diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 31a45f5..a54b4b4 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -169,9 +169,9 @@ public class Robot extends TimedRobot {
   }
 
   private void drive(boolean fieldRelative) {
-    final double xSpeed = -xLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftYAxis(), 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
-    final double ySpeed = -yLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftXAxis(), 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
-    final double rot = -rotLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getRightXAxis(), 0.02) * Units.feetToMeters(Math.PI));
+    final double xSpeed = -xLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftXAxis() * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+    final double ySpeed = -yLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftYAxis() * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+    final double rot = -rotLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getRightXAxis() * 0.3, 0.02) * Units.feetToMeters(Math.PI));
 
     m_robotContainer.m_robotSwerveDrive.drive(xSpeed, ySpeed, rot, fieldRelative);
   }
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 3180343..01da8cf 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -7,6 +7,11 @@
 
 package frc4388.robot;
 
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
+import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -75,7 +80,6 @@ public class RobotContainer {
     //             m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
     }
 
-    
 
     /**
      * Use this method to define your button->command mappings. Buttons can be
@@ -95,11 +99,14 @@ public class RobotContainer {
         //     .whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
         //     .whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
 
-        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whileTrue(new RunCommand(() -> m_robotSwerveDrive.rotateCANCodersToAngle(0), m_robotSwerveDrive));
+        // new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+        //     .whileTrue(new RunCommand(() -> m_robotSwerveDrive.rotateCANCodersToAngle(0), m_robotSwerveDrive));
         
-        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetCANCoders(0), m_robotSwerveDrive));
+        // new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
+        //     .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetCANCoders(0), m_robotSwerveDrive));
+
+        // new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
+        //     .onTrue()
 
         //New interupt button
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -113,6 +120,11 @@ public class RobotContainer {
      */
     public Command getAutonomousCommand() {
         // no auto
+        // TrajectoryConfig trajConfig = new TrajectoryConfig(1, 1).setKinematics(m_robotSwerveDrive.getKinematics()); // TODO: make these AutoConstants
+
+        // Trajectory traj = TrajectoryGenerator.generateTrajectory(
+        //     new Pose2d(0, 0, new Rotation2d(0)), null, null, trajConfig);
+
         return new InstantCommand();
     }
 
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 040cf4b..0f5e1ae 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -127,10 +127,16 @@ 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, -180.0);//, 270);//, SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
-    this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -267.0);//, 90);//, SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
-    this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -245.0);//, 90);//, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
-    this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -42.0);//, 273);//, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
+    this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder);//, -180.0);//, 270);//, SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
+    this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder);//, -267.0);//, 90);//, SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
+    this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder);//, -245.0);//, 90);//, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
+    this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder);//, -42.0);//, 273);//, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
 
+
+    // FINAL OFFSETS (I THINK)
+    // LEFT FRONT: -181.230469
+    // RIGHT FRONT: -270.615234
+    // LEFT BACK: -240.029297
+    // RIGHT BACK: -40.869142
   }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index f35fa57..bcd0741 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -29,8 +29,6 @@ public class SwerveDrive extends SubsystemBase {
 
   private SwerveModule[] modules;
 
- 
-
   // private RobotGyro gyro3
 
   private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
@@ -207,6 +205,10 @@ public class SwerveDrive extends SubsystemBase {
     }
   }
 
+  public SwerveDriveKinematics getKinematics() {
+    return this.kinematics;
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index dff4429..95fdaa2 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -16,6 +16,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
@@ -30,7 +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 canCoder*/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 +48,11 @@ public class SwerveModule extends SubsystemBase {
         angleMotor.configAllSettings(angleConfig);
 
         CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
-        canCoderConfig.magnetOffsetDegrees = offset;
+        // canCoderConfig.magnetOffsetDegrees = offset;
         encoder.configAllSettings(canCoderConfig);
 
+        // driveMotor.config_kP(0, 0.4);
+
         // canCoderConfig.magnetOffsetDegrees = 270;
     }
 
@@ -134,7 +137,10 @@ public class SwerveModule extends SubsystemBase {
         angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
 
         double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
+        double inchesPerSecond = Units.metersToInches(state.speedMetersPerSecond);
+
         driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
+        // driveMotor.set(TalonFXControlMode.Velocity, inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME);
     }
 
     public void reset(double position) {