diff --git a/.Glass/glass.json b/.Glass/glass.json
new file mode 100644
index 0000000..c966180
--- /dev/null
+++ b/.Glass/glass.json
@@ -0,0 +1,23 @@
+{
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "Drivetrain": {
+          "open": true
+        },
+        "open": true
+      }
+    },
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Autonomous": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "694"
+  }
+}
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
index f04c0cc..6330dd5 100644
--- a/src/main/java/com/stuypulse/robot/RobotContainer.java
+++ b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -10,6 +10,7 @@
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDrive;
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDriveForever;
 import com.stuypulse.robot.commands.launcher.LaunchPrepare;
+import com.stuypulse.robot.commands.launcher.LauncherLaunch;
 import com.stuypulse.robot.commands.launcher.LauncherIntakeNote;
 import com.stuypulse.robot.commands.launcher.LauncherStop;
 import com.stuypulse.robot.commands.odometry.OdometryRealign;
@@ -24,6 +25,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 
 public class RobotContainer {
 
@@ -33,7 +35,7 @@ public class RobotContainer {
     
     // Subsystem
     public final AbstractDrivetrain drivetrain = AbstractDrivetrain.getInstance();
-    // public final Launcher launcher = Launcher.getInstance();
+    public final Launcher launcher = Launcher.getInstance();
     //public final AbstractOdometry odometry = AbstractOdometry.getInstance();
     //public final AbstractVision vision = AbstractVision.getInstance();
 
@@ -66,23 +68,17 @@ private void configureButtonBindings() {
     }
 
     private void configureDriverBindings() {
-        operator.getLeftBumper()
-            .onTrue(new LauncherIntakeNote())
+        driver.getRightBumper()
+            .whileTrue(new LauncherIntakeNote())
             .onFalse(new LauncherStop());
     
-        operator.getRightBumper()
+        driver.getBottomButton()
             .onTrue(new LaunchPrepare())
-            .whileTrue(new LauncherIntakeNote())
+            .whileTrue(new WaitCommand(0.5).andThen(new LauncherLaunch()))
             .onFalse(new LauncherStop());
     }
 
     private void configureOperatorBindings() {
-        // odometry
-        //driver.getDPadUp().onTrue(new OdometryRealign(Rotation2d.fromDegrees(180)));
-        //driver.getDPadLeft().onTrue(new OdometryRealign(Rotation2d.fromDegrees(-90)));
-        //driver.getDPadDown().onTrue(new OdometryRealign(Rotation2d.fromDegrees(0)));
-        //driver.getDPadRight().onTrue(new OdometryRealign(Rotation2d.fromDegrees(90)));
-
         driver.getLeftButton().onTrue(new DrivetrainDriveForever(2));
     }
 
diff --git a/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java b/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java
index b2d2483..c4e5a6d 100644
--- a/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java
+++ b/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java
@@ -19,18 +19,17 @@ public class DrivetrainDrive extends Command {
     public DrivetrainDrive(Gamepad driver) {
         this.drivetrain = AbstractDrivetrain.getInstance();
 
-        this.speed = IStream.create(
-            () -> driver.getRightY() - driver.getLeftY())
+        this.speed = IStream.create(() -> driver.getRightTrigger() - driver.getLeftTrigger())
             .filtered(
                 x -> SLMath.deadband(x, 0),
                 x -> SLMath.spow(x, 2)
         );
 
-        this.angle = IStream.create(
-            () -> driver.getRightX() - driver.getLeftX())
+        this.angle = IStream.create(() -> driver.getLeftX())
             .filtered(
                 x -> SLMath.deadband(x, 0),
-                x -> SLMath.spow(x, 2)
+                x -> SLMath.spow(x, 2),
+                x -> -x
         );
 
         addRequirements(drivetrain);
@@ -39,6 +38,6 @@ public DrivetrainDrive(Gamepad driver) {
 
     @Override
     public void execute() {
-        drivetrain.arcadeDrive(speed.get(), angle.get());
+        drivetrain.curvatureDrive(speed.get(), angle.get(), true);
     }
 }
diff --git a/src/main/java/com/stuypulse/robot/commands/launcher/LaunchNote.java b/src/main/java/com/stuypulse/robot/commands/launcher/LauncherLaunch.java
similarity index 80%
rename from src/main/java/com/stuypulse/robot/commands/launcher/LaunchNote.java
rename to src/main/java/com/stuypulse/robot/commands/launcher/LauncherLaunch.java
index 351bff1..bb1b12d 100644
--- a/src/main/java/com/stuypulse/robot/commands/launcher/LaunchNote.java
+++ b/src/main/java/com/stuypulse/robot/commands/launcher/LauncherLaunch.java
@@ -4,10 +4,10 @@
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
-public class LaunchNote extends InstantCommand {
+public class LauncherLaunch extends InstantCommand {
     Launcher launcher;
 
-    public LaunchNote() {
+    public LauncherLaunch() {
         launcher = Launcher.getInstance();
         addRequirements(launcher);
     }
diff --git a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java
index 7bc74f5..2a094d0 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java
@@ -29,10 +29,11 @@ public static AbstractDrivetrain getInstance() {
 
     public abstract void tankDriveVolts(double leftVolts, double rightVolts);
     public abstract void arcadeDrive(double speed, double angle);
-    // public abstract void curvatureDrive(double speed, double angle, boolean isQuickTurn);
+    public abstract void curvatureDrive(double speed, double angle, boolean isQuickTurn);
+
     public abstract void stop();
 
-    public abstract void periodicChild();
+    public void periodicChild() {}
 
     @Override
     public void periodic() {
diff --git a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java
index 59f6616..cc6caec 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java
@@ -77,7 +77,7 @@ public Angle getAngle() {
     //********** Drive Methods **********//
     public void tankDriveVolts(double leftVolts, double rightVolts) {
         leftFront.setVoltage(leftVolts);
-        rightFront.setVoltage(-rightVolts);
+        rightFront.setVoltage(rightVolts);
         drivetrain.feed();
     }