diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 555dbcc..3f433ab 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -25,6 +25,7 @@ public final class Constants {
     public static final int LEFT_SECONDARY = 1;
     public static final int RIGHT_PRIMARY = 5;
     public static final int RIGHT_SECONDARY = 2;
+    //public static final double LEFT_CALIBRATION = 0.99;
 
     /**
      * CannonUtil Constants
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 364ba82..7e40a08 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,6 +32,7 @@ public class RobotContainer {
 
   public static Joystick leftStick, rightStick;
   public static XboxController operator;
+
   
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
diff --git a/src/main/java/frc/robot/handlers/DriveMode.java b/src/main/java/frc/robot/handlers/DriveMode.java
index 4454483..43e5274 100644
--- a/src/main/java/frc/robot/handlers/DriveMode.java
+++ b/src/main/java/frc/robot/handlers/DriveMode.java
@@ -1,5 +1,5 @@
 package frc.robot.handlers;
 
 public enum DriveMode {
-    ARCADE, TANK
+    ARCADE, TANK, SPARROW
 }
diff --git a/src/main/java/frc/robot/subsystems/DriveUtil.java b/src/main/java/frc/robot/subsystems/DriveUtil.java
index ccc6329..20f9a2e 100644
--- a/src/main/java/frc/robot/subsystems/DriveUtil.java
+++ b/src/main/java/frc/robot/subsystems/DriveUtil.java
@@ -66,10 +66,10 @@ public void toggleDriveMode() {
   public void driveRobot(double leftX, double leftY, double rightX, double rightY) {
     if (driveMode.equals(DriveMode.ARCADE)) {
       // If we're in ARCADE mode, use arcadeDrive
-      differentialDrive.arcadeDrive(rightY, rightX);
+      differentialDrive.arcadeDrive(rightY, -rightX); //Invert angle
     } else if (driveMode.equals(DriveMode.TANK)) {
       // If we're in TANK mode, use tankDrive
-      differentialDrive.tankDrive(leftY/2, rightY/2);
+      differentialDrive.tankDrive(leftY, rightY);
     }
   }