diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
index 7a3426114..0c76b93d7 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -142,8 +142,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
         ts.rawBytesEntry.set(packet.getData());
 
-        ts.pipelineIndexPublisher.setDefault(pipelineIndexSupplier.get());
-        ts.driverModePublisher.setDefault(driverModeSupplier.getAsBoolean());
+        ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
+        ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
         ts.latencyMillisEntry.set(result.getLatencyMillis());
         ts.hasTargetEntry.set(result.hasTargets());
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 82dd66812..c8d5e7baa 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -136,7 +136,7 @@ public class VisionModule {
                 new NTDataPublisher(
                         visionSource.getSettables().getConfiguration().nickname,
                         pipelineManager::getCurrentPipelineIndex,
-                        pipelineManager::setIndex,
+                        this::setPipeline,
                         pipelineManager::getDriverMode,
                         this::setDriverMode);
         uiDataConsumer = new UIDataPublisher(index);
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
index cccf149d0..4067ef888 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -24,7 +24,6 @@
 
 package org.photonvision;
 
-import edu.wpi.first.networktables.BooleanEntry;
 import edu.wpi.first.networktables.BooleanPublisher;
 import edu.wpi.first.networktables.BooleanSubscriber;
 import edu.wpi.first.networktables.DoubleArrayPublisher;
@@ -50,7 +49,6 @@ public class PhotonCamera {
 
     protected final NetworkTable rootTable;
     RawSubscriber rawBytesEntry;
-    BooleanEntry driverModeEntry;
     BooleanPublisher driverModePublisher;
     BooleanSubscriber driverModeSubscriber;
     DoublePublisher latencyMillisEntry;
@@ -67,7 +65,6 @@ public class PhotonCamera {
 
     public void close() {
         rawBytesEntry.close();
-        driverModeEntry.close();
         driverModePublisher.close();
         driverModeSubscriber.close();
         latencyMillisEntry.close();
@@ -121,7 +118,8 @@ public class PhotonCamera {
                         .getRawTopic("rawBytes")
                         .subscribe(
                                 "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
-        driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false);
+        driverModePublisher = rootTable.getBooleanTopic("driverMode").publish();
+        driverModeSubscriber = rootTable.getBooleanTopic("driverModeRequest").subscribe(false);
         inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
         outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
         pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0);
@@ -179,7 +177,7 @@ public class PhotonCamera {
      * @return Whether the camera is in driver mode.
      */
     public boolean getDriverMode() {
-        return driverModeEntry.get(false);
+        return driverModeSubscriber.get();
     }
 
     /**
@@ -188,7 +186,7 @@ public class PhotonCamera {
      * @param driverMode Whether to set driver mode.
      */
     public void setDriverMode(boolean driverMode) {
-        driverModeEntry.set(driverMode);
+        driverModePublisher.set(driverMode);
     }
 
     /**
diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
index 6368a89a0..482267acc 100644
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp
@@ -42,7 +42,6 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       rawBytesEntry(
           rootTable->GetRawTopic("rawBytes")
               .Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})),
-      driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(
@@ -56,6 +55,8 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
       driverModeSubscriber(
           rootTable->GetBooleanTopic("driverMode").Subscribe(false)),
+      driverModePublisher(
+          rootTable->GetBooleanTopic("driverModeRequest").Publish()),
       pipelineIndexSubscriber(
           rootTable->GetIntegerTopic("pipelineIndex").Subscribe(-1)),
       ledModeSubscriber(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
@@ -92,7 +93,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
 }
 
 void PhotonCamera::SetDriverMode(bool driverMode) {
-  driverModeEntry.Set(driverMode);
+  driverModePublisher.Set(driverMode);
 }
 
 void PhotonCamera::TakeInputSnapshot() {
diff --git a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
index 15603409f..781c5727c 100644
--- a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
+++ b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h
@@ -168,7 +168,6 @@ class PhotonCamera {
   std::shared_ptr<nt::NetworkTable> mainTable;
   std::shared_ptr<nt::NetworkTable> rootTable;
   nt::RawSubscriber rawBytesEntry;
-  nt::BooleanPublisher driverModeEntry;
   nt::IntegerPublisher inputSaveImgEntry;
   nt::IntegerSubscriber inputSaveImgSubscriber;
   nt::IntegerPublisher outputSaveImgEntry;
@@ -178,6 +177,7 @@ class PhotonCamera {
   nt::StringSubscriber versionEntry;
 
   nt::BooleanSubscriber driverModeSubscriber;
+  nt::BooleanPublisher driverModePublisher;
   nt::IntegerSubscriber pipelineIndexSubscriber;
   nt::IntegerSubscriber ledModeSubscriber;
 
diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
index 99011fbc0..edaa65d34 100644
--- a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
@@ -75,9 +75,11 @@ public class NTTopicSet {
         pipelineIndexPublisher = pipelineIndexTopic.publish();
         pipelineIndexSubscriber = pipelineIndexTopic.subscribe(0);
 
-        driverModeEntry = subTable.getBooleanTopic("driverMode");
-        driverModePublisher = driverModeEntry.publish();
-        driverModeSubscriber = driverModeEntry.subscribe(false);
+        driverModePublisher = subTable.getBooleanTopic("driverMode").publish();
+        driverModeSubscriber = subTable.getBooleanTopic("driverModeRequest").subscribe(false);
+
+        // Fun little hack to make the request show up
+        driverModeSubscriber.getTopic().publish().setDefault(false);
 
         latencyMillisEntry = subTable.getDoubleTopic("latencyMillis").publish();
         hasTargetEntry = subTable.getBooleanTopic("hasTarget").publish();