diff --git a/build.gradle b/build.gradle
index 283effa..ccc227f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,4 +1,4 @@
-import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO 
+import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
  
 plugins {
     id "java"
@@ -28,7 +28,7 @@ deploy {
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
                 // Enable visualvm
-                jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2"                     
+                //jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2"                     
                 }
 
                 // Static files artifact
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index aa9be76..e31c27d 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -53,6 +53,8 @@ public final class Constants {
     public static final int GYRO_ID = 14;
     
     // ofsets are in degrees
+
+                    //NATHAN if you truncate or round or simplify these i will cry
     public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0;
     public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0;
     public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0;
@@ -79,10 +81,11 @@ public final class Constants {
     public static final int REMOTE_0 = 0;
 
     // conversions
-    // gear ratio: 5.12 rev motor = 1 rev wheel
+    // gear ratio: 5.14 rev motor = 1 rev wheel
     // wheel diameter: official = 4 in, measured = 3.8 in
     /* Ratio Calculation */
-    public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
+    public static final double MOTOR_REV_PER_STEER_REV = 12.8;
+    public static final double MOTOR_REV_PER_WHEEL_REV = 5.142857;
     public static final double WHEEL_DIAMETER_INCHES = 4.0;
     public static final double TICKS_PER_MOTOR_REV = 2048;
     public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index d2e1fde..926cfc6 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -91,7 +91,7 @@ public class RobotMap {
     rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
     rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
 
-    NeutralMode mode = NeutralMode.Brake;
+    NeutralMode mode = NeutralMode.Coast;
     leftFrontSteerMotor.setNeutralMode(mode);
     leftFrontWheelMotor.setNeutralMode(mode);//Coast
     rightFrontSteerMotor.setNeutralMode(mode);
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index c2af4e3..6ec5a2f 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -91,13 +91,16 @@ public class SwerveModule extends SubsystemBase {
 
 
     double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
-
-    // Add this line to correct for the slight drive movement the angle motor makes when turning in place. 
-    // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
+    double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69;
     
     // driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC);
-    // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
-    driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get());
+    driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
+    //driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));// - angleMotor.get());
+    // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75    Ratio of wheel is 5.14/1    ratio of steer is 12.8/1
+    System.out.println(angleCorrection);
+
+    // angleMotor.set(1.0);
+    // driveMotor.set(0.6375);
   }
 
   /**
@@ -120,7 +123,8 @@ public class SwerveModule extends SubsystemBase {
   @Override
   public void periodic(){
     Rotation2d currentRotation = getAngle();
-    SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
+    SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
+    SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
   }
 
 }