diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java
index c61e90b..e299e4d 100644
--- a/src/main/java/org/team2342/frc/RobotContainer.java
+++ b/src/main/java/org/team2342/frc/RobotContainer.java
@@ -18,7 +18,6 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import lombok.Getter;
 import org.littletonrobotics.junction.inputs.LoggedPowerDistribution;
@@ -39,6 +38,7 @@
 import org.team2342.frc.subsystems.vision.VisionIO;
 import org.team2342.frc.subsystems.vision.VisionIOPhoton;
 import org.team2342.frc.subsystems.vision.VisionIOSim;
+import org.team2342.lib.util.EnhancedXboxController;
 
 public class RobotContainer {
   @Getter private final Drive drive;
@@ -46,7 +46,10 @@ public class RobotContainer {
 
   private final LoggedDashboardChooser<Command> autoChooser;
 
-  @Getter private final CommandXboxController driverController = new CommandXboxController(0);
+  @Getter
+  private final EnhancedXboxController driverController =
+      new EnhancedXboxController(0, DriveConstants.CONTROLLER_DEADBAND);
+
   private final Alert driverControllerAlert =
       new Alert("Driver controller is disconnected!", AlertType.kError);
 
diff --git a/src/main/java/org/team2342/frc/commands/DriveCommands.java b/src/main/java/org/team2342/frc/commands/DriveCommands.java
index 2210ec6..bafcc35 100644
--- a/src/main/java/org/team2342/frc/commands/DriveCommands.java
+++ b/src/main/java/org/team2342/frc/commands/DriveCommands.java
@@ -7,7 +7,6 @@
 
 package org.team2342.frc.commands;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -44,9 +43,7 @@ public class DriveCommands {
   private DriveCommands() {}
 
   public static Translation2d getLinearVelocityFromJoysticks(double x, double y) {
-    // Apply deadband
-    double linearMagnitude =
-        MathUtil.applyDeadband(Math.hypot(x, y), DriveConstants.CONTROLLER_DEADBAND);
+    double linearMagnitude = Math.hypot(x, y);
     Rotation2d linearDirection = new Rotation2d(Math.atan2(y, x));
 
     // Square magnitude for more precise control
@@ -72,10 +69,7 @@ public static Command joystickDrive(
           Translation2d linearVelocity =
               getLinearVelocityFromJoysticks(xSupplier.getAsDouble(), ySupplier.getAsDouble());
 
-          // Apply rotation deadband
-          double omega =
-              MathUtil.applyDeadband(
-                  omegaSupplier.getAsDouble(), DriveConstants.CONTROLLER_DEADBAND);
+          double omega = omegaSupplier.getAsDouble();
 
           // Square rotation value for more precise control
           omega = Math.copySign(omega * omega, omega);
diff --git a/src/main/java/org/team2342/lib/util/EnhancedXboxController.java b/src/main/java/org/team2342/lib/util/EnhancedXboxController.java
new file mode 100644
index 0000000..3934488
--- /dev/null
+++ b/src/main/java/org/team2342/lib/util/EnhancedXboxController.java
@@ -0,0 +1,89 @@
+// Copyright (c) 2025 Team 2342
+// https://github.com/FRCTeamPhoenix
+//
+// This source code is licensed under the MIT License.
+// See the LICENSE file in the root directory of this project.
+
+package org.team2342.lib.util;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import lombok.Getter;
+import lombok.Setter;
+
+/** Extended {@link CommandXboxController} class */
+public class EnhancedXboxController extends CommandXboxController {
+
+  @Getter @Setter private double deadband;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   * @param deadband The deadband that will be applied to the controller sticks.
+   */
+  public EnhancedXboxController(int port, double deadband) {
+    super(port);
+  }
+
+  /**
+   * Construct an instance of a controller with no deadband.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public EnhancedXboxController(int port) {
+    this(port, 0);
+  }
+
+  /**
+   * Set the rumble output for the controller.
+   *
+   * @param type Which rumble value to set
+   * @param intensity The normalized value (0 to 1) to set the rumble to
+   * @return A command to rumble the controller
+   */
+  public Command rumble(RumbleType type, double intensity) {
+    return Commands.startEnd(
+        () -> super.setRumble(type, intensity), () -> super.setRumble(type, 0.0));
+  }
+
+  /**
+   * Set the rumble output for the controller with a specified timeout.
+   *
+   * @param type Which rumble value to set
+   * @param intensity The normalized value (0 to 1) to set the rumble to
+   * @param seconds The length of time to rumble the controller for in seconds
+   * @return A command to rumble the controller for the specifed time
+   */
+  public Command timedRumble(RumbleType type, double intensity, double seconds) {
+    return Commands.runEnd(() -> super.setRumble(type, intensity), () -> super.setRumble(type, 0.0))
+        .withTimeout(seconds);
+  }
+
+  /** Get the deadbanded X axis value of left side of the controller. Right is positive. */
+  @Override
+  public double getLeftX() {
+    return MathUtil.applyDeadband(super.getLeftX(), deadband);
+  }
+
+  /** Get the deadbanded Y axis value of left side of the controller. Back is positive. */
+  @Override
+  public double getLeftY() {
+    return MathUtil.applyDeadband(super.getLeftY(), deadband);
+  }
+
+  /** Get the deadbanded X axis value of right side of the controller. Right is positive. */
+  @Override
+  public double getRightX() {
+    return MathUtil.applyDeadband(super.getRightX(), deadband);
+  }
+
+  /** Get the deadbanded Y axis value of right side of the controller. Back is positive. */
+  @Override
+  public double getRightY() {
+    return MathUtil.applyDeadband(super.getRightY(), deadband);
+  }
+}