diff --git a/config/LeftBackCANCoder.json b/config/LeftBackCANCoder.json
new file mode 100644
index 0000000..69ab1f3
--- /dev/null
+++ b/config/LeftBackCANCoder.json
@@ -0,0 +1,47 @@
+{
+  "Configs": [
+    {
+      "Name": "Integrated Sensor",
+      "Type": "IntegratedSensor",
+      "Description": "Configures how the sensor is processed.",
+      "Ordinal": 0,
+      "Values": {
+        "Absolute Sensor Range": 0,
+        "Magnet Offset (deg)": -240.0293,
+        "Sensor Direction": false,
+        "Sensor Initialization Strategy": 0
+      }
+    },
+    {
+      "Name": "Unit Coefficient And String",
+      "Type": "UnitCoeffGroup",
+      "Description": "Describes the units to report in API and Self-Test.",
+      "Ordinal": 0,
+      "Values": {
+        "Sensor Coefficient": 0.087890625,
+        "Sensor Time Base": 1,
+        "Unit String": "deg"
+      }
+    },
+    {
+      "Name": "Custom Params",
+      "Type": "CustomParams",
+      "Description": "These are arbitrary values not used by the firmware.",
+      "Ordinal": 0,
+      "Values": {
+        "Custom Param 0": 0,
+        "Custom Param 1": 0
+      }
+    },
+    {
+      "Name": "Advanced Sensor and Meas",
+      "Type": "AdvancedSensorMeas",
+      "Description": "Group of configs relating to advanced sensor features and filters",
+      "Ordinal": 0,
+      "Values": {
+        "Velocity Period": 100,
+        "Velocity Window": 64
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/config/LeftFrontCANCoder.json b/config/LeftFrontCANCoder.json
new file mode 100644
index 0000000..1a5edcd
--- /dev/null
+++ b/config/LeftFrontCANCoder.json
@@ -0,0 +1,47 @@
+{
+  "Configs": [
+    {
+      "Name": "Integrated Sensor",
+      "Type": "IntegratedSensor",
+      "Description": "Configures how the sensor is processed.",
+      "Ordinal": 0,
+      "Values": {
+        "Absolute Sensor Range": 0,
+        "Magnet Offset (deg)": -181.230469,
+        "Sensor Direction": false,
+        "Sensor Initialization Strategy": 0
+      }
+    },
+    {
+      "Name": "Unit Coefficient And String",
+      "Type": "UnitCoeffGroup",
+      "Description": "Describes the units to report in API and Self-Test.",
+      "Ordinal": 0,
+      "Values": {
+        "Sensor Coefficient": 0.087890625,
+        "Sensor Time Base": 1,
+        "Unit String": "deg"
+      }
+    },
+    {
+      "Name": "Custom Params",
+      "Type": "CustomParams",
+      "Description": "These are arbitrary values not used by the firmware.",
+      "Ordinal": 0,
+      "Values": {
+        "Custom Param 0": 0,
+        "Custom Param 1": 0
+      }
+    },
+    {
+      "Name": "Advanced Sensor and Meas",
+      "Type": "AdvancedSensorMeas",
+      "Description": "Group of configs relating to advanced sensor features and filters",
+      "Ordinal": 0,
+      "Values": {
+        "Velocity Period": 100,
+        "Velocity Window": 64
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/config/RightBackCANCoder.json b/config/RightBackCANCoder.json
new file mode 100644
index 0000000..236a112
--- /dev/null
+++ b/config/RightBackCANCoder.json
@@ -0,0 +1,47 @@
+{
+  "Configs": [
+    {
+      "Name": "Integrated Sensor",
+      "Type": "IntegratedSensor",
+      "Description": "Configures how the sensor is processed.",
+      "Ordinal": 0,
+      "Values": {
+        "Absolute Sensor Range": 0,
+        "Magnet Offset (deg)": -40.86914,
+        "Sensor Direction": false,
+        "Sensor Initialization Strategy": 0
+      }
+    },
+    {
+      "Name": "Unit Coefficient And String",
+      "Type": "UnitCoeffGroup",
+      "Description": "Describes the units to report in API and Self-Test.",
+      "Ordinal": 0,
+      "Values": {
+        "Sensor Coefficient": 0.087890625,
+        "Sensor Time Base": 1,
+        "Unit String": "deg"
+      }
+    },
+    {
+      "Name": "Custom Params",
+      "Type": "CustomParams",
+      "Description": "These are arbitrary values not used by the firmware.",
+      "Ordinal": 0,
+      "Values": {
+        "Custom Param 0": 0,
+        "Custom Param 1": 0
+      }
+    },
+    {
+      "Name": "Advanced Sensor and Meas",
+      "Type": "AdvancedSensorMeas",
+      "Description": "Group of configs relating to advanced sensor features and filters",
+      "Ordinal": 0,
+      "Values": {
+        "Velocity Period": 100,
+        "Velocity Window": 64
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/config/RightFrontCANCoder.json b/config/RightFrontCANCoder.json
new file mode 100644
index 0000000..ec93eb5
--- /dev/null
+++ b/config/RightFrontCANCoder.json
@@ -0,0 +1,47 @@
+{
+  "Configs": [
+    {
+      "Name": "Integrated Sensor",
+      "Type": "IntegratedSensor",
+      "Description": "Configures how the sensor is processed.",
+      "Ordinal": 0,
+      "Values": {
+        "Absolute Sensor Range": 0,
+        "Magnet Offset (deg)": -270.615234,
+        "Sensor Direction": false,
+        "Sensor Initialization Strategy": 0
+      }
+    },
+    {
+      "Name": "Unit Coefficient And String",
+      "Type": "UnitCoeffGroup",
+      "Description": "Describes the units to report in API and Self-Test.",
+      "Ordinal": 0,
+      "Values": {
+        "Sensor Coefficient": 0.087890625,
+        "Sensor Time Base": 1,
+        "Unit String": "deg"
+      }
+    },
+    {
+      "Name": "Custom Params",
+      "Type": "CustomParams",
+      "Description": "These are arbitrary values not used by the firmware.",
+      "Ordinal": 0,
+      "Values": {
+        "Custom Param 0": 0,
+        "Custom Param 1": 0
+      }
+    },
+    {
+      "Name": "Advanced Sensor and Meas",
+      "Type": "AdvancedSensorMeas",
+      "Description": "Group of configs relating to advanced sensor features and filters",
+      "Ordinal": 0,
+      "Values": {
+        "Velocity Period": 100,
+        "Velocity Window": 64
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index d4dad2b..c33a95f 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -127,14 +127,11 @@ public class RobotMap {
     // rightBackEncoder.configMagnetOffset(225.0); //180.0); //270.0);//267.01171875);//SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
 
