diff --git a/src/main/deploy/pathplanner/First Test Path.path b/src/main/deploy/pathplanner/Diamond.path
similarity index 100%
rename from src/main/deploy/pathplanner/First Test Path.path
rename to src/main/deploy/pathplanner/Diamond.path
diff --git a/src/main/deploy/pathplanner/Move Forward.path b/src/main/deploy/pathplanner/Move Forward.path
index 84625b8..64ff58b 100644
--- a/src/main/deploy/pathplanner/Move Forward.path	
+++ b/src/main/deploy/pathplanner/Move Forward.path	
@@ -1 +1 @@
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diff --git a/src/main/deploy/pathplanner/Triangle.path b/src/main/deploy/pathplanner/Triangle.path
new file mode 100644
index 0000000..a6ceaea
--- /dev/null
+++ b/src/main/deploy/pathplanner/Triangle.path
@@ -0,0 +1 @@
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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 fa54fe2..dde5adf 100644
--- a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json	
@@ -1 +1 @@
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diff --git a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json
index 403c6a0..b8421fa 100644
--- a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json	
+++ b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json	
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\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index d8c798f..773e54b 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -65,8 +65,8 @@ public final class Constants {
     public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
 
     // swerve auto constants
-    public static final PIDController X_CONTROLLER = new PIDController(0.0, 0.0, 0.0);
-    public static final PIDController Y_CONTROLLER = new PIDController(0.0, 0.0, 0.0);
+    public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0);
+    public static final PIDController Y_CONTROLLER = new PIDController(4.0, 0.0, 0.0);
     public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
       1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI));
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e4378ca..90b43c4 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -11,6 +11,8 @@ import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 
+import javax.swing.plaf.nimbus.State;
+
 import com.pathplanner.lib.PathPlanner;
 import com.pathplanner.lib.PathPlannerTrajectory;
 import com.pathplanner.lib.commands.PPSwerveControllerCommand;
@@ -123,6 +125,7 @@ public class RobotContainer {
     PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
     ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER;
     thetaController.enableContinuousInput(-Math.PI, Math.PI);
+    //thetaController.reset(new TrapezoidProfile.State(m_robotSwerveDrive.getOdometry()));
 
     PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand(
         traj,
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index 1138dc6..27a9072 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -48,12 +48,11 @@ public class SwerveModule extends SubsystemBase {
     angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
     angleMotor.configAllSettings(angleTalonFXConfiguration);
 
-    /*TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
-    driveTalonFXConfiguration.slot0.kP = kDriveP;
-    driveTalonFXConfiguration.slot0.kI = kDriveI;
-    driveTalonFXConfiguration.slot0.kD = kDriveD;
-    driveTalonFXConfiguration.slot0.kF = kDriveF;
-    driveMotor.configAllSettings(driveTalonFXConfiguration);*/
+    TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
+    driveTalonFXConfiguration.slot0.kP = 1.0;
+    driveTalonFXConfiguration.slot0.kI = 0.0;
+    driveTalonFXConfiguration.slot0.kD = 0.0;
+    driveMotor.configAllSettings(driveTalonFXConfiguration);
 
     CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
     canCoderConfiguration.magnetOffsetDegrees = offset;
@@ -90,8 +89,8 @@ public class SwerveModule extends SubsystemBase {
     }
 
 
-    double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
-    driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
+    // double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
+    driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
   }
 
   /**