diff --git a/src/main/java/competition/subsystems/drive/DriveSubsystem.java b/src/main/java/competition/subsystems/drive/DriveSubsystem.java
index b9066ba..4548edc 100644
--- a/src/main/java/competition/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/competition/subsystems/drive/DriveSubsystem.java
@@ -43,6 +43,7 @@ public void tankDrive(double leftPower, double rightPower) {
         // to
         // the value of leftPower:
         frontLeft.set(leftPower);
+        frontRight.set(rightPower);
 
     }
     @Override
diff --git a/src/main/java/competition/subsystems/drive/commands/TankDriveWithJoysticksCommand.java b/src/main/java/competition/subsystems/drive/commands/TankDriveWithJoysticksCommand.java
index 4ac1709..76c535a 100644
--- a/src/main/java/competition/subsystems/drive/commands/TankDriveWithJoysticksCommand.java
+++ b/src/main/java/competition/subsystems/drive/commands/TankDriveWithJoysticksCommand.java
@@ -34,13 +34,19 @@ public void execute() {
         // Get values from the joysticks:
         // Here's how to get how far the left joystick's Y-axis is pushed:
         double leftValue = operatorInterface.gamepad.getLeftVector().y;
-        // You'll need to get how far the RIGHT joystick's Y-axis is pushed as well.
+        double rightValue = operatorInterface.gamepad.getRightVector().y;
+        // You'll need to get how far the RIGHT joystick's Y-axis is pushed as well
+        returnVal(leftValue);
+        returnVal(rightValue);
 
         // Pass values into the DriveSubsystem so it can control motors:
         // right now, this just sends the left power to the left part of the drive.
         // You'll
         // need to give it a right power as well.
-        drive.tankDrive(leftValue, 0);
+        drive.tankDrive(leftValue, rightValue);
     }
 
+    public double returnVal(double val){
+        return val;
+    }
 }