diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
similarity index 77%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometDrive.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
index e193378..4411c43 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode;
 
 import static org.firstinspires.ftc.teamcode.util.action.FieldConstants.blueBucketStartPose;
 
@@ -9,9 +9,9 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
 import org.firstinspires.ftc.teamcode.runmodes.Teleop;
 
-@TeleOp(name="Drive", group="A")
+@TeleOp(name="ComeBot Drive", group="Debug")
 @Disabled
-public class CometDrive  extends OpMode {
+public class CometBotDrive extends OpMode {
 
     private Teleop teleop;
 
@@ -20,12 +20,7 @@ public class CometDrive  extends OpMode {
         teleop = new Teleop(hardwareMap,
                 telemetry,
                 new Follower(hardwareMap),
-                blueBucketStartPose,
                 gamepad1);
-    }
-
-    @Override
-    public void start() {
         teleop.start();
     }
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java
index 1124102..40195e4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java
@@ -1,5 +1,16 @@
 package org.firstinspires.ftc.teamcode.runmodes;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
@@ -12,51 +23,36 @@ import org.firstinspires.ftc.teamcode.util.action.RunAction;
 public class Teleop {
 
     private ClawSubsystem claw;
-    private ClawSubsystem.ClawState clawState;
-
     private Follower follower;
-    private Pose startPose;
-
+    private DcMotorEx leftFront;
+    private DcMotorEx leftRear;
+    private DcMotorEx rightFront;
+    private DcMotorEx rightRear;
     private Telemetry telemetry;
 
     private Gamepad gamepad1;
     private Gamepad currentGamepad1;
     private Gamepad previousGamepad1;
 
-    public RunAction stopDrive, startDrive;
+    public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Gamepad gamepad1) {
 
-    public double speed = 0.5;
-
-    public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Pose startPose, Gamepad gamepad1) {
-        claw = new ClawSubsystem(hardwareMap, clawState);
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        initMotors(hardwareMap);
 
         this.follower = follower;
-        this.startPose = startPose;
 
         this.telemetry = telemetry;
         this.gamepad1 = gamepad1;
 
         this.currentGamepad1 = new Gamepad();
         this.previousGamepad1 = new Gamepad();
-
-        stopDrive = new RunAction(this::stopDrive);
-        startDrive = new RunAction(this::startDrive);
     }
 
     public void start() {
         claw.start();
-        follower.setPose(startPose);
         follower.startTeleopDrive();
     }
 
-    private void startDrive() {
-        follower.startTeleopDrive();
-    }
-
-    private void stopDrive() {
-        follower.breakFollowing();
-    }
-
     public void update() {
         previousGamepad1.copy(currentGamepad1);
         currentGamepad1.copy(gamepad1);
@@ -64,14 +60,30 @@ public class Teleop {
         if (currentGamepad1.a && !previousGamepad1.a)
             claw.switchState();
 
-        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y * speed, -gamepad1.left_stick_x * speed, -gamepad1.right_stick_x * speed);
+        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
         follower.update();
 
         telemetry.addData("X", follower.getPose().getX());
         telemetry.addData("Y", follower.getPose().getY());
         telemetry.addData("Heading", Math.toDegrees(follower.getPose().getHeading()));
-
-        telemetry.addData("Claw State", clawState);
+        telemetry.addData("Claw State", claw.getState());
         telemetry.update();
     }
+
+    private void initMotors(HardwareMap hardwareMap) {
+        rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
+        rightRear = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
+        leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
+        leftRear = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
+
+        rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
+        leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+    }
 }