diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index a6c772e..460ca01 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -282,6 +282,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
         leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
 
+        rotTarget = heading.getDegrees();
 
         var ctrl = new SwerveRequest.FieldCentricFacingAngle()
             .withVelocityX(leftStick.getX() * speedAdjust)
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
index 16f617d..e295b7f 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
@@ -162,7 +162,7 @@ public final class SwerveDriveConstants {
 
 
         // TODO: Replace this with a static constant
-        public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 15);
+        public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 12);
         public static final ConfigurableDouble AIM_kI = new ConfigurableDouble("Aim kI", 0);
         public static final ConfigurableDouble AIM_kD = new ConfigurableDouble("Aim kD", 0.1);
         // public static final Gains AIM_GAINS = new Gains(2.5, 0, 0.1);