diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c958197..58c5714 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -41,5 +41,8 @@ public static class ControlConstants {
     public static final double MAX_ROBOT_SPEED = 1;
     public static final double MIN_ROBOT_SPEED = -1;
     public static final double MAX_TURN_SPEED = 0.7;
+
+
+
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index aa7ed44..55d3b77 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -29,6 +29,10 @@
 
 
 import com.revrobotics.RelativeEncoder;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import edu.wpi.first.math.controller.PIDController;
+
+
 public class Drivetrain extends SubsystemBase {
 	private CANSparkMax frontLeft;
 	private CANSparkMax frontRight;
@@ -39,6 +43,11 @@ public class Drivetrain extends SubsystemBase {
 	private RelativeEncoder backRighte;
   private RelativeEncoder frontLefte;
 	private boolean finetuned;
+	
+	private PIDController pidFR;
+	private PIDController pidBR;
+	private PIDController pidFL; 
+	private PIDController pidBL; 
 
 
 	public Drivetrain() {
@@ -52,11 +61,19 @@ public Drivetrain() {
 		backLefte = backLeft.getEncoder();
 		backRighte = backRight.getEncoder();
 
+		double kP = 0.2;
+		double kI = 0.05;
+		double kD = 0.0;
 
-	}
+		pidFR = new PIDController(kP,kI,kD);
+		pidBR = new PIDController(kP,kI,kD);
+		pidFL = new PIDController(kP,kI,kD);
+		pidBL = new PIDController(kP,kI,kD);
 
 
 
+	}
+
 	@Override
 	public void periodic() {
 
@@ -75,6 +92,8 @@ public void periodic() {
         SmartDashboard.putNumber("CountsPerRevolution", CPR);
         SmartDashboard.putNumber("Revolutions", revolutions);
 
+
+
 	}
 
 	// 2020 mecanum drive code
@@ -109,8 +128,6 @@ public void mecanumDrive(double joystickX, double joystickY, double rotation) {
 
 
 
-
-
 		//finetuned driving system
 
 		if (finetuned == true) {
@@ -127,10 +144,10 @@ public void mecanumDrive(double joystickX, double joystickY, double rotation) {
 
 
 		// Power the motors
-		frontLeft.set(frontLeftPower);
-		frontRight.set(frontRightPower);
-		backLeft.set(backLeftPower);
-		backRight.set(backRightPower);
+		frontLeft.set(pidFL.calculate(frontLefte.getVelocity(), frontLeftPower));
+		frontRight.set(pidFR.calculate(frontRighte.getVelocity(), frontRightPower));
+		backLeft.set(pidBL.calculate(backLefte.getVelocity(), frontLeftPower));
+		backRight.set(pidBR.calculate(backRighte.getVelocity(), frontLeftPower));
 
 	}
 	public double getBackRightPosition() {