diff --git a/src/main/java/frc/robot/constants/ModuleConstants.java b/src/main/java/frc/robot/constants/ModuleConstants.java
index 9122d2e..d7f43e9 100644
--- a/src/main/java/frc/robot/constants/ModuleConstants.java
+++ b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -34,7 +34,7 @@ public class ModuleConstants {
     }
 
     // DRIVING MOTOR CONFIG (Kraken)
-    public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);
+    public static final double kDrivingMotorReduction = (50 * 16 * 45)/(14.0 * 28.0 * 15.0);
 
     public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
     public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
@@ -45,7 +45,7 @@ public class ModuleConstants {
     public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS;
     
     // TODO Hold over from 2025, adjust?
-    public static final double kDriveP = .04;
+    public static final double kDriveP = .06;
     public static final double kDriveI = 0;
     public static final double kDriveD = 0;
     public static final double kDriveS = 0;
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 53b99f3..d8ee4ce 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -144,6 +144,7 @@ public class Drivetrain extends SubsystemBase {
         Logger.recordOutput("Drivetrain/Pose", getPose());
         Logger.recordOutput("Drivetrain/Gyro Angle", getGyroValue());
         Logger.recordOutput("Drivetrain/Heading", getHeadingDegrees());
+        Logger.recordOutput("Drivetrain/Velocity", getCurrentChassisSpeeds());
     }
 
     /**