diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index a336a4f..1aaef2f 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -33,6 +33,7 @@ import edu.wpi.first.units.measure.Distance;
 import frc4388.utility.CanDevice;
 import frc4388.utility.Gains;
 import frc4388.utility.LEDPatterns;
+import frc4388.utility.Trim;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -82,6 +83,8 @@ public final class Constants {
 
         public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
 
+        public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
+
         private static final class ModuleSpecificConstants {
             //Front Left
             private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index e64ca36..18e54f5 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -25,6 +25,7 @@ import frc4388.utility.DeferredBlock;
 import frc4388.utility.RobotTime;
 import frc4388.utility.Status;
 import frc4388.utility.Subsystem;
+import frc4388.utility.Trim;
 import frc4388.utility.Status.Report;
 import frc4388.utility.Status.ReportLevel;
 //import frc4388.robot.subsystems.LED;
@@ -160,6 +161,14 @@ public class Robot extends TimedRobot {
   //  m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
   }
 
+  /**
+   * This function is called periodically during operator control.
+   */
+  @Override
+  public void teleopExit() { // the only OTHER mode that teleop can enter into is disabled.
+    Trim.dumpAll();
+  }
+
   @Override
   public void testInit() {
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 0a28e41..6f8887c 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.GenericHID;
 import frc4388.utility.controller.XboxController;
 import frc4388.utility.controller.DeadbandedXboxController;
 import frc4388.robot.Constants.OIConstants;
+import frc4388.robot.Constants.SwerveDriveConstants;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
@@ -145,7 +146,18 @@ public class RobotContainer {
 
         DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
-            
+        
+        // @ /* Trim Test Buttons */
+        
+        new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
+            .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
+        
+        new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
+            .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
+        
+        new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
+            .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
+
         // ! /* Speed */
         new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
             .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
diff --git a/src/main/java/frc4388/utility/Trim.java b/src/main/java/frc4388/utility/Trim.java
index 3d985ea..7a9d017 100644
--- a/src/main/java/frc4388/utility/Trim.java
+++ b/src/main/java/frc4388/utility/Trim.java
@@ -56,7 +56,7 @@ public class Trim {
             trimElement.setValue(currentValue);
         modified = true;
     }
-    
+
     public void stepUp() {
         this.currentValue += step;
         clampModify();
@@ -109,7 +109,7 @@ public class Trim {
     }
 
     public static void dumpAll() {
-        for (int i = 0; i > trims.size(); i++) {
+        for (int i = 0; i < trims.size(); i++) {
             Trim trim = trims.get(i);
             if (trim.isModified()) 
                 trim.dump();