diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index a48a906..06a9cf1 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -54,9 +54,15 @@ public class  SwerveDrive extends SubsystemBase {
   }
 
   public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
-    double ang = (Math.atan2(rightStick.getY(), rightStick.getX()) / (Math.PI*2));
+    // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
+    // rightStick.getAngle()
+    double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2));
     // System.out.println(ang);
-    module.go(ang);
+    // module.go(ang);
+    // Rotation2d rot = Rotation2d.fromRadians(ang);
+    Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
+    SwerveModuleState state = new SwerveModuleState(speed, rot);
+    module.setDesiredState(state);
   }
 
   boolean stopped = false;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index a8f7a6f..0bd2649 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -76,11 +76,11 @@ public class SwerveModule extends SubsystemBase {
         rotateToAngle(0);
     }
 
-    public void go(double ang){
-        // double curang = this.encoder.getAbsolutePosition().getValue();
-        System.out.println(getAngle().getDegrees());
-        rotateToAngle(ang);
-    }
+    // public void go(double ang){
+    //     // double curang = this.encoder.getAbsolutePosition().getValue();
+    //     System.out.println(getAngle().getDegrees());
+    //     rotateToAngle(ang);
+    // }
     
     @Override
     public void periodic() {
@@ -122,7 +122,7 @@ public class SwerveModule extends SubsystemBase {
     public Rotation2d getAngle() {
         // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
         // return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
-        return Rotation2d.fromRotations(encoder.getAbsolutePosition().getValue());
+        return Rotation2d.fromRotations(encoder.getPosition().getValue());
     }
     
     public double getAngularVel() {
@@ -163,6 +163,11 @@ public class SwerveModule extends SubsystemBase {
         );
     }
 
+    // private SwerveModuleState optimizeState(SwerveModuleState desiredState) {
+    //     Rotation2d curRot = this.getAngle();
+        
+    // }
+
     /**
      * Returns the current position of the SwerveModule
      * @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
@@ -176,12 +181,17 @@ public class SwerveModule extends SubsystemBase {
      * @param desiredState a SwerveModuleState representing the desired new state of the module
     //  */
     public void setDesiredState(SwerveModuleState desiredState) {
-        SwerveModuleState state = SwerveModuleState.optimize(desiredState, this.getAngle());
+        Rotation2d currentRotation = this.getAngle();
+
+        SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
+
+        // calculate the difference between our current rotational position and our new rotational position
+        Rotation2d rotationDelta = state.angle.minus(currentRotation);
 
-        Rotation2d rot = state.angle;
         double speed = Units.metersToFeet(state.speedMetersPerSecond) / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND;
 
-        rotateToAngle(rot.getRotations());
+        rotateToAngle(rotationDelta.getRotations() + currentRotation.getRotations());
+
         driveMotor.set(Math.max(Math.min(speed, 1.), -1.));
     }