diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 31b2ccf..8258835 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -35,7 +35,9 @@ public final class Constants {
         public static final double WHEEL_SPEED = 0.1;
         public static final double WIDTH = 22;
         public static final double HEIGHT = 22;
-        public static final double MAX_SPEED_FEET_PER_SEC = 5;
+        public static final double JOYSTICK_TO_METERS_PER_SECOND = 5;
+        public static final double MAX_SPEED_FEET_PER_SEC = 16;
+        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;
         public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index c3c23c7..d4e533f 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -130,7 +130,7 @@ public class RobotMap {
         rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
 
         // config cancoder as remote encoder for swerve steer motors
-        leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+        //leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
         //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
         //rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
         //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 1e9c2d9..6ba30b8 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -88,7 +88,7 @@ public class SwerveDrive extends SubsystemBase
             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_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder)  // Back Right
+            new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder)  // Back Right
         };
         //gyro.reset(); 
     }
@@ -105,12 +105,14 @@ public class SwerveDrive extends SubsystemBase
     {
         /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
         driveFromSpeeds(speeds);*/
+        double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
+        double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
         SwerveModuleState[] states =
             kinematics.toSwerveModuleStates(
                 fieldRelative
-                  ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, gyro.getRotation2d())
-                  : new ChassisSpeeds(xSpeed, ySpeed, rot));
-         SwerveDriveKinematics.normalizeWheelSpeeds(states, SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC);
+                  ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d())
+                  : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot));
+         SwerveDriveKinematics.normalizeWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
          for (int i = 0; i < states.length; i++) {
             SwerveModule module = modules[i];
             SwerveModuleState state = states[i];
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
index bc68cda..4726964 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -4,24 +4,21 @@
 
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
-import com.ctre.phoenix.motorcontrol.can.TalonFX;
 import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 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.util.Units;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
 public class SwerveModule extends SubsystemBase {
     private WPI_TalonFX driveMotor;
@@ -60,6 +57,7 @@ public class SwerveModule extends SubsystemBase {
     driveMotor.configAllSettings(driveTalonFXConfiguration);*/
 
     CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
+    //CANCODER CONFIG
     canCoder.configAllSettings(canCoderConfiguration);
   }
 
@@ -82,7 +80,7 @@ public class SwerveModule extends SubsystemBase {
     Rotation2d rotationDelta = state.angle.minus(currentRotation);
 
     // Find the new absolute position of the module based on the difference in rotation
-    double deltaTicks = (rotationDelta.getDegrees() / 360) * kEncoderTicksPerRotation;
+    double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
     // Convert the CANCoder from it's position reading back to ticks
     double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
     double desiredTicks = currentTicks + deltaTicks;
@@ -90,6 +88,6 @@ public class SwerveModule extends SubsystemBase {
 
 
     double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
-    driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC);
+    driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
   }
 }