diff --git a/src/org/usfirst/frc/team4737/robot/OI.java b/src/org/usfirst/frc/team4737/robot/OI.java
index 2d10bad..fae76d3 100644
--- a/src/org/usfirst/frc/team4737/robot/OI.java
+++ b/src/org/usfirst/frc/team4737/robot/OI.java
@@ -7,6 +7,8 @@
 
 package org.usfirst.frc.team4737.robot;
 
+import edu.wpi.first.wpilibj.Joystick;
+
 /**
  * This class is the glue that binds the controls on the physical operator
  * interface to the commands and command groups that allow control of the robot.
@@ -39,4 +41,13 @@ public class OI {
 	// Start the command when the button is released and let it run the command
 	// until it is finished as determined by it's isFinished method.
 	// button.whenReleased(new ExampleCommand());
+	
+	public Joystick leftJoystick;
+	public Joystick rightJoystick;
+	
+	public OI() {
+		leftJoystick = new Joystick(0);
+		rightJoystick = new Joystick(1);
+	}
+	
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java b/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
new file mode 100644
index 0000000..1c31da5
--- /dev/null
+++ b/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
@@ -0,0 +1,42 @@
+package org.usfirst.frc.team4737.robot.commands;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class TeleopTankDrive extends Command {
+
+    public TeleopTankDrive() {
+        // Use requires() here to declare subsystem dependencies
+        requires(Robot.DRIVETRAIN);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	Robot.DRIVETRAIN.tankDrive(
+    			Robot.OI.leftJoystick.getRawAxis(1),
+    			Robot.OI.rightJoystick.getRawAxis(1));
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return false;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+    
+}
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java b/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
index 3e358c1..cc5ab9f 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team4737.robot.subsystems;
 
 import org.usfirst.frc.team4737.robot.RobotMap;
+import org.usfirst.frc.team4737.robot.commands.TeleopTankDrive;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
@@ -30,7 +31,7 @@ public Drivetrain() {
 
 	public void initDefaultCommand() {
 		// Set the default command for a subsystem here.
-		// setDefaultCommand(new MySpecialCommand());
+		setDefaultCommand(new TeleopTankDrive());
 	}
 
 	/**