diff --git a/src/main/java/frc/robot/InputtedDriverControls.java b/src/main/java/frc/robot/InputtedDriverControls.java
index 09a26bc..5de7f14 100644
--- a/src/main/java/frc/robot/InputtedDriverControls.java
+++ b/src/main/java/frc/robot/InputtedDriverControls.java
@@ -1,6 +1,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.XboxController;
+import frc.robot.RobotComponents.DriveTrain;
 
 public class InputtedDriverControls {
 
@@ -11,6 +12,7 @@ public static void setDriverController(XboxController xboxController) {
     }
 
     public static void onEveryFrame() {
+        DriveTrain.driveTank(controller.getLeftY(), controller.getRightY());
         if (controller.getBButtonPressed()) {
             stopAtFeedingDistance();
         }
@@ -20,11 +22,6 @@ public static void onEveryFrame() {
         if (controller.getXButtonPressed()) {
             stopAtShootingDistance();
         }
-        driveTank(controller.getLeftY(), controller.getRightY());
-    }
-
-    private static void driveTank(double leftY, double rightY) {
-        throw new UnsupportedOperationException("Unimplemented method 'driveTank'");
     }
 
     private static void stopAtShootingDistance() {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 8b030f8..1459330 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.RobotComponents.DriveTrain;
 import frc.robot.Vision.AprilTagHighlighter;
 import frc.robot.auton.AutonAction;
 import frc.robot.auton.AutonRoutes;
@@ -114,6 +115,7 @@ public void robotInit() {
         System.out.println("Is drive right parent inverted at end?? " + driveRightParent.getInverted());
 
         InputtedCoDriverControls.setCoDriverController(coDriverController);
+        InputtedDriverControls.setDriverController(driverController);
     }
 
     /**
@@ -207,17 +209,7 @@ public void teleopInit() {}
     @Override
     public void teleopPeriodic() {
         teleopActionRunner.onEveryFrame();
-        // TODO: make slow mode
-        double leftY = driverController.getLeftY();
-        double rightY = driverController.getRightY();
-        QuickActions.stopDriveMotors();
-        if (Math.abs(leftY) > Constants.CONTROLLER_DEADZONE) {
-            driveLeftParent.set(leftY);
-        }
-        if (Math.abs(rightY) > Constants.CONTROLLER_DEADZONE) {
-            driveRightParent.set(rightY);
-        }
-        // aprilTagHighlighter.doEveryTeleopFrame(driverController);
+        InputtedDriverControls.onEveryFrame();
         InputtedCoDriverControls.onEveryFrame();
     }
 
diff --git a/src/main/java/frc/robot/RobotComponents/DriveTrain.java b/src/main/java/frc/robot/RobotComponents/DriveTrain.java
new file mode 100644
index 0000000..565d739
--- /dev/null
+++ b/src/main/java/frc/robot/RobotComponents/DriveTrain.java
@@ -0,0 +1,18 @@
+package frc.robot.RobotComponents;
+
+import frc.robot.Constants;
+import frc.robot.QuickActions;
+import frc.robot.Robot;
+
+public class DriveTrain {
+
+    public static void driveTank(double leftY, double rightY) {
+        QuickActions.stopDriveMotors();
+        if (Math.abs(leftY) > Constants.CONTROLLER_DEADZONE) {
+            Robot.motors.getDriveLeftChild().set(leftY);
+        }
+        if (Math.abs(rightY) > Constants.CONTROLLER_DEADZONE) {
+            Robot.motors.getDriveRightParent().set(rightY);
+        }
+    }
+}