diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index cb4ea38..676d800 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -144,6 +144,7 @@ public class SwerveDrive extends SubsystemBase {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    updateOdometry();
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index 5d5fb80..ea39ba4 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -87,7 +87,7 @@ public class SwerveModule extends SubsystemBase {
         angleMotor.set(0);
     }
 
-    public void rotateToAngle(double angle){
+    public void rotateToAngle(double angle) {
         angleMotor.set(TalonFXControlMode.Position, angle);
     }