diff --git a/commands/absoluterelativedrive.py b/commands/absoluterelativedrive.py
index c23a512..78ec5bc 100644
--- a/commands/absoluterelativedrive.py
+++ b/commands/absoluterelativedrive.py
@@ -48,8 +48,8 @@ def rotation(self) -> float:
 
     def execute(self) -> None:
         self.drive.arcadeDriveWithFactors(
-            self.forward(),
-            self.sideways(),
+            -self.forward(),
+            -self.sideways(),
             self.rotation(),
             DriveSubsystem.CoordinateMode.FieldRelative,
         )
diff --git a/commands/fieldrelativedrive.py b/commands/fieldrelativedrive.py
index 019cb55..16d43e3 100644
--- a/commands/fieldrelativedrive.py
+++ b/commands/fieldrelativedrive.py
@@ -24,8 +24,8 @@ def __init__(
 
     def execute(self) -> None:
         self.drive.arcadeDriveWithFactors(
-            self.forward(),
-            self.sideways(),
+            -self.forward(),
+            -self.sideways(),
             self.rotation(),
             DriveSubsystem.CoordinateMode.FieldRelative,
         )
diff --git a/controlInterface.json b/controlInterface.json
index 1b214d9..b62273d 100644
--- a/controlInterface.json
+++ b/controlInterface.json
@@ -14,7 +14,7 @@
   "rotationX": [
     1,
     {
-      "Axis": 0
+      "Axis": 5
     }
   ],
   "rotationY": [
diff --git a/networktables.json b/networktables.json
new file mode 100644
index 0000000..cb9ee20
--- /dev/null
+++ b/networktables.json
@@ -0,0 +1,210 @@
+[
+  {
+    "name": "/Preferences/forwardsBackwards controller",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/forwardsBackwards axis",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/leftRight controller",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/leftRight axis",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/rotationX controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/rotationX axis",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/rotationY controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/rotationY axis",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/fillCannon controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/fillCannon button",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/launchCannon controller",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/launchCannon button",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/closeValves controller",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/closeValves button",
+    "type": "int",
+    "value": 2,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/resetSwerveControl controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/resetSwerveControl button",
+    "type": "int",
+    "value": 10,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/returnPositionInput controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/returnPositionInput button",
+    "type": "int",
+    "value": 4,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/returnModeControl controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/returnModeControl button",
+    "type": "int",
+    "value": 5,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/pulseTheLights controller",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/pulseTheLights button",
+    "type": "int",
+    "value": 3,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/hornControl controller",
+    "type": "int",
+    "value": 1,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/hornControl button",
+    "type": "int",
+    "value": 2,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/lightControl controller",
+    "type": "int",
+    "value": 0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/lightControl button",
+    "type": "int",
+    "value": 4,
+    "properties": {
+      "persistent": true
+    }
+  }
+]
diff --git a/networktables.json.bck b/networktables.json.bck
new file mode 100644
index 0000000..fe51488
--- /dev/null
+++ b/networktables.json.bck
@@ -0,0 +1 @@
+[]
diff --git a/operatorinterface.py b/operatorinterface.py
index 8539101..97554c3 100644
--- a/operatorinterface.py
+++ b/operatorinterface.py
@@ -103,11 +103,11 @@ def __init__(self) -> None:
 
         for control in controlScheme:
             binding = controlScheme[control]
-            self.prefs.initInt(control + " controller", binding[0])
+            self.prefs.setInt(control + " controller", binding[0])
             if "Button" in binding[1].keys():
-                self.prefs.initInt(control + " button", binding[1]["Button"])
+                self.prefs.setInt(control + " button", binding[1]["Button"])
             elif "Axis" in binding[1].keys():
-                self.prefs.initInt(control + " axis", binding[1]["Axis"])
+                self.prefs.setInt(control + " axis", binding[1]["Axis"])
 
         for num in controllerNumbers:
             controller = Joystick(num)
diff --git a/robotcontainer.py b/robotcontainer.py
index ef0ff79..db19eb0 100644
--- a/robotcontainer.py
+++ b/robotcontainer.py
@@ -87,12 +87,11 @@ def __init__(self) -> None:
         self.configureButtonBindings()
 
         self.drive.setDefaultCommand(
-            AbsoluteRelativeDrive(
+            FieldRelativeDrive(
                 self.drive,
                 self.operatorInterface.chassisControls.forwardsBackwards,
                 self.operatorInterface.chassisControls.sideToSide,
                 self.operatorInterface.chassisControls.rotationX,
-                self.operatorInterface.chassisControls.rotationY,
             )
         )
 
diff --git a/subsystems/cannonsubsystem.py b/subsystems/cannonsubsystem.py
index 2c7be51..39d5d22 100644
--- a/subsystems/cannonsubsystem.py
+++ b/subsystems/cannonsubsystem.py
@@ -26,10 +26,6 @@ class State(Enum):
         Filling = auto()
         Launching = auto()
 
-    def periodic(self) -> None:
-        SmartDashboard.putNumber(constants.kCannonStateKey, self.state.value)
-        SmartDashboard.putNumber(constants.kPressureKey, self.getPressure())
-
     def __init__(self) -> None:
         SubsystemBase.__init__(self)
         self.launchSolonoid = WPI_TalonSRX(constants.kCannonLaunchVictorDeviceID)
@@ -50,6 +46,8 @@ def __init__(self) -> None:
 
     def periodic(self) -> None:
         self.compresser.set(Relay.Value.kOn)
+        SmartDashboard.putNumber(constants.kCannonStateKey, self.state.value)
+        SmartDashboard.putNumber(constants.kPressureKey, self.getPressure())
 
     def getPressure(self) -> float:
         return map_range(