diff --git a/GearsBot/commands/autonomous.py b/GearsBot/commands/autonomous.py
index f6a58a5..256d31c 100644
--- a/GearsBot/commands/autonomous.py
+++ b/GearsBot/commands/autonomous.py
@@ -6,8 +6,8 @@
 
 import commands2
 import commands2.cmd
-import preparetopickup
-import ..constants
+from . import preparetopickup
+import constants
 from subsystems.drivetrain import Drivetrain
 from subsystems.claw import Claw
 from subsystems.elevator import Elevator
diff --git a/GearsBot/commands/closeclaw.py b/GearsBot/commands/closeclaw.py
index 93b0102..739aaf5 100644
--- a/GearsBot/commands/closeclaw.py
+++ b/GearsBot/commands/closeclaw.py
@@ -6,7 +6,7 @@
 
 import commands2
 from subsystems.claw import Claw
-import ..robot
+import robot
 
 class CloseClaw(commands2.Command):
     """Closes the claw until the limit switch is tripped."""
@@ -30,5 +30,5 @@ def end(self, interrupted: bool) -> None:
         # can to fall out + there is no need to worry about stalling the motor 
         # or crushing the can.
 
-        if !robot.MyRobot.isSimulation():
+        if not robot.MyRobot.isSimulation():
             self.claw.stop()
diff --git a/GearsBot/commands/pickup.py b/GearsBot/commands/pickup.py
index 2931125..8a85aab 100644
--- a/GearsBot/commands/pickup.py
+++ b/GearsBot/commands/pickup.py
@@ -6,10 +6,10 @@
 
 import commands2
 import commands2.cmd
-import closeclaw
-import setwristsetpoint
-import setelevatorsetpoint
-import ..constants
+import constants
+from . import closeclaw
+from . import setwristsetpoint
+from . import setelevatorsetpoint
 from subsystems.claw import Claw
 from subsystems.elevator import Elevator
 from subsystems.wrist import Wrist
diff --git a/GearsBot/commands/place.py b/GearsBot/commands/place.py
index 1b6896e..59b9496 100644
--- a/GearsBot/commands/place.py
+++ b/GearsBot/commands/place.py
@@ -5,10 +5,10 @@
 #
 
 import commands2
-import setelevatorsetpoint
-import setwristsetpoint
-import openclaw
-import ..constants
+import constants
+from . import openclaw
+from . import setelevatorsetpoint
+from . import setwristsetpoint
 from subsystems.claw import Claw
 from subsystems.elevator import Elevator
 from subsystems.wrist import Wrist
diff --git a/GearsBot/commands/preparetopickup.py b/GearsBot/commands/preparetopickup.py
index c292d45..ef830aa 100644
--- a/GearsBot/commands/preparetopickup.py
+++ b/GearsBot/commands/preparetopickup.py
@@ -6,12 +6,12 @@
 
 import commands2
 import commands2.cmd
-import setwristsetpoint
-import setelevatorsetpoint
-import openclaw
+from . import setwristsetpoint
+from . import setelevatorsetpoint
+from . import openclaw
 from subsystems.elevator import Elevator
 from subsystems.wrist import Wrist
-from subsystem.claw import Claw
+from subsystems.claw import Claw
 
 class PrepareToPickup(commands2.SequentialCommandGroup):
     def __init__(self, claw: Claw, wrist: Wrist, elevator: Elevator) -> None:
diff --git a/GearsBot/subsystems/claw.py b/GearsBot/subsystems/claw.py
index 88d39d0..9cd7bcd 100644
--- a/GearsBot/subsystems/claw.py
+++ b/GearsBot/subsystems/claw.py
@@ -6,7 +6,7 @@
 
 import wpilib
 import commands2
-import ..constants
+import constants
 
 class Claw(commands2.Subsystem):
     """The claw subsystem is a simple system with a motor for opening and closing. 
diff --git a/GearsBot/subsystems/drivetrain.py b/GearsBot/subsystems/drivetrain.py
index f011afa..7b05a0f 100644
--- a/GearsBot/subsystems/drivetrain.py
+++ b/GearsBot/subsystems/drivetrain.py
@@ -8,10 +8,10 @@
 import wpilib.drive
 import wpiutil
 import commands2
-import ..constants
-import ..robot
+import constants
+import robot
 
-class Drivetrain(commands2.Subsystem):
+class Drivetrain(commands2.SubsystemBase):
     """The Drivetrain subsystem incorporates the sensors and actuators
     attached to the robots chassis. These include four drive motors, 
     a left and right encoder and a gyro."""
@@ -25,7 +25,10 @@ def __init__(self) -> None:
         self.rightLeader = wpilib.PWMSparkMax(constants.DriveConstants.kRightMotor1Port)
         self.rightFollower = wpilib.PWMSparkMax(constants.DriveConstants.kRightMotor2Port)
         
-        self.drive = wpilib.drive.DifferentialDrive(self.leftLeader, self.rightLeader)
+        self.drive = wpilib.drive.DifferentialDrive(
+            lambda s : self.leftLeader.set(s), 
+            lambda s : self.rightLeader.set(s)
+        )
 
         self.leftEncoder = wpilib.Encoder(
             constants.DriveConstants.kLeftEncoderPorts[0],
diff --git a/GearsBot/subsystems/elevator.py b/GearsBot/subsystems/elevator.py
index cf1905b..9b5193e 100644
--- a/GearsBot/subsystems/elevator.py
+++ b/GearsBot/subsystems/elevator.py
@@ -7,8 +7,8 @@
 import wpilib
 import wpimath.controller
 import commands2
-import ..constants
-import ..robot
+import constants
+import robot
 
 class Elevator(commands2.PIDSubsystem):
     def __init__(self) -> None:
diff --git a/GearsBot/subsystems/wrist.py b/GearsBot/subsystems/wrist.py
index 9be88bc..01eec99 100644
--- a/GearsBot/subsystems/wrist.py
+++ b/GearsBot/subsystems/wrist.py
@@ -7,8 +7,8 @@
 import commands2
 import wpilib
 import wpimath.controller
-import ..constants
-import ..robot
+import constants
+import robot
 
 class Wrist(commands2.PIDSubsystem):
     """The wrist subsystem is like the elevator, but with a rotational