diff --git a/src/main/java/frc/team3388/robot/Robot.java b/src/main/java/frc/team3388/robot/Robot.java
index 2ef4d46..c0ec7a3 100644
--- a/src/main/java/frc/team3388/robot/Robot.java
+++ b/src/main/java/frc/team3388/robot/Robot.java
@@ -4,11 +4,13 @@
 import com.flash3388.flashlib.frc.robot.base.iterative.IterativeFrcRobot;
 import com.flash3388.flashlib.hid.XboxController;
 import com.flash3388.flashlib.robot.base.DelegatingRobotControl;
+import frc.team3388.robot.actions.DriveAction;
 import frc.team3388.robot.subsystems.DriveSystem;
 import frc.team3388.robot.subsystems.HopperSystem;
 import frc.team3388.robot.subsystems.IntakeSystem;
 import frc.team3388.robot.subsystems.ShooterSystem;
 import frc.team3388.robot.subsystems.FeederSystem;
+import com.flash3388.flashlib.scheduling.actions.Action;
 
 public class Robot extends DelegatingRobotControl implements IterativeFrcRobot {
 
@@ -51,7 +53,8 @@ public void disabledPeriodic() {
 
     @Override
     public void teleopInit() {
-
+        Action drive = new DriveAction(driveSystem, xbox);
+        drive.start();
     }
 
     @Override
diff --git a/src/main/java/frc/team3388/robot/RobotMap.java b/src/main/java/frc/team3388/robot/RobotMap.java
index bea472c..ebf5275 100644
--- a/src/main/java/frc/team3388/robot/RobotMap.java
+++ b/src/main/java/frc/team3388/robot/RobotMap.java
@@ -21,6 +21,6 @@ public class RobotMap {
     // drive motors
     public static final int DRIVE_RIGHT1 = 1;
     public static final int DRIVE_RIGHT2 = 2;
-    public static final int DRIVE_LEFT1 = 3;
-    public static final int DRIVE_LEFT2 = 4;
+    public static final int DRIVE_LEFT1 = 5;
+    public static final int DRIVE_LEFT2 = 7;
 }
diff --git a/src/main/java/frc/team3388/robot/SystemFactory.java b/src/main/java/frc/team3388/robot/SystemFactory.java
index 736dc8a..7368770 100644
--- a/src/main/java/frc/team3388/robot/SystemFactory.java
+++ b/src/main/java/frc/team3388/robot/SystemFactory.java
@@ -66,6 +66,7 @@ public DriveSystem createDriveSystem() {
                 .add(new WPI_TalonSRX(RobotMap.DRIVE_LEFT1))
                 .add(new WPI_TalonSRX(RobotMap.DRIVE_LEFT2))
                 .build();
+        left.setInverted(true);
 
         return new DriveSystem(right, left);
     }