diff --git a/.classpath b/.classpath
index 294130b..9d41f0e 100644
--- a/.classpath
+++ b/.classpath
@@ -7,6 +7,7 @@
 	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
 	<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
-	<classpathentry kind="var" path="USERLIBS_DIR/CTRLib.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/bin/.gitignore b/bin/.gitignore
deleted file mode 100644
index cf1db2e..0000000
--- a/bin/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/org/
diff --git a/src/org/usfirst/frc/team334/robot/Constants.java b/src/org/usfirst/frc/team334/robot/Constants.java
index bf4791e..d6b0a24 100644
--- a/src/org/usfirst/frc/team334/robot/Constants.java
+++ b/src/org/usfirst/frc/team334/robot/Constants.java
@@ -25,10 +25,14 @@ public class Constants {
 	public static final int ELEVATOR_TO_EXCHANGE_BUTTON = 4;
 	public static final int COLLAPSE_ELEVATOR_BUTTON = 5;
 	
-	// Motors
-	public static final int DRIVETRAIN_LEFT = 0;
-	public static final int DRIVETRAIN_RIGHT = 1;
-
+	// DriveTrain
+	public static final int DRIVETRAIN_MC_L = 5;
+	public static final int DRIVETRAIN_C1_L = 3;
+	public static final int DRIVETRAIN_C2_L = 4;
+	public static final int DRIVETRAIN_MC_R = 0;
+	public static final int DRIVETRAIN_C1_R = 1;
+	public static final int DRIVETRAIN_C2_R = 2;
+	
 	// Pancake Solenoids - Drivetrain
 	public static final int PANCAKE_L_INPUT = 0;
 	public static final int PANCAKE_L_OUTPUT = 1;
diff --git a/src/org/usfirst/frc/team334/robot/subsystems/Drive.java b/src/org/usfirst/frc/team334/robot/subsystems/Drive.java
index 51d6257..ec6635d 100644
--- a/src/org/usfirst/frc/team334/robot/subsystems/Drive.java
+++ b/src/org/usfirst/frc/team334/robot/subsystems/Drive.java
@@ -1,11 +1,14 @@
 package org.usfirst.frc.team334.robot.subsystems;
 
+import java.util.ArrayList;
+
 import org.usfirst.frc.team334.robot.Constants;
 import org.usfirst.frc.team334.robot.pids.BNO055;
 
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Ultrasonic;
-import edu.wpi.first.wpilibj.VictorSP;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
@@ -31,13 +34,24 @@ public enum DriveControlState {
 	public static Ultrasonic rUltrasonicL = new Ultrasonic(Constants.ULTRASONIC_R_DRIVETRAIN_PING, Constants.ULTRASONIC_R_DRIVETRAIN_ECHO);
 	public static BNO055 rGyro = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS, BNO055.vector_type_t.VECTOR_EULER);
 	
-	private VictorSP left;
-	private VictorSP right;
+	private TalonSRX miniCimL,miniCimR,cim1L,cim2L,cim1R,cim2R;
+	
+	ArrayList<TalonSRX> left,right;
 	
 	public Drive() {
-		left = new VictorSP(Constants.DRIVETRAIN_LEFT);
-		right = new VictorSP(Constants.DRIVETRAIN_RIGHT);
-		right.setInverted(true);
+		miniCimL = new TalonSRX(Constants.DRIVETRAIN_MC_L);
+		cim1L = new TalonSRX(Constants.DRIVETRAIN_C1_L);
+		cim2L = new TalonSRX(Constants.DRIVETRAIN_C2_L);
+		miniCimR = new TalonSRX(Constants.DRIVETRAIN_MC_R);
+		cim1R = new TalonSRX(Constants.DRIVETRAIN_C1_R);
+		cim2R = new TalonSRX(Constants.DRIVETRAIN_C2_R);
+
+		left.add(miniCimL);
+		left.add(cim1L);
+		left.add(cim2L);
+		right.add(miniCimR);
+		right.add(cim1R);
+		right.add(cim2R);
 	}
 	
 	public void stop() {
@@ -46,15 +60,19 @@ public void stop() {
 	}
 	
 	public void setLeft(double speed) {
-		left.set(speed);
+		for(TalonSRX TSRX : left) {
+			TSRX.set(com.ctre.phoenix.motorcontrol.ControlMode.Current, speed);
+		}
 	}
 	
 	public void setRight(double speed) {
-		right.set(speed);
+		for(TalonSRX TSRX : right) {
+			TSRX.set(com.ctre.phoenix.motorcontrol.ControlMode.Current, speed);
+		}
 	}
 
     public void initDefaultCommand() {
     	
     }
     
-}
+}
\ No newline at end of file