protected void execute() {
        boolean fineTune = false;
        if (Math.abs(Robot.oi.getRightX()) > 0.4){
            fineTune = true;
        }
        boolean inverted = Robot.oi.getIsInverted();
        double acceleration = DriveRobot.checkInverted(DriveRobot.getDeadZone(-Robot.oi.getRightY(), 0.25), inverted);
        //double rotate = DriveRobot.getDeadZone(Robot.oi.getRightZ(), 0.25);
        double rotate;
        if (!fineTune){
            rotate = DriveRobot.checkInverted(DriveRobot.getDeadZone(-Robot.oi.getRightZ(), 0.25), !inverted)/1.5;
        }else{
            rotate = DriveRobot.checkInverted(DriveRobot.getDeadZone(-Robot.oi.getRightX(), 0.3), !inverted);
        }
        double rightSpeed = (acceleration - (rotate));
        double leftSpeed = (acceleration + (rotate));
        
        if ((Math.abs(leftSpeed) > 1) || (Math.abs(rightSpeed) > 1)) {
            //if one side is more than one, scale both to lower that side to one
            double biggest = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed));
            leftSpeed /= biggest;
            rightSpeed /= biggest;
        }
        
        if (!fineTune){
            Robot.driveTrain.drive(leftSpeed*Robot.oi.getThrottle(), rightSpeed*Robot.oi.getThrottle());
        }else{
            Robot.driveTrain.voltageDrive(leftSpeed*6, rightSpeed*6);
        }
        //SmartDashboard.putString("Control Setup", "Twist");
    }