diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..f0ee648
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "none",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 199
+}
\ No newline at end of file
diff --git a/Robot2019/src/main/java/frc/robot/OI.java b/Robot2019/src/main/java/frc/robot/OI.java
index f3b4c5b..913c1a5 100644
--- a/Robot2019/src/main/java/frc/robot/OI.java
+++ b/Robot2019/src/main/java/frc/robot/OI.java
@@ -43,12 +43,12 @@ public class OI {
     rightSlowBtn = new JoystickButton(rightJoy, 1);
     rightSlowBtn.whileHeld(new SlowDrive(SlowDrive.Side.RIGHT));
 
-    toggleHatchBtn = new JoystickButton(manipulator, 0); // TODO: set ports to correct values
+    toggleHatchBtn = new JoystickButton(manipulator, 1); // TODO: set ports to correct values
     toggleHatchBtn.whenPressed(new ToggleHatch(hp));
 
-    cargoIntakeBtn = new JoystickButton(manipulator, 1); // TODO: set ports to correct values
+    cargoIntakeBtn = new JoystickButton(manipulator, 2); // TODO: set ports to correct values
     cargoIntakeBtn.whenPressed(new IntakeCargo(cargo));
-    cargoEjectBtn = new JoystickButton(manipulator, 2); // TODO: set ports to correct values
+    cargoEjectBtn = new JoystickButton(manipulator, 3); // TODO: set ports to correct values
     cargoEjectBtn.whenPressed(new EjectCargo(cargo));
 
     toggleCameraBtn = new JoystickButton(leftJoy, 2);
diff --git a/Robot2019/src/main/java/frc/robot/Robot.java b/Robot2019/src/main/java/frc/robot/Robot.java
index 5250f18..e7c6f62 100644
--- a/Robot2019/src/main/java/frc/robot/Robot.java
+++ b/Robot2019/src/main/java/frc/robot/Robot.java
@@ -29,14 +29,15 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    dt = new Drivetrain(RobotMap.leftMaster, RobotMap.leftSlave1, RobotMap.leftSlave2, RobotMap.rightMaster,
-        RobotMap.rightSlave1, RobotMap.rightSlave2, oi.leftJoy, oi.rightJoy, RobotMap.leftEnc, RobotMap.rightEnc,
-        RobotMap.gyro);
     hp = new HatchPanel(RobotMap.hatchPistons);
     cargo = new Cargo(RobotMap.cargoRoller, RobotMap.pdp);
     
     oi = new OI(cargo, hp, RobotMap.driveCamera, RobotMap.hatchCamera, RobotMap.cameraServer);
 
+    dt = new Drivetrain(RobotMap.leftMaster, RobotMap.leftSlave1, RobotMap.leftSlave2, RobotMap.rightMaster,
+        RobotMap.rightSlave1, RobotMap.rightSlave2, oi.leftJoy, oi.rightJoy, RobotMap.leftEnc, RobotMap.rightEnc,
+        RobotMap.gyro);
+
     chooser.setDefaultOption("Default Auto", new TeleopDrive(dt));
     SmartDashboard.putData("Auto Mode", chooser);
   }
diff --git a/Robot2019/src/main/java/frc/robot/commands/TeleopDrive.java b/Robot2019/src/main/java/frc/robot/commands/TeleopDrive.java
index 5f80349..f342795 100644
--- a/Robot2019/src/main/java/frc/robot/commands/TeleopDrive.java
+++ b/Robot2019/src/main/java/frc/robot/commands/TeleopDrive.java
@@ -35,9 +35,11 @@ protected void execute() {
   }
 
   private void arcadeDrive() {
-    double speed = dt.leftJoy.getY();
+    double speed = -dt.leftJoy.getY();
     double rot = dt.rightJoy.getX();
 
+    //System.out.println("Speed: " + speed + ", Rotation: " + rot);
+
     if (SmartDashboard.getBoolean("Square Joysticks", true)) {
       speed = Math.copySign(speed * speed, speed);
       rot = Math.copySign(rot * rot, rot);
@@ -74,17 +76,12 @@ private void arcadeDrive() {
       }
     }
 
-    if (SmartDashboard.getBoolean("Square Joysticks", true)) {
-      left = Math.signum(left * left);
-      right = Math.signum(right * right);
-    }
-
     dt.drive(left, right);
   }
 
   private void tankDrive() {
-    double left = dt.leftJoy.getY();
-    double right = dt.rightJoy.getY();
+    double left = -dt.leftJoy.getY();
+    double right = -dt.rightJoy.getY();
 
     if (SmartDashboard.getBoolean("Square Joysticks", true)) {
       left = Math.copySign(left * left, left);
diff --git a/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java b/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
index 8b796aa..6464445 100644
--- a/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -15,9 +15,14 @@
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.commands.TeleopDrive;
 
 public class Drivetrain extends Subsystem {
+  public enum Side {
+    LEFT, RIGHT
+  }
+
   private SpeedController leftMotor, rightMotor;
   private Encoder leftEnc, rightEnc;
   public Joystick leftJoy, rightJoy;
@@ -51,6 +56,7 @@ public Drivetrain(WPI_TalonSRX leftMaster, WPI_VictorSPX leftSlave1, WPI_VictorS
     rightEnc.setDistancePerPulse(pulseFraction * Math.PI * wheelDiameter);
 
     this.gyro = gyro;
+
   }
 
   @Override
@@ -61,6 +67,8 @@ public void initDefaultCommand() {
   public void drive(double left, double right) {
     leftMotor.set(left);
     rightMotor.set(right);
+    SmartDashboard.putNumber("Encoder Distance Left:", leftEnc.getDistance());
+    SmartDashboard.putNumber("Encoder Distance Right:", rightEnc.getDistance());
   }
 
   public void stop() {
@@ -68,16 +76,16 @@ public void stop() {
     rightMotor.stopMotor();
   }
 
-  public double getEncDist(String type) {
-    if (type.equals("left")) {
+  public double getEncDist(Side type) {
+    if (type == Side.LEFT) {
       return leftEnc.getDistance();
     } else {
       return rightEnc.getDistance();
     }
   }
 
-  public double getEncRate(String type) {
-    if (type.equals("left")) {
+  public double getEncRate(Side type) {
+    if (type == Side.LEFT) {
       return leftEnc.getRate();
     } else {
       return rightEnc.getRate();