diff --git a/lib/RoboLib b/lib/RoboLib
index cd9dee7..c0478b0 160000
--- a/lib/RoboLib
+++ b/lib/RoboLib
@@ -1 +1 @@
-Subproject commit cd9dee709893a27de40fb86e441223dd4c068b12
+Subproject commit c0478b01a526712b8308ac329017857177a3c876
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 98974de..ef6efd8 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -14,6 +14,8 @@ import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import com.ctre.phoenix6.swerve.SwerveModule;
+
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
@@ -90,6 +92,9 @@ public class Robot extends LoggedRobot {
 
     // Run all POST tests after robot has been initialized
     PostyManager.getInstance().runAllPOSTs();
+
+
+    m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(false);
   }
 
   /**
@@ -117,7 +122,7 @@ public class Robot extends LoggedRobot {
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
   public void disabledInit() {
-    
+    m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(true);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 815c48c..65b39be 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -36,7 +36,7 @@ public class DriveSubsystem extends TestableSubsystem {
     private SendableChooser<Command> autoChooser;
 
     private SwerveBuilder swerveBuilder = new SwerveBuilder();
-    private SwerveDriveSystem driveSystem;
+    public SwerveDriveSystem driveSystem;
 
     private double driveP = 0.1;
     private double driveI = 0.0;