diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 999ad9c..cd1cd56 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -33,7 +33,7 @@ public class DriveSubsystem extends TestableSubsystem {
 
         driveSystem = swerveBuilder
                 .withCanbusName("Drive")
-                .withPigeonId(20)
+                .withPigeonId(1)
                 .withMaxLinearVelocity(3.0)
                 .withMaxAngularVelocity(Math.PI * 2)
                 .withSwerveModule(
@@ -43,13 +43,13 @@ public class DriveSubsystem extends TestableSubsystem {
                                 .withDriveKI(driveI)
                                 .withDriveKD(driveD)
                                 .withDriveKV(driveKV)
-                                .withSteerMotorId(3)
+                                .withSteerMotorId(11)
                                 .withSteerKP(steerP)
                                 .withSteerKI(steerI)
                                 .withSteerKD(steerD)
                                 .withSteerKV(steerKV)
-                                .withSteerOffset(0.359375)
-                                .withSteerEncoderId(10)
+                                .withSteerOffset(-0.336426)
+                                .withSteerEncoderId(13)
                                 .withModuleLocation(new Translation2d(1, 1))
                                 .withModuleName("Front Left")
                                 .withGearRatio(8.14)
@@ -57,19 +57,19 @@ public class DriveSubsystem extends TestableSubsystem {
                                 .build())
                 .withSwerveModule(
                         swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(5)
+                                .withDriveMotorId(22)
                                 .withDriveKP(driveP)
                                 .withDriveKI(driveI)
                                 .withDriveKD(driveD)
                                 .withDriveKV(driveKV)
                                 .withDriveInverted()
-                                .withSteerMotorId(6)
+                                .withSteerMotorId(21)
                                 .withSteerKP(steerP)
                                 .withSteerKI(steerI)
                                 .withSteerKD(steerD)
                                 .withSteerKV(steerKV)
-                                .withSteerOffset(0.406494)
-                                .withSteerEncoderId(1)
+                                .withSteerOffset(0.108887)
+                                .withSteerEncoderId(23)
                                 .withModuleLocation(new Translation2d(1, -1))
                                 .withModuleName("Front Right")
                                 .withGearRatio(8.14)
@@ -77,18 +77,18 @@ public class DriveSubsystem extends TestableSubsystem {
                                 .build())
                 .withSwerveModule(
                         swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(8)
+                                .withDriveMotorId(32)
                                 .withDriveKP(driveP)
                                 .withDriveKI(driveI)
                                 .withDriveKD(driveD)
                                 .withDriveKV(driveKV)
-                                .withSteerMotorId(2)
+                                .withSteerMotorId(31)
                                 .withSteerKP(steerP)
                                 .withSteerKI(steerI)
                                 .withSteerKD(steerD)
                                 .withSteerKV(steerKV)
-                                .withSteerOffset(0.211670)
-                                .withSteerEncoderId(7)
+                                .withSteerOffset(-0.492432)
+                                .withSteerEncoderId(33)
                                 .withModuleLocation(new Translation2d(-1, 1))
                                 .withModuleName("Back Left")
                                 .withGearRatio(8.14)
@@ -96,19 +96,19 @@ public class DriveSubsystem extends TestableSubsystem {
                                 .build())
                 .withSwerveModule(
                         swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(9)
+                                .withDriveMotorId(42)
                                 .withDriveKP(driveP)
                                 .withDriveKI(driveI)
                                 .withDriveKD(driveD)
                                 .withDriveKV(driveKV)
                                 .withDriveInverted()
-                                .withSteerMotorId(11)
+                                .withSteerMotorId(41)
                                 .withSteerKP(steerP)
                                 .withSteerKI(steerI)
                                 .withSteerKD(steerD)
                                 .withSteerKV(steerKV)
-                                .withSteerOffset(-0.235107)
-                                .withSteerEncoderId(4)
+                                .withSteerOffset(0.470215)
+                                .withSteerEncoderId(43)
                                 .withModuleLocation(new Translation2d(-1, -1))
                                 .withModuleName("Back Right")
                                 .withGearRatio(8.14)