diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 333ae46..496b7e6 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -68,7 +68,7 @@ public final class Constants {
     public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
     public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
     public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
-                                        15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
+            15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
 
     // swerve configuration
     public static final double NEUTRAL_DEADBAND = 0.04;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index f9d0ff7..d1d0b79 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -95,7 +95,7 @@ public class RobotContainer {
     /* Driver Buttons */
     new JoystickButton(getDriverController(), XboxController.Button.kY.value)
     // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON)
-      .whenPressed(m_robotSwerveDrive.m_gyro::reset);
+      .whenPressed(() -> m_robotSwerveDrive.resetGyro());
 
     new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
     // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
@@ -142,7 +142,7 @@ public class RobotContainer {
 
     return new SequentialCommandGroup(
       new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()),
-      new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))),
+      new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))),//.plus(new Rotation2d(Math.PI/2))))),
       //new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())),
       ppSCC,
       new InstantCommand(() -> m_robotSwerveDrive.stopModules())
@@ -186,7 +186,7 @@ public class RobotContainer {
     //   new InstantCommand(() -> m_robotSwerveDrive.stopModules())
     // );
     // return runAuto("Move Forward", 1.0, 1.0);
-    return runAuto("Move Down", 1.0, 1.0);
+    return runAuto("Test", 1.0, 1.0);
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 0496004..b29f57e 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -54,6 +54,7 @@ public class SwerveDrive extends SubsystemBase {
 
   public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
   public boolean ignoreAngles;
+  public Rotation2d rotTarget = new Rotation2d();;
 
   private final Field2d m_field = new Field2d();
 
@@ -125,7 +126,6 @@ public class SwerveDrive extends SubsystemBase {
               : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
     setModuleStates(states);
   }
-  private Rotation2d rotTarget = new Rotation2d();
   public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative)
   {
     ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
@@ -217,8 +217,7 @@ public class SwerveDrive extends SubsystemBase {
   /** Updates the field relative position of the robot. */
 
   public void updateOdometry() {
-    Rotation2d offset = new Rotation2d(Math.PI/2);
-    m_poseEstimator.update( m_gyro.getRotation2d()/*.plus(offset)*/, 
+    m_poseEstimator.update( m_gyro.getRotation2d(), 
                             modules[0].getState(), 
                             modules[1].getState(), 
                             modules[2].getState(), 
@@ -237,6 +236,11 @@ public class SwerveDrive extends SubsystemBase {
       //     Timer.getFPGATimestamp() - 0.1);
     }
 
+  public void resetGyro(){
+    m_gyro.reset();
+    rotTarget = new Rotation2d(0);
+  }
+
   public void stopModules() {
     modules[0].stop();
     modules[1].stop();