diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
index 3d9ee7d65e..57ca1a40bd 100644
--- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
+++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts
@@ -6,6 +6,9 @@ import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 import Driver from "../driver/Driver"
+import WheelDriver from "../driver/WheelDriver"
+import HingeDriver from "../driver/HingeDriver"
+import SliderDriver from "../driver/SliderDriver"
 
 const worker = new WPILibWSWorker()
 
@@ -286,18 +289,21 @@ export class PWMGroup extends SimOutputGroup {
     }
 
     public Update(_deltaT: number) {
-        // let average = 0;
-        for (const port of this.ports) {
-            const speed = SimPWM.GetSpeed(`${port}`) ?? 0
-            // average += speed;
-            console.log(port, speed)
-        }
-        // average /= this.ports.length
-
-        // this.drivers.forEach(d => {
-        //     (d as WheelDriver).targetWheelSpeed = average * 40
-        //     d.Update(_deltaT)
-        // })
+        const average =
+            this.ports.reduce((sum, port) => {
+                const speed = SimPWM.GetSpeed(`${port}`) ?? 0
+                console.debug(port, speed)
+                return sum + speed
+            }, 0) / this.ports.length
+
+        this.drivers.forEach(d => {
+            if (d instanceof WheelDriver) {
+                d.targetWheelSpeed = average * 40
+            } else if (d instanceof HingeDriver || d instanceof SliderDriver) {
+                d.targetVelocity = average * 40
+            }
+            d.Update(_deltaT)
+        })
     }
 }
 
diff --git a/fission/src/ui/panels/DebugPanel.tsx b/fission/src/ui/panels/DebugPanel.tsx
index c8494cb87e..9b2187a8b1 100644
--- a/fission/src/ui/panels/DebugPanel.tsx
+++ b/fission/src/ui/panels/DebugPanel.tsx
@@ -16,6 +16,7 @@ import Jolt from "@barclah/jolt-physics"
 import Label from "../components/Label"
 import { colorNameToVar } from "../ThemeContext"
 import { FaScrewdriverWrench } from "react-icons/fa6"
+import { useModalControlContext } from "../ModalContext"
 
 const LabelStyled = styled(Label)({
     fontWeight: 700,
@@ -50,6 +51,7 @@ async function TestGodMode() {
 
 const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
     const { openPanel } = usePanelControlContext()
+    const { openModal } = useModalControlContext()
 
     return (
         <Panel
@@ -130,12 +132,8 @@ const DebugPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                         }
                     }}
                 />
-                <Button
-                    value={"WS Viewer"}
-                    onClick={() => {
-                        openPanel("ws-view")
-                    }}
-                />
+                <Button value={"WS Viewer"} onClick={() => openPanel("ws-view")} />
+                <Button value={"RoboRIO"} onClick={() => openModal("roborio")} />
             </Box>
         </Panel>
     )