diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 8258835..9c49ff4 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -36,7 +36,7 @@ public final class Constants {
         public static final double WIDTH = 22;
         public static final double HEIGHT = 22;
         public static final double JOYSTICK_TO_METERS_PER_SECOND = 5;
-        public static final double MAX_SPEED_FEET_PER_SEC = 16;
+        public static final double MAX_SPEED_FEET_PER_SEC = 20;
         public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20;
         public static final int LEFT_FRONT_STEER_CAN_ID = 2;
         public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
@@ -51,10 +51,14 @@ public final class Constants {
         public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
         public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
         //ofsets are in degrees
-        public static final float LEFT_FRONT_ENCODER_OFFSET = 0;    
-        public static final float RIGHT_FRONT_ENCODER_OFFSET = 0;   
-        public static final float LEFT_BACK_ENCODER_OFFSET = 0;     
-        public static final float RIGHT_BACK_ENCODER_OFFSET = 0;
+        // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;    
+        // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;   
+        // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;     
+        // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
+        public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
+        public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
+        public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
+        public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
 
         // swerve PID constants
         public static final int SWERVE_SLOT_IDX = 0;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 6ba30b8..4e6c600 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -85,10 +85,10 @@ public class SwerveDrive extends SubsystemBase
         m_rightBackEncoder = rightBackEncoder; 
 
         modules = new SwerveModule[] {
-            new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder), // Front Left
-            new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder), // Front Right
-            new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder), // Back Left
-            new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder)  // Back Right
+            new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left
+            new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right
+            new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left
+            new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET)  // Back Right
         };
         //gyro.reset(); 
     }
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index 4726964..2fe57ee 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -15,6 +15,7 @@ import com.ctre.phoenix.sensors.CANCoderConfiguration;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.SwerveDriveConstants;
@@ -30,7 +31,7 @@ public class SwerveModule extends SubsystemBase {
 
 
   /** Creates a new SwerveModule. */
-  public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder) {
+  public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
     this.driveMotor = driveMotor;
     this.angleMotor = angleMotor;
     this.canCoder = canCoder;
@@ -57,7 +58,7 @@ public class SwerveModule extends SubsystemBase {
     driveMotor.configAllSettings(driveTalonFXConfiguration);*/
 
     CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
-    //CANCODER CONFIG
+    canCoderConfiguration.magnetOffsetDegrees = offset;
     canCoder.configAllSettings(canCoderConfiguration);
   }
 
@@ -74,6 +75,7 @@ public class SwerveModule extends SubsystemBase {
    */
   public void setDesiredState(SwerveModuleState desiredState) {
     Rotation2d currentRotation = getAngle();
+    SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
     SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
 
     // Find the difference between our current rotational position + our new rotational position