diff --git a/src/main/deploy/pathplanner/First Test Path.path b/src/main/deploy/pathplanner/First Test Path.path
index 0c21a3b..43b19bf 100644
--- a/src/main/deploy/pathplanner/First Test Path.path	
+++ b/src/main/deploy/pathplanner/First Test Path.path	
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diff --git a/src/main/deploy/pathplanner/Move Forward.path b/src/main/deploy/pathplanner/Move Forward.path
index 51ed3b2..0f81da4 100644
--- a/src/main/deploy/pathplanner/Move Forward.path	
+++ b/src/main/deploy/pathplanner/Move Forward.path	
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diff --git a/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json
index bf6b3a1..cd91133 100644
--- a/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json	
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diff --git a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json
index 86aa24e..6773a0a 100644
--- a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json	
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\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 99507a5..cdc6a22 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -127,10 +127,10 @@ public class RobotContainer {
       testFirstPath, 
       m_robotSwerveDrive::getOdometry,
       m_robotSwerveDrive.m_kinematics, 
-      new PIDController(0.0, 0.0, 0.0), 
-      new PIDController(0.0, 0.0, 0.0), 
-      new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)), 
-      m_robotSwerveDrive::setModuleStates, 
+      new PIDController(0.0, 0.0, 0.0),
+      new PIDController(0.0, 0.0, 0.0),
+      new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
+      m_robotSwerveDrive::setModuleStates,
       m_robotSwerveDrive
     );
 
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 8880af7..5d89e3b 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -144,7 +144,7 @@ public class SwerveDrive extends SubsystemBase {
     for (int i = 0; i < desiredStates.length; i++) {
       SwerveModule module = modules[i];
       SwerveModuleState state = desiredStates[i];
-      module.setDesiredState(state, ignoreAngles);
+      module.setDesiredState(state, false);
     }
   }