diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 662407e..730b1f4 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -8,7 +8,7 @@ public static final class DrivetrainConstants {
         public static final int DEVICE_ID_LEFT_FOLLOWER = 9;
         public static final int DEVICE_ID_RIGHT_LEADER = 3;
         public static final int DEVICE_ID_RIGHT_FOLLOWER = 4;
-
+        public static final double SPEED_LIMIT = 0.4;//will be 0.5
     }
 
     public static final class IntakeConstants {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b68462c..0f11661 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -34,11 +34,12 @@ public void disabledExit() {}
 
   @Override
   public void autonomousInit() {
+    /* 
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
-    }
+    } */
   }
 
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8c11005..96dddc7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,6 +13,8 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.subsystems.ClimbSubsystem;
 import frc.robot.subsystems.DrivetrainSubsystem;
 import frc.robot.subsystems.FlywheelSubsystem;
@@ -28,31 +30,51 @@ public class RobotContainer {
   private final CommandJoystick driverRightJoystick = new CommandJoystick(PORT_NUMBER_DRIVER_RIGHT_JOYSTICK);
   private final CommandJoystick operatorJoystick = new CommandJoystick(PORT_NUMBER_OPERATOR_JOYSTICK);
 
+  //private boolean outreachMode = true;
+  //private double limit = 0.4;
+
   public RobotContainer() {
+    /*SmartDashboard.putBoolean("outreachMode", outreachMode);
+    SmartDashboard.putNumber("Speed_Limit", limit);
+
+    outreachMode = SmartDashboard.getBoolean("outreachMode", outreachMode);
+    limit = SmartDashboard.getNumber("Speed_Limit", limit);*/
+
     drivetrainSubsystem.setDefaultCommand(Commands.run(
-        () -> this.drivetrainSubsystem.arcadeDrive(driverLeftJoystick.getY(), driverRightJoystick.getX(), true),
+        () -> this.drivetrainSubsystem.arcadeDrive(driverLeftJoystick.getY(),driverLeftJoystick.getX()),
         this.drivetrainSubsystem));
-    intakeSubsystem.setDefaultCommand(Commands.run(this.intakeSubsystem::stop, this.intakeSubsystem));
-    flywheelSubsystem.setDefaultCommand(Commands.run(this.flywheelSubsystem::stop, this.flywheelSubsystem));
-    climbSubsystem.setDefaultCommand(
-        Commands.run(() -> this.climbSubsystem.set(this.operatorJoystick.getY()), this.climbSubsystem));
 
+    /*if(!outreachMode){
+      //everything but drive taken out
+      intakeSubsystem.setDefaultCommand(Commands.run(this.intakeSubsystem::stop, this.intakeSubsystem));
+      flywheelSubsystem.setDefaultCommand(Commands.run(this.flywheelSubsystem::stop, this.flywheelSubsystem));
+      climbSubsystem.setDefaultCommand(
+          Commands.run(() -> this.climbSubsystem.set(this.operatorJoystick.getY()), this.climbSubsystem));
+    }*/
     configureBindings();
   }
 
