diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java
index 1c23374..5c9b778 100644
--- a/src/main/java/frc/robot/commands/DriveCommand.java
+++ b/src/main/java/frc/robot/commands/DriveCommand.java
@@ -19,6 +19,8 @@ public class DriveCommand extends CommandBase {
 
   static final double Y_DEADBAND = 0.10;
 
+  static final double LEFT_STICK_DEADBAND = 0.10;
+
   static final double THETA_DEADBAND = 0.10;
 
   static final double X_MAX_ACCELERATION = 0.02;
@@ -84,9 +86,9 @@ public void execute() {
     double nextYSpeed = ySpeed.getAsDouble();
     double nextThetaSpeed = thetaSpeed.getAsDouble();
 
-    // Apply individual deadbands.
-    nextXSpeed = ControlsUtilities.applyDeadband(nextXSpeed, DriveCommand.X_DEADBAND);
-    nextYSpeed = ControlsUtilities.applyDeadband(nextYSpeed, DriveCommand.Y_DEADBAND);
+        // Apply individual deadbands.
+    nextXSpeed = ControlsUtilities.exceedsCircularDeadband(nextXSpeed, nextYSpeed, DriveCommand.LEFT_STICK_DEADBAND) ? 0 : nextXSpeed;
+    nextYSpeed = ControlsUtilities.exceedsCircularDeadband(nextXSpeed, nextYSpeed, DriveCommand.LEFT_STICK_DEADBAND) ? 0 : nextYSpeed;
     nextThetaSpeed = ControlsUtilities.applyDeadband(nextThetaSpeed, DriveCommand.THETA_DEADBAND);
 
     double absoluteNextXSpeed = Math.abs(nextXSpeed);
@@ -99,22 +101,16 @@ public void execute() {
       absoluteNextYSpeed < DriveCommand.Y_DEADBAND &&
       absoluteNextThetaSpeed < DriveCommand.THETA_DEADBAND
     ) {
-
       nextXSpeed = 0;
       nextYSpeed = 0;
       nextThetaSpeed = 0;
-
     } else {
-
       // Enforce maximum change in acceleration.
       nextXSpeed = ControlsUtilities.enforceMaximumPositiveDelta(currentXSpeed, nextXSpeed, X_MAX_ACCELERATION);
       nextYSpeed = ControlsUtilities.enforceMaximumPositiveDelta(currentYSpeed, nextYSpeed, Y_MAX_ACCELERATION);
       nextThetaSpeed = ControlsUtilities.enforceMaximumPositiveDelta(currentThetaSpeed, nextThetaSpeed, THETA_MAX_ACCELERATION);
-
     }
 
-
-
     this.speedMultiplier = slowMode.getAsBoolean() ? 0.25 : 1;
 
     if (turnAround.getAsBoolean() && !wasOneEighty) {
diff --git a/src/main/java/frc/robot/util/ControlsUtilities.java b/src/main/java/frc/robot/util/ControlsUtilities.java
index 70814c5..d873b1f 100644
--- a/src/main/java/frc/robot/util/ControlsUtilities.java
+++ b/src/main/java/frc/robot/util/ControlsUtilities.java
@@ -24,6 +24,11 @@ public static double applyDeadband(double input, double deadband) {
 		return Math.abs(input) < deadband ? 0 : input;
 
 	}
+
+	public static boolean exceedsCircularDeadband (double xInput, double yInput, double deadband) {
+
+		return Math.abs(Math.sqrt(Math.pow(xInput, 2) + Math.pow(yInput, 2))) < deadband;
+	}
     
 	/**
 	 * Returns the new value so long as its delta from the old value does not