diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 5813025..78c6890 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -158,9 +158,9 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void teleopPeriodic() {
-    // SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle());
-    // SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch());
-    // SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll());
+    // SmartDashboard.putNumber("yaw", m_robotContainer.m_robotMap.gyro.getAngle());
+    SmartDashboard.putNumber("Robot.java Pitch", m_robotContainer.m_robotMap.gyro.getPitch());
+    // SmartDashboard.putNumber("roll", m_robotContainer.m_robotMap.gyro.getRoll());
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index bb7afe4..2a2e90c 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -36,7 +36,7 @@ import frc4388.utility.controller.XboxController;
  */
 public class RobotContainer {
     /* RobotMap */
-    private final RobotMap m_robotMap = new RobotMap();
+    public final RobotMap m_robotMap = new RobotMap();
 
     /* Subsystems */
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
@@ -99,8 +99,9 @@ public class RobotContainer {
     private void configureButtonBindings() {
         /* Driver Buttons */
         
-        // new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-        //     .onTrue(new InstantCommand(() -> gyroRef.reset()));
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotMap.gyro.reset()));
+            // .onFalse()
 
         /* Operator Buttons */
         // activates "Lit Mode"
diff --git a/src/main/java/frc4388/robot/commands/AutoBalance.java b/src/main/java/frc4388/robot/commands/AutoBalance.java
index c0c95f8..aeb4610 100644
--- a/src/main/java/frc4388/robot/commands/AutoBalance.java
+++ b/src/main/java/frc4388/robot/commands/AutoBalance.java
@@ -19,7 +19,11 @@ public class AutoBalance extends PelvicInflammatoryDisease {
 
 	/** Creates a new AutoBalanceTF2. */
 	public AutoBalance(RobotGyro gyro, SwerveDrive drive) {
-		super(.7, .1, 15, 0);
+		super(1.0, 0, 0, 0);
+
+		this.gyro = gyro;
+		this.drive = drive;
+
 		addRequirements(drive);
 	}
 
@@ -40,7 +44,7 @@ public class AutoBalance extends PelvicInflammatoryDisease {
 	@Override
 	public void initialize() {
 		super.initialize();
-		this.gyro.reset();
+		// this.gyro.reset();
 	}
 
 	// Returns true when the command should end.
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index 082991d..e8dd497 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -140,7 +140,7 @@ public class SwerveModule extends SubsystemBase {
         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(-1 * 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);
     }