diff --git a/.vscode/launch.json b/.vscode/launch.json
index c9c9713..4dbe5d3 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,7 +4,6 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 5581adf..67cb117 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -42,15 +42,14 @@ public final class Constants {
     public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
     public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
     // ofsets are in degrees
-    //ofsets are in degrees
-        // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;    
-        // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;   
-        // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;     
-        // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
-        public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
-        public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
-        public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
-        public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
+    // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
+    // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;
+    // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;
+    // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
+    public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
+    public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
+    public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
+    public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
 
     // swerve PID constants
     public static final int SWERVE_SLOT_IDX = 0;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 93cffc9..4b437f1 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
-import frc4388.utility.RobotGyro;
 
 public class SwerveDrive extends SubsystemBase {
   SwerveDriveKinematics m_kinematics;
@@ -39,27 +38,15 @@ public class SwerveDrive extends SubsystemBase {
   public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
 
 
-  Translation2d m_frontLeftLocation = 
-      new Translation2d(
-          Units.inchesToMeters(halfHeight), 
-          Units.inchesToMeters(halfWidth));
-  Translation2d m_frontRightLocation =
-       new Translation2d(
-          Units.inchesToMeters(halfHeight), 
-          Units.inchesToMeters(-halfWidth));
-  Translation2d m_backLeftLocation = 
-      new Translation2d(
-          Units.inchesToMeters(-halfHeight), 
-          Units.inchesToMeters(halfWidth));
-  Translation2d m_backRightLocation = 
-      new Translation2d(
-          Units.inchesToMeters(-halfHeight), 
-          Units.inchesToMeters(-halfWidth));
-      //setSwerveGains();
+  Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
+  Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
+  Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
+  Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
+  // setSwerveGains();
       
   private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
   public SwerveModule[] modules;
-  public RobotGyro gyro; //TODO Add Gyro Lol
+  public Gyro gyro; //TODO Add Gyro Lol
 
 
   public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index e9df20a..4176e52 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -90,4 +90,4 @@ public class SwerveModule extends SubsystemBase {
     double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
     driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java.old
similarity index 100%
rename from src/main/java/frc4388/utility/RobotGyro.java
rename to src/main/java/frc4388/utility/RobotGyro.java.old