diff --git a/build.gradle b/build.gradle
index 675284f1..7a31b87d 100644
--- a/build.gradle
+++ b/build.gradle
@@ -109,7 +109,7 @@ spotless {
     }
 
   java {
-    licenseHeader '// Copyright (c) FIRST and other WPILib contributors.\n// Open Source Software; you can modify and/or share it under the terms of\n// the WPILib BSD license file in the root directory of this project.\n\n/*\n * Asimov\'s Laws:\n * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.\n * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.\n * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.\n */'
+    licenseHeader '// Copyright (c) FIRST and other WPILib contributors.\n// Open Source Software; you can modify and/or share it under the terms of\n// the WPILib BSD license file in the root directory of this project.\n\n/*\n * Asimov\'s Laws:\n * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.\n * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.\n * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.\n */\n\n'
     removeUnusedImports()
     formatAnnotations()
     googleJavaFormat().reflowLongStrings()
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 05183a7f..2337681c 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot;
 
 /**
diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
index 5b5338fc..eab963e7 100644
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 66225b83..302be34a 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6b1d93b1..a8c689dc 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot;
 
 import edu.wpi.first.math.MathUtil;
@@ -40,9 +41,9 @@ public class RobotContainer {
    */
 
   /* For now, we don't make commands public static, as there isn't really a reason to. */
-  private final DriveRobotOriented driveRobotOriented = new DriveRobotOriented(drive);
-  private final DriveFieldOriented driveFieldOriented = new DriveFieldOriented(drive);
-  private final EnterXMode enterXMode = new EnterXMode(drive);
+  private final DriveRobotOriented driveRobotOriented = new DriveRobotOriented();
+  private final DriveFieldOriented driveFieldOriented = new DriveFieldOriented();
+  private final EnterXMode enterXMode = new EnterXMode();
 
   /*
    * ***********************
diff --git a/src/main/java/frc/robot/commands/DriveFieldOriented.java b/src/main/java/frc/robot/commands/DriveFieldOriented.java
index d496024c..ce198e0d 100644
--- a/src/main/java/frc/robot/commands/DriveFieldOriented.java
+++ b/src/main/java/frc/robot/commands/DriveFieldOriented.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
@@ -18,8 +19,8 @@ public class DriveFieldOriented extends Command {
   private final Drive drive;
 
   /** Creates a new DriveFieldOriented. */
-  public DriveFieldOriented(Drive drive) {
-    this.drive = drive;
+  public DriveFieldOriented() {
+    this.drive = RobotContainer.drive;
     addRequirements(drive);
   }
 
diff --git a/src/main/java/frc/robot/commands/DriveRobotOriented.java b/src/main/java/frc/robot/commands/DriveRobotOriented.java
index 2e0e89b4..82e758e7 100644
--- a/src/main/java/frc/robot/commands/DriveRobotOriented.java
+++ b/src/main/java/frc/robot/commands/DriveRobotOriented.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
@@ -18,8 +19,8 @@ public class DriveRobotOriented extends Command {
   private final Drive drive;
 
   /** Creates a new DriveRobotOriented. */
-  public DriveRobotOriented(Drive drive) {
-    this.drive = drive;
+  public DriveRobotOriented() {
+    this.drive = RobotContainer.drive;
     addRequirements(drive);
   }
 
diff --git a/src/main/java/frc/robot/commands/EnterXMode.java b/src/main/java/frc/robot/commands/EnterXMode.java
index 4d035f04..571af348 100644
--- a/src/main/java/frc/robot/commands/EnterXMode.java
+++ b/src/main/java/frc/robot/commands/EnterXMode.java
@@ -8,9 +8,11 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
 import frc.robot.subsystems.Drive;
 
 public class EnterXMode extends Command {
@@ -18,8 +20,8 @@ public class EnterXMode extends Command {
   private Drive drive;
 
   /** Creates a new EnterXMode. */
-  public EnterXMode(Drive drive) {
-    this.drive = drive;
+  public EnterXMode() {
+    this.drive = RobotContainer.drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 0d88c0dd..f1914cb5 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -8,6 +8,7 @@
  * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
+
 package frc.robot.subsystems;
 
 import edu.wpi.first.math.geometry.Translation2d;