diff --git a/src/org/usfirst/frc/team4737/robot/Robot.java b/src/org/usfirst/frc/team4737/robot/Robot.java
index ec10d02..55b37ab 100644
--- a/src/org/usfirst/frc/team4737/robot/Robot.java
+++ b/src/org/usfirst/frc/team4737/robot/Robot.java
@@ -7,6 +7,7 @@
 
 package org.usfirst.frc.team4737.robot;
 
+import org.usfirst.frc.team4737.robot.commands.RelaxDrivetrain;
 import org.usfirst.frc.team4737.robot.subsystems.Climber;
 import org.usfirst.frc.team4737.robot.subsystems.Drivetrain;
 import org.usfirst.frc.team4737.robot.subsystems.Elevator;
@@ -54,7 +55,7 @@ public void robotInit() {
 	 */
 	@Override
 	public void disabledInit() {
-
+		new RelaxDrivetrain().start();
 	}
 
 	@Override
diff --git a/src/org/usfirst/frc/team4737/robot/commands/RelaxDrivetrain.java b/src/org/usfirst/frc/team4737/robot/commands/RelaxDrivetrain.java
new file mode 100644
index 0000000..549fb4e
--- /dev/null
+++ b/src/org/usfirst/frc/team4737/robot/commands/RelaxDrivetrain.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team4737.robot.commands;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class RelaxDrivetrain extends Command {
+
+    public RelaxDrivetrain() {
+        requires(Robot.DRIVETRAIN);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	Robot.DRIVETRAIN.setCoastMode();
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // 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/commands/RelaxElevator.java b/src/org/usfirst/frc/team4737/robot/commands/RelaxElevator.java
index 332cab5..d26a266 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/RelaxElevator.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/RelaxElevator.java
@@ -1,38 +1,39 @@
 package org.usfirst.frc.team4737.robot.commands;
 
+import org.usfirst.frc.team4737.robot.Robot;
+
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
  *
  */
-public class RelaxElevator extends StopElevator {
+public class RelaxElevator extends Command {
 
     public RelaxElevator() {
-        // Use requires() here to declare subsystem dependencies
-        // eg. requires(chassis);
-    	super();
+        requires(Robot.ELEVATOR);
     }
 
     // Called just before this Command runs the first time
-//    protected void initialize() {
-//    }
-//
-//    // Called repeatedly when this Command is scheduled to run
-//    protected void execute() {
-//    }
-//
-//    // 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() {
-//    }
+    protected void initialize() {
+    	Robot.ELEVATOR.setCoastMode();
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // 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/commands/StopElevator.java b/src/org/usfirst/frc/team4737/robot/commands/StopElevator.java
index 004726a..a86647e 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/StopElevator.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/StopElevator.java
@@ -15,6 +15,7 @@ public StopElevator() {
 
 	// Called just before this Command runs the first time
 	protected void initialize() {
+		Robot.ELEVATOR.setBrakeMode();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
diff --git a/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java b/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
index e2515d5..350fcac 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/TeleopTankDrive.java
@@ -16,6 +16,7 @@ public TeleopTankDrive() {
 
     // Called just before this Command runs the first time
     protected void initialize() {
+    	Robot.DRIVETRAIN.setBrakeMode();
     }
 
     // Called repeatedly when this Command is scheduled to run
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java b/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
index 0c3dfb7..dddb5ba 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
@@ -3,6 +3,7 @@
 import org.usfirst.frc.team4737.robot.RobotMap;
 import org.usfirst.frc.team4737.robot.commands.TeleopTankDrive;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
@@ -28,9 +29,11 @@ public Drivetrain() {
 
 		leftBackSlave.follow(leftFrontMaster);
 		rightBackSlave.follow(rightFrontMaster);
+		
+		leftFrontMaster.configOpenloopRamp(0.5, 30);
+		rightFrontMaster.configOpenloopRamp(0.5, 30);
 
 		drive = new DifferentialDrive(leftFrontMaster, rightFrontMaster);
-
 	}
 
 	public void initDefaultCommand() {
@@ -38,6 +41,20 @@ public void initDefaultCommand() {
 		setDefaultCommand(new TeleopTankDrive());
 	}
 
+	public void setBrakeMode() {
+		leftFrontMaster.setNeutralMode(NeutralMode.Brake);
+		leftBackSlave.setNeutralMode(NeutralMode.Brake);
+		rightFrontMaster.setNeutralMode(NeutralMode.Brake);
+		rightBackSlave.setNeutralMode(NeutralMode.Brake);
+	}
+	
+	public void setCoastMode() {
+		leftFrontMaster.setNeutralMode(NeutralMode.Coast);
+		leftBackSlave.setNeutralMode(NeutralMode.Coast);
+		rightFrontMaster.setNeutralMode(NeutralMode.Coast);
+		rightBackSlave.setNeutralMode(NeutralMode.Coast);
+	}
+	
 	/**
 	 * Controls the drivetrain using two tank-drive joystick inputs
 	 * 
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java b/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
index 523f972..47a6943 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
@@ -4,6 +4,7 @@
 import org.usfirst.frc.team4737.robot.commands.StopElevator;
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
@@ -50,5 +51,13 @@ public double getMotorCurrent() {
 	public void setSpeed(double speed) {
 		motor.set(ControlMode.PercentOutput, speed);
 	}
+	
+	public void setBrakeMode() {
+		motor.setNeutralMode(NeutralMode.Brake);
+	}
+	
+	public void setCoastMode() {
+		motor.setNeutralMode(NeutralMode.Coast);
+	}
 
 }