diff --git a/2022NoWayHome.code-workspace b/2022NoWayHome.code-workspace
index 077020e..a210c54 100644
--- a/2022NoWayHome.code-workspace
+++ b/2022NoWayHome.code-workspace
@@ -2,9 +2,6 @@
 	"folders": [
 		{
 			"path": "."
-		},
-		{
-			"path": "NetworkTablesDesktopClient"
 		}
 	],
 	"settings": {
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 9f49a96..2b40696 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -40,10 +40,10 @@ public final class Constants {
     public static final double WHEEL_BASE = Units.inchesToMeters(23.75);
 
     public static final SwerveDriveKinematics DRIVE_KINEMATICS = new SwerveDriveKinematics(
-        new Translation2d(WHEEL_BASE / 2, TRACK_WIDTH / 2),
         new Translation2d(WHEEL_BASE / 2, -TRACK_WIDTH / 2),
-        new Translation2d(-WHEEL_BASE / 2, TRACK_WIDTH / 2),
-        new Translation2d(-WHEEL_BASE / 2, -TRACK_WIDTH / 2)
+        new Translation2d(WHEEL_BASE / 2, TRACK_WIDTH / 2),
+        new Translation2d(-WHEEL_BASE / 2, -TRACK_WIDTH / 2),
+        new Translation2d(-WHEEL_BASE / 2, TRACK_WIDTH / 2)
     );
 
     public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d62126d..818a6f0 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -123,7 +123,7 @@ public class RobotContainer {
     m_robotIntake.setDefaultCommand(new RunCommand(() -> m_robotIntake.runWithTriggers(getOperatorController().getLeftTriggerAxis(), getOperatorController().getRightTriggerAxis()), m_robotIntake).withName("Intake DefaultCommand"));
 
     // Shooter Idle
-    m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
+    // m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
 
     // Serializer Manual
     m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8), m_robotSerializer).withName("Serializer DefaultCommand"));
@@ -340,13 +340,13 @@ public class RobotContainer {
       builder.addBooleanProperty("Shooter Safety", this::isLockedOn, null);
     });
     putData("Field", m_robotSwerveDrive.m_field);
-    putData("PDP", new PowerDistribution() {
-      @Override
-      public void initSendable(SendableBuilder builder) {
-        super.initSendable(builder);
-        builder.setSmartDashboardType("PowerDistributionPanel");
-      }
-    });
+    // putData("PDP", new PowerDistribution() {
+    //   @Override
+    //   public void initSendable(SendableBuilder builder) {
+    //     super.initSendable(builder);
+    //     builder.setSmartDashboardType("PowerDistributionPanel");
+    //   }
+    // });
     putData("Extender", new NTSendable() {
       @Override
       public void initSendable(NTSendableBuilder builder) {
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index d86dd7c..4f63806 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.OIConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.Gains;
 
 public class SwerveDrive extends SubsystemBase {
 
@@ -44,7 +45,7 @@ public class SwerveDrive extends SubsystemBase {
     m_gyro = gyro;
 
     modules = new SwerveModule[] { m_frontLeft, m_frontRight, m_backLeft, m_backRight };
-
+    SmartDashboard.putNumber("OMEGA", 0.0);
     // m_poseEstimator = new SwerveDrivePoseEstimator(
     // getRegGyro(),//m_gyro.getRotation2d(),
     // new Pose2d(),
@@ -90,7 +91,7 @@ public class SwerveDrive extends SubsystemBase {
       if (rightStick.getNorm() > OIConstants.RIGHT_AXIS_DEADBAND) rotTarget = -Math.atan2(rightStick.getY(), rightStick.getX());
       double rotDifference = rotTarget - m_gyro.getRotation2d().getRadians();
       leftStick = leftStick.times(leftStick.getNorm() * speedAdjust);
-      chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(leftStick.getX(), leftStick.getY(), rotDifference * SwerveDriveConstants.ROTATION_SPEED * 2, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI * 2) + (Math.PI / 2)));
+      chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(leftStick.getX(), leftStick.getY(), rotDifference, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI * 2) + (Math.PI / 2)));
     } else chassisSpeeds = new ChassisSpeeds(leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED * 2);
     setModuleStates(SwerveDriveConstants.DRIVE_KINEMATICS.toSwerveModuleStates(chassisSpeeds));
   }