diff --git a/.OutlineViewer/outlineviewer.json b/.OutlineViewer/outlineviewer.json
index 4066444..1e0c27b 100644
--- a/.OutlineViewer/outlineviewer.json
+++ b/.OutlineViewer/outlineviewer.json
@@ -9,9 +9,6 @@
     "Publishers": {
       "open": true
     },
-    "Subscribers": {
-      "open": true
-    },
     "open": true
   },
   "retained": {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 55141dd..9143eef 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -30,7 +30,7 @@ public class RobotContainer {
   private Drivetrain drivetrain;
 
   private CommandXboxController primary;
-  private CommandXboxController secondary;
+  //private CommandXboxController secondary;
 
   private Trigger isTeleopTrigger;
 
@@ -58,7 +58,7 @@ public class RobotContainer {
     autoChooser = AutoBuilder.buildAutoChooser();
 
     primary = new CommandXboxController(OIConstants.kPrimaryXboxUSB);
-    secondary = new CommandXboxController(OIConstants.kSecondaryXboxUSB);
+    //secondary = new CommandXboxController(OIConstants.kSecondaryXboxUSB);
 
     isTeleopTrigger = new Trigger(DriverStation::isTeleopEnabled);
 
@@ -89,8 +89,8 @@ public class RobotContainer {
 
     drivetrain.setDefaultCommand(
       drivetrain.teleopCommand(
-        primary::getLeftX, 
         primary::getLeftY, 
+        primary::getLeftX, 
         primary::getRightX, 
         OIConstants.kTeleopDriveDeadband
       )
@@ -98,8 +98,8 @@ public class RobotContainer {
 
     primary.povCenter().onFalse(
       drivetrain.driveCardinal(
-        primary::getLeftX,
-        primary::getLeftY,
+        primary::getLeftY, 
+        primary::getLeftX, 
         primary.getHID()::getPOV,
         OIConstants.kTeleopDriveDeadband).until(
           () -> MathUtil.applyDeadband(primary.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
@@ -109,8 +109,8 @@ public class RobotContainer {
     // Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
     primary.a().onTrue(
       drivetrain.driveAprilTagLock(
-        primary::getLeftX, 
         primary::getLeftY, 
+        primary::getLeftX, 
         OIConstants.kTeleopDriveDeadband, 
         ampTagID
       ).until(
@@ -121,8 +121,8 @@ public class RobotContainer {
     // Lock on to the appropriate Source AprilTag while still being able to strafe and drive forward and back
     primary.b().onTrue(
       drivetrain.driveAprilTagLock(
-        primary::getLeftX, 
         primary::getLeftY, 
+        primary::getLeftX,  
         OIConstants.kTeleopDriveDeadband, 
         sourceTagID
       ).until(
@@ -133,8 +133,8 @@ public class RobotContainer {
     // Lock on to the appropriate Speaker AprilTag while still being able to strafe and drive forward and back
     primary.x().onTrue(
       drivetrain.driveAprilTagLock(
-        primary::getLeftX, 
         primary::getLeftY, 
+        primary::getLeftX, 
         OIConstants.kTeleopDriveDeadband, 
         speakerTag
       ).until(
diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index 5896369..fea3f9b 100644
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -20,12 +20,11 @@ public final class AutoConstants {
     public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
     public static final double kDHeadingController = 0.0025;
 
-    // TODO Is the robot module radius correct?
     public static final HolonomicPathFollowerConfig kPFConfig = new HolonomicPathFollowerConfig(
         new PIDConstants(kPXController), 
         new PIDConstants(kPThetaController), 
         kMaxSpeedMetersPerSecond, 
-        Units.inchesToMeters(36.77), 
+        Units.inchesToMeters(34.65), 
         new ReplanningConfig()
     );
 
diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index 671beb8..5036105 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -15,11 +15,9 @@ public final class DrivetrainConstants {
     public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%)
 
     // Chassis configuration
-    // TODO Update track width
-    public static final double kTrackWidth = Units.inchesToMeters(26.5-1.75*2);
+    public static final double kTrackWidth = Units.inchesToMeters(28-1.75*2);
     // Distance between centers of right and left wheels on robot
-    // TODO Update wheel base
-    public static final double kWheelBase = Units.inchesToMeters(32.3-1.75*2);
+    public static final double kWheelBase = Units.inchesToMeters(28-1.75*2);
     // Distance between front and back wheels on robot
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
         new Translation2d(kWheelBase / 2, kTrackWidth / 2),
@@ -36,12 +34,12 @@ public final class DrivetrainConstants {
     // SPARK MAX CAN IDs
     public static final int kFrontLeftDrivingCanId = 8;
     public static final int kRearLeftDrivingCanId = 3;
-    public static final int kFrontRightDrivingCanId = 2;
+    public static final int kFrontRightDrivingCanId = 6;
     public static final int kRearRightDrivingCanId = 1;
 
     public static final int kFrontLeftTurningCanId = 4;
     public static final int kRearLeftTurningCanId = 7;
-    public static final int kFrontRightTurningCanId = 6;
+    public static final int kFrontRightTurningCanId = 2;
     public static final int kRearRightTurningCanId = 5;
 
     public static final double kTurnToleranceDeg = 0;
@@ -49,6 +47,5 @@ public final class DrivetrainConstants {
 
     public static final boolean kGyroReversed = true;
 
-    // TODO Is this offset going to continue to be correct for this year
-    public static final double kRobotStartOffset = 180;
+    public static final double kRobotStartOffset = 0;
 }