diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 232bff6..e53805e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -38,9 +38,10 @@ public RobotContainer() {
     //This causes the xrp to drive based on the left joystick y and right joystick x of the controller by default.
     //It uses lambdas to make the parameters suppliers, which means that instead of them being constant, they rerun each time the command is scheduled.
     //The values are negated because the axes are flipped for some reason.
-    m_xrpDrivetrain.setDefaultCommand(DriveCommands.arcadeDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightX()));
+    // m_xrpDrivetrain.setDefaultCommand(DriveCommands.arcadeDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightX()));
     //TODO: Task 4-Comment out the above line by adding // to the left of it. Then, set the default command to be your tankDriveCommand.
     //HINT: In tank drive, the left wheel is controlled by the y axis of the left joystick and the y axis of the right joystick.
+    m_xrpDrivetrain.setDefaultCommand(DriveCommands.tankDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightY()));
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
index 2167b1f..e246bae 100644
--- a/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -222,8 +222,23 @@ public static Command turnDegrees(double degrees, double speed) {
   //driveDistance or AltDriveDistance(choose 1)
   //arcadeDriveCommand(rename as tankDriveCommand)
   //Bonus(optional):TurnDegrees(either class or function, choose 1)
-
+  public static class AltDriveDistance extends Command {
+    private double distance;
+    RobotContainer.m_xrpDrivetrain.tankDrive();
+    public AltDriveDistance(double distance) {
+      addRequirements(RobotContainer.m_xrpDrivetrain);
+    }
+    }
+  
+  public static Command tankDriveCommand(Supplier<Double> leftspeed, Supplier<Double> rightspeed){
+    return new InstantCommand(
+      //Tells the XRP to drive at the given speeds by using .get(), which gets the value returned by the supplier
+      ()->RobotContainer.m_xrpDrivetrain.tankDrive(leftspeed.get(), rightspeed.get()), 
+      RobotContainer.m_xrpDrivetrain
+      );
   
+
+
   /**
    * Commands can also a part of command groups, which are sets of commands that run in certain ways. Sequential Command Groups
    * are commands that execute one after another. This is useful for auto behavior.
diff --git a/src/main/java/frc/robot/subsystems/Servo.java b/src/main/java/frc/robot/subsystems/Servo.java
index 7c7e35e..8bd4bdb 100644
--- a/src/main/java/frc/robot/subsystems/Servo.java
+++ b/src/main/java/frc/robot/subsystems/Servo.java
@@ -14,4 +14,5 @@ public Servo(){
     //TODO: Task 5-Write functions to control the arm. You should be able to set the arm's angle and get the angle
     //it is at.
     //HINT: Type 'm_armServo.' (without quotes) in a method body to see all of the different methods the servo has.
-}
+    
+}  
diff --git a/src/main/java/frc/robot/subsystems/XRPDrivetrain.java b/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
index 1f7f69c..2298c14 100644
--- a/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
@@ -48,6 +48,9 @@ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
   //TODO:Task 2-Write a function that makes the robot take in a left wheel speed and a right wheel speed, and move at those speeds.
   //HINT:This is called a tank drive, maybe there is a function that can easily allow for it?
   //HINT:To see all the functions that the drivetrain has, type "m_diffDrive." without the quotes and look at the options generated by auto complete.
+  public void tankDrive(double leftspeed, double rightspeed) {
+    m_diffDrive.tankDrive(leftspeed, rightspeed);
+  }
 
   public void resetEncoders() {
     m_leftEncoder.reset();