     // initialize SwerveModules
-    this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder);
-    this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder);
-    this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder);
-    this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder);
+    this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
+    this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
+    this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
+    this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
 
-
-
-    // FINAL OFFSETS (I THINK)
     // LEFT FRONT: -181.230469
     // RIGHT FRONT: -270.615234
     // LEFT BACK: -240.029297
diff --git a/src/main/java/frc4388/robot/commands/DriveWithInput.java b/src/main/java/frc4388/robot/commands/DriveWithInput.java
index 784536d..1fcaccc 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithInput.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithInput.java
@@ -57,7 +57,7 @@ public class DriveWithInput extends CommandBase {
 
     x = -xLimiter.calculate(MathUtil.applyDeadband(x * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
     y = -yLimiter.calculate(MathUtil.applyDeadband(y * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
-    r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(Math.PI));
+    r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(5*Math.PI));
   
     swerve.drive(x, y, r, fieldRelative);
   }
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index 95fdaa2..082991d 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -31,7 +31,7 @@ public class SwerveModule extends SubsystemBase {
     public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
   
     /** Creates a new SwerveModule. */
-    public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder) {//, double offset) {
+    public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
         this.driveMotor = driveMotor;
         this.angleMotor = angleMotor;
         this.encoder = encoder;
@@ -47,9 +47,10 @@ public class SwerveModule extends SubsystemBase {
         angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
         angleMotor.configAllSettings(angleConfig);
 
-        CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
+        // CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
         // canCoderConfig.magnetOffsetDegrees = offset;
-        encoder.configAllSettings(canCoderConfig);
+        // encoder.configAllSettings(canCoderConfig);
+        encoder.configMagnetOffset(offset);
 
         // driveMotor.config_kP(0, 0.4);