diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3d908df..45959f0 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -103,10 +103,7 @@ public RobotContainer() {
             () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
             () -> driverXbox.getRawAxis(2));
 
-    drivebase.setDefaultCommand(
-        !RobotBase.isSimulation()
-            ? driveFieldOrientedDirectAngle
-            : driveFieldOrientedDirectAngleSim);
+    drivebase.setDefaultCommand(closedAbsoluteDriveAdv);
   }
 
   /**