diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index b8186d75..223f70d1 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -3,19 +3,32 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 
 public interface Drive {
+  /**
+   * Sets the desired chassis speed
+   *
+   * @param speeds specifies the setpoint speed for the chassis
+   */
   public void runVelocity(ChassisSpeeds speeds);
 
+  /**
+   * This returns the robot's max linear speed in meter/sec
+   *
+   * @return speed in meter/sec
+   */
   public double getMaxLinearSpeed();
 
+  /**
+   * This returns the robot's max angular speed in radian/sec
+   *
+   * @return speed in radian/sec
+   */
   public double getMaxAngularSpeed();
 
   /*
   public void stop();
-
   public Pose2d getPose();
-
   public void setPose(Pose2d Pose2d);
-
   public Rotation2d getRotation();
   */
+
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveBase.java b/src/main/java/frc/robot/subsystems/drive/DriveBase.java
index 120e9f55..9c735466 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveBase.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveBase.java
@@ -1,19 +1,34 @@
 package frc.robot.subsystems.drive;
 
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.AutoLogOutput;
 
 public class DriveBase extends SubsystemBase implements Drive {
+  protected static final DifferentialDriveKinematics kinematics =
+      new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
+
+  @AutoLogOutput protected double leftVelocityMetersPerSecond;
+  @AutoLogOutput protected double rightVelocityMetersPerSecond;
+
   public DriveBase() {}
 
-  public void runVelocity(ChassisSpeeds speeds) {}
-  ;
+  public void runVelocity(ChassisSpeeds chassisSpeeds) {
+    // Convert to wheel speeds
+    DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
+
+    leftVelocityMetersPerSecond = wheelSpeeds.leftMetersPerSecond;
+    rightVelocityMetersPerSecond = wheelSpeeds.rightMetersPerSecond;
+  }
 
   public double getMaxLinearSpeed() {
-    return 0;
+    return 5;
   }
 
   public double getMaxAngularSpeed() {
-    return 0;
+    return 5;
   }
 }