetrainDriveCommand.java
@@ -2,6 +2,7 @@
 
 import com.stuypulse.stuylib.input.Gamepad;
 import com.stuypulse.robot.subsystems.Drivetrain;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
 // TODO: Find out what we can use from here
@@ -13,12 +14,41 @@ public class DrivetrainDriveCommand extends CommandBase {
     
     private final Drivetrain drivetrain; 
     private final Gamepad gamepad;
+    private IFilterGroup filterGroupSpeed;
+    private IFilterGroup filterGroupTurn;
+
     
     public DrivetrainDriveCommand(Drivetrain drivetrain, Gamepad gamepad) {
         this.drivetrain = drivetrain;
         this.gamepad = gamepad;
         
         addRequirements(drivetrain);
+
+        /*
+        We were bored
+        */
+        filterGroupSpeed = new IFilterGroup(
+            new ExpMovingAverage(2),
+            // new HighPassFilter(0.21),
+            new LowPassFilter(3),
+            new MovingAverage(5),
+            new ExpMovingAverage(4),
+            new ExpMovingAverage(4),
+            new LowPassFilter(0.2),
+            new SpeedProfile(1),
+            new TimedMovingAverage(5)
+        );
+        filterGroupTurn = new IFilterGroup(
+            new ExpMovingAverage(2),
+            // new HighPassFilter(0.21),
+            new LowPassFilter(3),
+            new MovingAverage(5),
+            new ExpMovingAverage(4),
+            new ExpMovingAverage(4),
+            new LowPassFilter(0.2),
+            new SpeedProfile(1),
+            new TimedMovingAverage(5)
+        );
     }
      
     @Override
@@ -29,7 +59,7 @@ public void execute() {
 
         // TODO: Filter these values sending them to the drivetrain
 
-        drivetrain.arcadeDrive(speed, turn);
+        drivetrain.arcadeDrive(filterGroupSpeed.get(speed), filterGroupTurn.get(turn));
 
     }
 }