diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index eee052d..cbd1ed3 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,7 +4,13 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="9c18dc17-7391-414f-be16-8f692898fefb" name="Changes" comment="" />
+    <list default="true" id="9c18dc17-7391-414f-be16-8f692898fefb" name="Changes" comment="">
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/simgui-ds.json" beforeDir="false" afterPath="$PROJECT_DIR$/simgui-ds.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/simgui.json" beforeDir="false" afterPath="$PROJECT_DIR$/simgui.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc4388/robot/subsystems/TestMotor.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc4388/robot/subsystems/TestMotor.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java" afterDir="false" />
+    </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -67,8 +73,6 @@
   </component>
   <component name="HighlightingSettingsPerFile">
     <setting file="jar://$PROJECT_DIR$/../../../../../Program Files/Java/jdk-17.0.2/lib/src.zip!/java.base/java/util/Map.java" root0="SKIP_INSPECTION" />
-    <setting file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.hal/hal-java/2022.2.1/c3366615a84edb487fa8567afc3dd1010075af41/hal-java-2022.2.1-sources.jar!/edu/wpi/first/hal/can/CANJNI.java" root0="SKIP_INSPECTION" />
-    <setting file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2022.2.1/1d10b453b5700a1b25cd9e39e13077dc846e3a53/wpilibj-java-2022.2.1-sources.jar!/edu/wpi/first/wpilibj/RobotBase.java" root0="SKIP_INSPECTION" />
   </component>
   <component name="MarkdownSettingsMigration">
     <option name="stateVersion" value="1" />
@@ -90,7 +94,7 @@
     &quot;project.structure.last.edited&quot;: &quot;Project&quot;,
     &quot;project.structure.proportion&quot;: &quot;0.0&quot;,
     &quot;project.structure.side.proportion&quot;: &quot;0.2&quot;,
-    &quot;settings.editor.selected.configurable&quot;: &quot;reference.settingsdialog.IDE.editor.colors.Java&quot;
+    &quot;settings.editor.selected.configurable&quot;: &quot;preferences.pluginManager&quot;
   }
 }</component>
   <component name="RecentsManager">
@@ -158,15 +162,4 @@
     </task>
     <servers />
   </component>
-  <component name="XDebuggerManager">
-    <breakpoint-manager>
-      <breakpoints>
-        <line-breakpoint enabled="true" type="java-line">
-          <url>file://$PROJECT_DIR$/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java</url>
-          <line>55</line>
-          <option name="timeStamp" value="1" />
-        </line-breakpoint>
-      </breakpoints>
-    </breakpoint-manager>
-  </component>
 </project>
\ No newline at end of file
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3e/c030f2dac83e001d1cbeae21eb27dd10 b/.metadata/.plugins/org.eclipse.core.resources/.history/3e/c030f2dac83e001d1cbeae21eb27dd10
new file mode 100644
index 0000000..aa7b036
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.core.resources/.history/3e/c030f2dac83e001d1cbeae21eb27dd10
@@ -0,0 +1,12 @@
+arguments=--init-script C\:\\Users\\Owner\\.vscode\\extensions\\redhat.java-1.10.0-win32-x64\\server\\config_win\\org.eclipse.osgi\\53\\0\\.cp\\gradle\\init\\init.gradle
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=C\:/Program Files/Java/jdk-17.0.2
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.indexes/af/history.index b/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.indexes/af/history.index
new file mode 100644
index 0000000..52a9cff
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.indexes/af/history.index differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.location b/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.location
new file mode 100644
index 0000000..791b5d4
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.location differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.markers b/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.markers
new file mode 100644
index 0000000..7274709
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.projects/To-Shoot-TShirt/.markers differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/jdt.ls-java-project/.markers b/.metadata/.plugins/org.eclipse.core.resources/.projects/jdt.ls-java-project/.markers
new file mode 100644
index 0000000..ff0402b
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.projects/jdt.ls-java-project/.markers differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/jdt.ls-java-project/org.eclipse.jdt.core/state.dat b/.metadata/.plugins/org.eclipse.core.resources/.projects/jdt.ls-java-project/org.eclipse.jdt.core/state.dat
new file mode 100644
index 0000000..f05fdc1
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.projects/jdt.ls-java-project/org.eclipse.jdt.core/state.dat differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
new file mode 100644
index 0000000..25cb955
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index
new file mode 100644
index 0000000..40d8bb0
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
new file mode 100644
index 0000000..6b2aaa7
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
@@ -0,0 +1 @@
+

