diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e83560f..6e2ca79 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -141,6 +141,7 @@ public class RobotContainer {
 
     TenBallAutoMiddle m_tenBallAutoMiddle;
 
+
     Slalom m_slalom;
 
     Barrel m_barrel;
@@ -198,6 +199,7 @@ public class RobotContainer {
         // runs the storage not
         m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
         m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
+
     }
 
     /**
@@ -208,13 +210,13 @@ public class RobotContainer {
      */
     private void configureButtonBindings() {
         /* Test Buttons */
+      
         // A driver test button
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
             .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
             .whenReleased(new InterruptSubystem(m_robotShooter))
             .whenReleased(new InterruptSubystem(m_robotShooterHood));
 
-
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
             .whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
@@ -434,6 +436,7 @@ public class RobotContainer {
         };
 
         m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths));
+
     }
 
     /**
@@ -461,6 +464,7 @@ public class RobotContainer {
             //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+
         } catch (Exception e) {
             System.err.println("ERROR");
         }
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index cba7de3..8431166 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -345,7 +345,8 @@ public class Drive extends SubsystemBase {
 
   public void updateOdometry(boolean reversed){
     if (reversed){
-      m_odometry.update(Rotation2d.fromDegrees( -getHeading()-180),
+
+      m_odometry.update(Rotation2d.fromDegrees( -getGyroYaw()-180),
                                               -inchesToMeters(getDistanceInches(m_rightFrontMotor)),
                                               inchesToMeters(getDistanceInches(m_leftFrontMotor)));
     }