   private void configureBindings() {
-    driverLeftJoystick.button(BUTTON_ID_TRIGGER)
-        .whileTrue(Commands.run(this.intakeSubsystem::intake, this.intakeSubsystem));
-    driverRightJoystick.button(BUTTON_ID_TRIGGER).whileTrue(Commands.run(() -> {
-      this.flywheelSubsystem.spinUp((-this.driverRightJoystick.getThrottle() + 1.0) / 2.0);
-      this.intakeSubsystem.shoot();
-    }, this.flywheelSubsystem, this.intakeSubsystem));
+    /* 
+    SmartDashboard.putBoolean("outreachMode", true);
+    SmartDashboard.putNumber("Speed_Limit", limit);
+    if(!outreachMode){
+      driverLeftJoystick.button(BUTTON_ID_TRIGGER)
+          .whileTrue(Commands.run(this.intakeSubsystem::intake, this.intakeSubsystem));
+      driverRightJoystick.button(BUTTON_ID_TRIGGER).whileTrue(Commands.run(() -> {
+        this.flywheelSubsystem.spinUp((-this.driverRightJoystick.getThrottle() + 1.0) / 2.0);
+        this.intakeSubsystem.shoot();
+      }, this.flywheelSubsystem, this.intakeSubsystem));
+    }
+    */
   }
-
+  /* 
   public Command getAutonomousCommand() {
     return Commands.run(() -> {
       this.flywheelSubsystem.spinUp(1.0);
       this.intakeSubsystem.shoot();
     }, this.flywheelSubsystem, this.intakeSubsystem).withTimeout(2).andThen(Commands.run(() -> drivetrainSubsystem.arcadeDrive(-0.25, 0, false), drivetrainSubsystem).withTimeout(3.0));
+  
   }
+  */
 }
diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
index c1b3d3d..3ef0024 100644
--- a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
@@ -3,6 +3,7 @@
 import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_LEFT_LEADER;
 import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_LEFT_FOLLOWER;
 import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_RIGHT_LEADER;
+import static frc.robot.Constants.DrivetrainConstants.SPEED_LIMIT;
 import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_RIGHT_FOLLOWER;
 
 import com.revrobotics.CANSparkMax;
@@ -10,18 +11,29 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
 public class DrivetrainSubsystem extends SubsystemBase {
 
     private final DifferentialDrive differentialDrive;
-
+    private double newSpeed;
+    private double limit = 0.4;
+    private boolean outreachMode = true;
+    
     public DrivetrainSubsystem() {
         CANSparkMax leftLeader = new CANSparkMax(DEVICE_ID_LEFT_LEADER, MotorType.kBrushless);
         CANSparkMax leftFollower = new CANSparkMax(DEVICE_ID_LEFT_FOLLOWER, MotorType.kBrushless);
         CANSparkMax rightLeader = new CANSparkMax(DEVICE_ID_RIGHT_LEADER, MotorType.kBrushless);
         CANSparkMax rightFollower = new CANSparkMax(DEVICE_ID_RIGHT_FOLLOWER, MotorType.kBrushless);
 
+        //caution: in future year migrate to elastic or a different software to Smartdashboard because of code crashes in this test version
+        SmartDashboard.putBoolean("outreachMode", outreachMode);
+        SmartDashboard.putNumber("Speed_Limit", limit);
+
         leftLeader.restoreFactoryDefaults();
         leftFollower.restoreFactoryDefaults();
         rightLeader.restoreFactoryDefaults();
@@ -39,16 +51,30 @@ public DrivetrainSubsystem() {
 
         leftFollower.follow(leftLeader);
         rightFollower.follow(rightLeader);
-
         this.differentialDrive = new DifferentialDrive(leftLeader, rightLeader);
     }
 
     public void arcadeDrive(double speed, double rotation) {
-        this.arcadeDrive(speed, rotation, false);
+        outreachMode = SmartDashboard.getBoolean("outreachMode", outreachMode);
+        limit = SmartDashboard.getNumber("Speed_Limit", limit);
+        if(outreachMode == true){
+            newSpeed = speed*limit;
+            rotation = 0;
+        } else {
+            newSpeed = speed*limit;
+        }
+
+        this.arcadeDrive(newSpeed, rotation, false);
     }
 
     public void arcadeDrive(double speed, double rotation, boolean squareInputs) {
-        this.differentialDrive.arcadeDrive(speed, rotation, squareInputs);
+        if(outreachMode == true){
+            newSpeed = speed*limit;
+            rotation = 0;
+        } else {
+            newSpeed = speed*limit;
+        }
+        this.differentialDrive.arcadeDrive(newSpeed, rotation, squareInputs);
     }
 
     public void tankDrive(double leftSpeed, double rightSpeed) {