\ No newline at end of file
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/.markers b/.metadata/.plugins/org.eclipse.core.resources/.root/.markers
new file mode 100644
index 0000000..10fe5ff
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.root/.markers differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/18.tree b/.metadata/.plugins/org.eclipse.core.resources/.root/18.tree
new file mode 100644
index 0000000..656d1d8
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.root/18.tree differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources b/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
new file mode 100644
index 0000000..88dcc69
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/1774187034.index b/.metadata/.plugins/org.eclipse.jdt.core/1774187034.index
new file mode 100644
index 0000000..f4cfb81
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/1774187034.index differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/1865797976.index b/.metadata/.plugins/org.eclipse.jdt.core/1865797976.index
new file mode 100644
index 0000000..0aab11f
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diff --git a/.metadata/.plugins/org.eclipse.jdt.core/2238567309.index b/.metadata/.plugins/org.eclipse.jdt.core/2238567309.index
new file mode 100644
index 0000000..e8ebde7
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diff --git a/.metadata/.plugins/org.eclipse.jdt.core/2349743023.index b/.metadata/.plugins/org.eclipse.jdt.core/2349743023.index
new file mode 100644
index 0000000..b6d3cae
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diff --git a/.metadata/.plugins/org.eclipse.jdt.core/2631181491.index b/.metadata/.plugins/org.eclipse.jdt.core/2631181491.index
new file mode 100644
index 0000000..88c592d
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/2631181491.index differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/2743486558.index b/.metadata/.plugins/org.eclipse.jdt.core/2743486558.index
new file mode 100644
index 0000000..70965d8
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/2743486558.index differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/760091825.index b/.metadata/.plugins/org.eclipse.jdt.core/760091825.index
new file mode 100644
index 0000000..2c12d78
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/760091825.index differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/assumedExternalFilesCache b/.metadata/.plugins/org.eclipse.jdt.core/assumedExternalFilesCache
new file mode 100644
index 0000000..593f470
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/assumedExternalFilesCache differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/externalFilesCache b/.metadata/.plugins/org.eclipse.jdt.core/externalFilesCache
new file mode 100644
index 0000000..2650fd6
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/externalFilesCache differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/externalLibsTimeStamps b/.metadata/.plugins/org.eclipse.jdt.core/externalLibsTimeStamps
new file mode 100644
index 0000000..54b12b5
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/externalLibsTimeStamps differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/indexNamesMap.txt b/.metadata/.plugins/org.eclipse.jdt.core/indexNamesMap.txt
new file mode 100644
index 0000000..cfc6fb9
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.jdt.core/indexNamesMap.txt
@@ -0,0 +1 @@
+INDEX VERSION 1.131
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/javaLikeNames.txt b/.metadata/.plugins/org.eclipse.jdt.core/javaLikeNames.txt
new file mode 100644
index 0000000..8586397
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.jdt.core/javaLikeNames.txt
@@ -0,0 +1 @@
+java
\ No newline at end of file
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/nonChainingJarsCache b/.metadata/.plugins/org.eclipse.jdt.core/nonChainingJarsCache
new file mode 100644
index 0000000..15a60c6
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/nonChainingJarsCache differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/savedIndexNames.txt b/.metadata/.plugins/org.eclipse.jdt.core/savedIndexNames.txt
new file mode 100644
index 0000000..ff8b393
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.jdt.core/savedIndexNames.txt
@@ -0,0 +1,4 @@
+INDEX VERSION 1.131+C:\Users\Owner\Documents\GitHub\2022NoWayHome\.metadata\.plugins\org.eclipse.jdt.core
+2238567309.index
+760091825.index
+1865797976.index
diff --git a/.metadata/.plugins/org.eclipse.jdt.core/variablesAndContainers.dat b/.metadata/.plugins/org.eclipse.jdt.core/variablesAndContainers.dat
new file mode 100644
index 0000000..84dd9ba
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.core/variablesAndContainers.dat differ
diff --git a/.metadata/.plugins/org.eclipse.jdt.launching/.install.xml b/.metadata/.plugins/org.eclipse.jdt.launching/.install.xml
new file mode 100644
index 0000000..37f7496
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.jdt.launching/.install.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<dirs>
+    <entry loc="C:\Program Files\Java\jdk-17.0.2" stamp="1642579750178"/>
+</dirs>
diff --git a/.metadata/.plugins/org.eclipse.jdt.launching/libraryInfos.xml b/.metadata/.plugins/org.eclipse.jdt.launching/libraryInfos.xml
new file mode 100644
index 0000000..b6545a3
--- /dev/null
+++ b/.metadata/.plugins/org.eclipse.jdt.launching/libraryInfos.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<libraryInfos>
+    <libraryInfo home="C:\Program Files\Java\jdk-17.0.2" version="17.0.2"/>
+</libraryInfos>
diff --git a/.metadata/.plugins/org.eclipse.jdt.ls.core/.file-digests b/.metadata/.plugins/org.eclipse.jdt.ls.core/.file-digests
new file mode 100644
index 0000000..6e105d9
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.jdt.ls.core/.file-digests differ
diff --git a/.metadata/.plugins/org.eclipse.m2e.core/workspaceState.ser b/.metadata/.plugins/org.eclipse.m2e.core/workspaceState.ser
new file mode 100644
index 0000000..abbf8e5
Binary files /dev/null and b/.metadata/.plugins/org.eclipse.m2e.core/workspaceState.ser differ
diff --git a/simgui.json b/simgui.json
index 78cbf94..9e3bd78 100644
--- a/simgui.json
+++ b/simgui.json
@@ -27,6 +27,9 @@
     "SmartDashboard": {
       "open": true
     },
+    "TunerTable": {
+      "open": true
+    },
     "TunerTables": {
       "LoggerTable": {
         "open": true
diff --git a/src/main/java/frc4388/robot/subsystems/TestMotor.java b/src/main/java/frc4388/robot/subsystems/TestMotor.java
index bc6e78f..66a859d 100644
--- a/src/main/java/frc4388/robot/subsystems/TestMotor.java
+++ b/src/main/java/frc4388/robot/subsystems/TestMotor.java
@@ -2,6 +2,10 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.utility.Gains;
 import frc4388.utility.tuner.TunerLogger;
@@ -18,7 +22,7 @@ public class TestMotor extends SubsystemBase {
     private final WPI_TalonSRX m_testMotor;
 
