diff --git a/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java b/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
index a2be80e..1ec57b0 100644
--- a/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
+++ b/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
@@ -33,9 +33,9 @@ public class DriveStraightToPositionMM extends CommandBase {
     m_pneumatics = subsystem2;
     try {
       if (m_pneumatics.m_isSpeedShiftHigh) {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
       } else {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
       }
     } catch (Exception e) {
       System.err.println("Error In Motion Magic Switch Gains.");
diff --git a/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java
index 337ff6d..b910380 100644
--- a/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java
@@ -31,9 +31,9 @@ public class DriveStraightToPositionPID extends CommandBase {
     m_pneumatics = subsystem2;
     try {
       if (m_pneumatics.m_isSpeedShiftHigh) {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
       } else {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
       }
     } catch (Exception e) {
       System.err.println("Error In Motion Magic Switch Gains.");
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index bf19e3f..a07f2ec 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -195,6 +195,8 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.SensorDifference, DriveConstants.PID_PRIMARY,
         DriveConstants.DRIVE_TIMEOUT_MS);
 
+    m_rightFrontMotor.configSelectedFeedbackCoefficient(0.5, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
+
     /*
      * Configure the Pigeon IMU to the other Remote Slot available on the right
      * Talon
@@ -826,6 +828,9 @@ public class Drive extends SubsystemBase {
 
   public void updateSmartDashboard() {
     try {
+      
+
+
       // SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
       // SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
       // SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());