diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 3704a56..0ab7359 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -105,8 +105,6 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopInit() {
-    m_robotContainer.m_robotSwerveDrive.resetGyro();
-
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
     // continue until interrupted by another command, remove
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index c1a95fd..b9ef435 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -77,7 +78,7 @@ public class RobotContainer {
     private Command emptyCommand = new InstantCommand();
     private Command interruptCommand = new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw, m_robotLimeLight);
 
-    private SequentialCommandGroup armToHome = new SequentialCommandGroup(new TeleCommand(m_robotArm, 0), new PivotCommand(m_robotArm, 135));
+    private SequentialCommandGroup armToHome = new SequentialCommandGroup(new TeleCommand(m_robotArm, 1000), new PivotCommand(m_robotArm, 145));
 
     private Command toggleClaw = new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw);
 
@@ -180,8 +181,10 @@ public class RobotContainer {
         new WaitCommand(0.3),
         toggleClaw.asProxy(),
         new WaitCommand(0.3),
-        armToHome.asProxy(),
-        new JoystickPlayback(m_robotSwerveDrive, "idk", 1),
+        new ParallelCommandGroup(
+            armToHome.asProxy(),
+            new JoystickPlayback(m_robotSwerveDrive, "idk", 1)
+        ),
         new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)
     );
 
diff --git a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
index afaa702..238e212 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
@@ -629,8 +629,8 @@ public class JoystickPlayback extends CommandBase {
         String[] values = line.split(",");
 
         var out = new TimedOutput();
-        out.leftX  = Double.parseDouble(values[0]) * mult / 1.75;
-        out.leftY  = Double.parseDouble(values[1]) / -1.75;
+        out.leftX  = Double.parseDouble(values[0]) * mult / -1.68;
+        out.leftY  = Double.parseDouble(values[1]) / -1.68;
         out.rightX = Double.parseDouble(values[2]);
         out.rightY = Double.parseDouble(values[3]);