diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index f17497f..6fb5335 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -164,7 +164,9 @@ public class Robot extends TimedRobot {
     // CAN header
     System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
     
-    CANBusStatus canInfo = CANBus.getStatus(Constants.CANBUS_NAME);
+    CANBus canBus = new CANBus(Constants.CANBUS_NAME);
+    
+    CANBusStatus canInfo = canBus.getStatus();
     
     System.out.println("CANInfo BusOffCount     - " + canInfo.BusOffCount);
     System.out.println("CANInfo BusUtilization  - " + canInfo.BusUtilization);
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index f3f76fe..3de23be 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -217,10 +217,10 @@ public class SwerveModule extends Subsystem {
      * Set the speed and rotation of the SwerveModule from a SwerveModuleState object
      * @param desiredState a SwerveModuleState representing the desired new state of the module
     //  */
-    public void setDesiredState(SwerveModuleState desiredState) {
+    public void setDesiredState(SwerveModuleState state) {
         Rotation2d currentRotation = this.getAngle();
 
-        SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
+        state.optimize(currentRotation);//SwerveModuleState.optimize(desiredState, currentRotation);
 
         // calculate the difference between our current rotational position and our new rotational position
         Rotation2d rotationDelta = state.angle.minus(currentRotation);
diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java
index 966d2e0..3ae503f 100644
--- a/src/main/java/frc4388/utility/RobotGyro.java
+++ b/src/main/java/frc4388/utility/RobotGyro.java
@@ -181,7 +181,7 @@ public class RobotGyro {
 	 *					Roll is within [-90,+90] degrees.
      */
     private double[] getPigeonAngles() {
-        m_pigeon.getAngle();
+        //m_pigeon.getAngle(); // This appeared to not do anything?
         var rotation = m_pigeon.getRotation3d();
 
         return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};