diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index df6f25d..cf2feee 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -47,12 +47,14 @@ public class RobotContainer {
   // This is not to say you can't trigger or command chain here (see driveCardnial drivetrain example),
   // but generally avoid any situation where the keyword "new" is involved
   private void configureBindings() {
-    drivetrain.setDefaultCommand(drivetrain.teleopCommand(
-      primary::getLeftX, 
-      primary::getLeftY, 
-      primary::getRightX, 
-      OIConstants.kTeleopDriveDeadband
-    ));
+    drivetrain.setDefaultCommand(
+      drivetrain.teleopCommand(
+        primary::getLeftX, 
+        primary::getLeftY, 
+        primary::getRightX, 
+        OIConstants.kTeleopDriveDeadband
+      )
+    );
 
     primary.povCenter().onFalse(
       drivetrain.driveCardinal(
diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index d5abcbf..1fdc0b7 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -32,15 +32,15 @@ public final class DrivetrainConstants {
     public static final double kBackRightChassisAngularOffset = Math.PI / 2;
 
     // SPARK MAX CAN IDs
-    public static final int kFrontLeftDrivingCanId = 1;
+    public static final int kFrontLeftDrivingCanId = 8;
     public static final int kRearLeftDrivingCanId = 3;
-    public static final int kFrontRightDrivingCanId = 4;
-    public static final int kRearRightDrivingCanId = 2;
+    public static final int kFrontRightDrivingCanId = 2;
+    public static final int kRearRightDrivingCanId = 1;
 
-    public static final int kFrontLeftTurningCanId = 5;
+    public static final int kFrontLeftTurningCanId = 4;
     public static final int kRearLeftTurningCanId = 7;
-    public static final int kFrontRightTurningCanId = 8;
-    public static final int kRearRightTurningCanId = 6;
+    public static final int kFrontRightTurningCanId = 6;
+    public static final int kRearRightTurningCanId = 5;
 
     public static final double kTurnToleranceDeg = 0;
     public static final double kTurnRateToleranceDegPerS = 0;