     @GainsField(id="TestMotor")
-    public Gains gains = new Gains(1, 1, 1, 1, 1, 1);
+    public Gains gains = new Gains(5, 4, 3, 2, 1, 1);
 
     @Loggable(id="test")
     public double logable = 4;
@@ -40,14 +44,19 @@ public class TestMotor extends SubsystemBase {
 //        m_testMotor.set(DesmosServer.readDouble("Speed"));
 //    }
 
+    @Override
+    public void periodic() {
+	logable = Math.random()*2 -1;
+    }
+
     @Reader(id="TestMotor", value="velocity")
     public double velocityReader() {
-        return m_testMotor.getSelectedSensorVelocity();
+        return logable;
     }
 
     @Reader(id="TestMotor", value="position")
     public double positionReader() {
-        return m_testMotor.getSelectedSensorPosition();
+        return Math.random() * 2 - 1;
     }
 
     @Controller(id="TestMotor", value="velocity")
@@ -55,4 +64,4 @@ public class TestMotor extends SubsystemBase {
         logable = Math.random() * 10;
         m_testMotor.set(value);
     }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java b/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java
index 4974771..596998c 100644
--- a/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java
+++ b/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java
@@ -11,6 +11,8 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
+import java.lang.Math;
+
 public class TunerTablesHandler {
     private final NetworkTable tunerTable;
     private final NetworkTableEntry activeEntry;