diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0b30b53..63f5dbc 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -285,7 +285,7 @@ public class RobotContainer {
 
 		sensorTab.addDouble("dt distance", drivetrain::driveDistance);
 
-
+		//sensorTab.add("odometry", drivetrain::getPose);
 
  	}
 
diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index 963f4ed..2e30d65 100644
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -16,9 +16,9 @@ public class AutoConstants {
     public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
     public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 
-    public static final double kPXController = 1;
-    public static final double kPYController = 1;
-    public static final double kPThetaController = 1;
+    public static final double kPXController = 15;
+    public static final double kPYController = 15;
+    public static final double kPThetaController = 5;
 
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index 7d57c66..fb5fe68 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -22,10 +22,17 @@ public class DrivetrainConstants {
     public static final double kWheelBase = Units.inchesToMeters(24.5);
 
     // Angular offsets of the modules relative to the chassis in radians
+    /* 
     public static final double kFrontLeftChassisAngularOffset = Math.PI;
     public static final double kFrontRightChassisAngularOffset = -Math.PI / 2;
     public static final double kBackLeftChassisAngularOffset = Math.PI / 2;
     public static final double kBackRightChassisAngularOffset = 0;
+*/
+
+    public static final double kFrontLeftChassisAngularOffset = 0;
+    public static final double kFrontRightChassisAngularOffset = Math.PI / 2;
+    public static final double kBackLeftChassisAngularOffset = -Math.PI / 2;
+    public static final double kBackRightChassisAngularOffset = Math.PI;
 
     // 1, 7, 10 is the default for these three values
     public static final double kSysIDDrivingRampRate = 1;
diff --git a/src/main/java/frc/robot/constants/ModuleConstants.java b/src/main/java/frc/robot/constants/ModuleConstants.java
index d52fff7..fdb54aa 100644
--- a/src/main/java/frc/robot/constants/ModuleConstants.java
+++ b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -47,7 +47,7 @@ public class ModuleConstants {
 
     public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
 
-    public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
+    public static final InvertedValue kDriveInversionState = InvertedValue.CounterClockwise_Positive;
     public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM 
diff --git a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
index b88bc3a..a787c51 100644
--- a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
+++ b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
@@ -74,7 +74,7 @@ public class MAXSwerveModule {
     public SwerveModuleState getState() {
         // Apply chassis angular offset to the encoder position to get the position
         // relative to the chassis.
-        return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(),
+        return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,
             new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
     }
 
@@ -86,7 +86,7 @@ public class MAXSwerveModule {
     public SwerveModulePosition getPosition() {
         // Apply chassis angular offset to the encoder position to get the position
         // relative to the chassis.
-        return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(),
+        return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,
             new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
     }
 
@@ -140,6 +140,6 @@ public class MAXSwerveModule {
     }
 
     public double getTotalDist(){
-        return m_drive.getPosition().getValueAsDouble();
+        return m_drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters;
     }
 }