diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
index c896723..3f215c3 100644
--- a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -28,10 +28,9 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
-            public static int RIGHT_DRIVE_A = 2;
-            public static int RIGHT_DRIVE_B = 3;
+            public static int RIGHT_DRIVE_A = 3;
             public static int LEFT_DRIVE_A = 4;
-            public static int LEFT_DRIVE_B = 5;
+            public static int EXTRA_MOTOR = -1; // TODO: set port
         }
 
         public static class PWM {
@@ -87,12 +86,11 @@ public static class Component {
         public static EncoderPair chassisTalonEncoders;
         public static EncoderPair chassisCANCoders;
         public static Motor rightWheelA;
-        public static Motor rightWheelB;
         public static Motor leftWheelA;
-        public static Motor leftWheelB;
         public static SolenoidSubsystem solenoid;
         public static TankDrive chassis;
         public static CustomPIDController drivePID;
+        public static Motor extraMotor;
     }
 
     public static class Input {
@@ -120,12 +118,11 @@ public RobotMap() {
 
         // Wheels
         CANTalonFX leftWheelATalon = new CANTalonFX(Port.CANMotor.LEFT_DRIVE_A);
-        CANTalonFX rightWheelATalon = new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_B);
+        CANTalonFX rightWheelATalon = new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_A);
 
         Component.rightWheelA = new Motor("rightWheelA", false, rightWheelATalon);
-        Component.rightWheelB = new Motor("rightWheelB", false, new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_B));
         Component.leftWheelA = new Motor("leftWheelA", true, leftWheelATalon);
-        Component.leftWheelB = new Motor("leftWheelB", true, new CANTalonFX(Port.CANMotor.LEFT_DRIVE_B));
+        Component.extraMotor = new Motor("extraMotor", false, new CANTalonFX(Port.CANMotor.EXTRA_MOTOR));
 
         // Wheel Encoders
         Component.leftWheelTalonEncoder = new CANTalonEncoder("Leftwheel", leftWheelATalon, true,
@@ -147,8 +144,8 @@ public RobotMap() {
         Component.solenoid = new SolenoidSubsystem(Port.Pneumatics.SOLENOID.buildDoubleSolenoid());
 
         // General Chassis
-        Component.chassis = new TankDrive("Blinky-Chassis", Component.leftWheelA, Component.leftWheelB,
-                Component.rightWheelA, Component.rightWheelB);
+        Component.chassis = new TankDrive("Blinky-Chassis", Component.leftWheelA,
+                Component.rightWheelA);
         Component.chassis.setDefaultCommand(new ChassisMove(Component.chassis, new NathanGain()));
     }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/Turn.java b/src/main/java/org/usfirst/frc4904/robot/commands/Turn.java
new file mode 100644
index 0000000..06f5d18
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/Turn.java
@@ -0,0 +1,18 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
+/**
+ * Constantly turns motor at specified speed.
+ */
+
+public class Turn extends MotorConstant {
+    public Turn(String name, Motor motor, double motorSpeed) {
+        super(name, motor, motorSpeed);
+    }
+
+    public Turn(Motor motor, double motorSpeed) {
+        super(motor, motorSpeed);
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java b/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java
index 0d3b902..c915687 100644
--- a/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java
+++ b/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java
@@ -3,6 +3,7 @@
 import java.util.List;
 
 import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.robot.commands.Turn;
 import org.usfirst.frc4904.standard.LogKitten;
 import org.usfirst.frc4904.standard.LogKitten.KittenLevel;
 import org.usfirst.frc4904.standard.commands.Cancel;
@@ -39,6 +40,10 @@ protected double scaleGain(double input, double gain, double exp) {
 	public void bindCommands() {
 		RobotMap.HumanInput.Driver.xbox.a.whenPressed(new SolenoidExtend(RobotMap.Component.solenoid));
 		RobotMap.HumanInput.Driver.xbox.b.whenPressed(new SolenoidRetract(RobotMap.Component.solenoid));
+		RobotMap.HumanInput.Driver.xbox.dPad.down.whenPressed(new Turn(RobotMap.Component.extraMotor, 0.0/3.0)); // off
+		RobotMap.HumanInput.Driver.xbox.dPad.left.whenPressed(new Turn(RobotMap.Component.extraMotor, 1.0/3.0)); // slow
+		RobotMap.HumanInput.Driver.xbox.dPad.up.whenPressed(new Turn(RobotMap.Component.extraMotor, 2.0/3.0)); // medium
+		RobotMap.HumanInput.Driver.xbox.dPad.right.whenPressed(new Turn(RobotMap.Component.extraMotor, 3.0/3.0)); // max
 	}
 
 	@Override