diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 999ad9c..0602753 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -1,166 +1,166 @@
-package frc.robot.subsystems;
-
-import org.fairportrobotics.frc.posty.TestableSubsystem;
-import org.fairportrobotics.frc.posty.test.PostTest;
-import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
-import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveBuilder;
-import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveDriveSystem;
-import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule;
-import org.littletonrobotics.junction.Logger;
-
-import com.fasterxml.jackson.annotation.JsonCreator.Mode;
-
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-
-public class DriveSubsystem extends TestableSubsystem {
-
-    private SwerveBuilder swerveBuilder = new SwerveBuilder();
-    private SwerveDriveSystem driveSystem;
-
-    private double driveP = 0.1;
-    private double driveI = 0.0;
-    private double driveD = 0.01;
-    private double driveKV = 0.2;
-
-    private double steerP = 20;
-    private double steerI = 0;
-    private double steerD = 0.0;
-    private double steerKV = 0;
-
-    public DriveSubsystem(CommandXboxController xboxController) {
-
-        driveSystem = swerveBuilder
-                .withCanbusName("Drive")
-                .withPigeonId(20)
-                .withMaxLinearVelocity(3.0)
-                .withMaxAngularVelocity(Math.PI * 2)
-                .withSwerveModule(
-                        swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(12)
-                                .withDriveKP(driveP)
-                                .withDriveKI(driveI)
-                                .withDriveKD(driveD)
-                                .withDriveKV(driveKV)
-                                .withSteerMotorId(3)
-                                .withSteerKP(steerP)
-                                .withSteerKI(steerI)
-                                .withSteerKD(steerD)
-                                .withSteerKV(steerKV)
-                                .withSteerOffset(0.359375)
-                                .withSteerEncoderId(10)
-                                .withModuleLocation(new Translation2d(1, 1))
-                                .withModuleName("Front Left")
-                                .withGearRatio(8.14)
-                                .withWheelDiameter(0.1016)
-                                .build())
-                .withSwerveModule(
-                        swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(5)
-                                .withDriveKP(driveP)
-                                .withDriveKI(driveI)
-                                .withDriveKD(driveD)
-                                .withDriveKV(driveKV)
-                                .withDriveInverted()
-                                .withSteerMotorId(6)
-                                .withSteerKP(steerP)
-                                .withSteerKI(steerI)
-                                .withSteerKD(steerD)
-                                .withSteerKV(steerKV)
-                                .withSteerOffset(0.406494)
-                                .withSteerEncoderId(1)
-                                .withModuleLocation(new Translation2d(1, -1))
-                                .withModuleName("Front Right")
-                                .withGearRatio(8.14)
-                                .withWheelDiameter(0.1016)
-                                .build())
-                .withSwerveModule(
-                        swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(8)
-                                .withDriveKP(driveP)
-                                .withDriveKI(driveI)
-                                .withDriveKD(driveD)
-                                .withDriveKV(driveKV)
-                                .withSteerMotorId(2)
-                                .withSteerKP(steerP)
-                                .withSteerKI(steerI)
-                                .withSteerKD(steerD)
-                                .withSteerKV(steerKV)
-                                .withSteerOffset(0.211670)
-                                .withSteerEncoderId(7)
-                                .withModuleLocation(new Translation2d(-1, 1))
-                                .withModuleName("Back Left")
-                                .withGearRatio(8.14)
-                                .withWheelDiameter(0.1016)
-                                .build())
-                .withSwerveModule(
-                        swerveBuilder.new SwerveModuleBuilder()
-                                .withDriveMotorId(9)
-                                .withDriveKP(driveP)
-                                .withDriveKI(driveI)
-                                .withDriveKD(driveD)
-                                .withDriveKV(driveKV)
-                                .withDriveInverted()
-                                .withSteerMotorId(11)
-                                .withSteerKP(steerP)
-                                .withSteerKI(steerI)
-                                .withSteerKD(steerD)
-                                .withSteerKV(steerKV)
-                                .withSteerOffset(-0.235107)
-                                .withSteerEncoderId(4)
-                                .withModuleLocation(new Translation2d(-1, -1))
-                                .withModuleName("Back Right")
-                                .withGearRatio(8.14)
-                                .withWheelDiameter(0.1016)
-                                .build())
-                .build();
-
-        this.setDefaultCommand(Commands.run(new Runnable() {
-
-            @Override
-            public void run() {
-                driveSystem.setChassisSpeedsFromJoystickRobotRelative(
-                        -(xboxController.getLeftY() * Math.abs(xboxController.getLeftY())),
-                        -(xboxController.getLeftX() * Math.abs(xboxController.getLeftX())),
-                        -(xboxController.getRawAxis(4) * Math.abs(xboxController.getRawAxis(4))));
-
-                // driveSubsystem.setChassisSpeed(new ChassisSpeeds(1, 0, 0));
-
-                Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates());
-                Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates());
-                Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose());
-            }
-
-        }, this));
-
-    }
-
-    @Override
-    public void periodic() {
-        super.periodic();
-        driveSystem.periodic();
-    }
-
-    @Override
-    public void simulationPeriodic() {
-        super.simulationPeriodic();
-        driveSystem.simulationPeriodic();
-    }
-
-    @PostTest()
-    public void DriveSubsystem_CanDevicesConnected(){
-
-        SwerveModule[] modules = driveSystem.getModules();
-
-        for(int i=0;i < modules.length; i++){
-            assertThat(modules[i].getDriveMotor().isConnected()).as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
-            assertThat(modules[i].getSteerMotor().isConnected()).as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
-            assertThat(modules[i].getSteerEncoder().isConnected()).as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
-        }
-
-        assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue();
-
-    }
-
-}
+package frc.robot.subsystems;
+
+import org.fairportrobotics.frc.posty.TestableSubsystem;
+import org.fairportrobotics.frc.posty.test.PostTest;
+import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
+import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveBuilder;
+import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveDriveSystem;
+import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule;
+import org.littletonrobotics.junction.Logger;
+
+import com.fasterxml.jackson.annotation.JsonCreator.Mode;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
+public class DriveSubsystem extends TestableSubsystem {
+
+    private SwerveBuilder swerveBuilder = new SwerveBuilder();
+    private SwerveDriveSystem driveSystem;
+
+    private double driveP = 0.1;
+    private double driveI = 0.0;
+    private double driveD = 0.01;
+    private double driveKV = 0.2;
+
+    private double steerP = 20;
+    private double steerI = 0;
+    private double steerD = 0.0;
+    private double steerKV = 0;
+
+    public DriveSubsystem(CommandXboxController xboxController) {
+
+        driveSystem = swerveBuilder
+                .withCanbusName("Drive")
+                .withPigeonId(1)
+                .withMaxLinearVelocity(3.0)
+                .withMaxAngularVelocity(Math.PI * 2)
+                .withSwerveModule(
+                        swerveBuilder.new SwerveModuleBuilder()
+                                .withDriveMotorId(12)
+                                .withDriveKP(driveP)
+                                .withDriveKI(driveI)
+                                .withDriveKD(driveD)
+                                .withDriveKV(driveKV)
+                                .withSteerMotorId(11)
+                                .withSteerKP(steerP)
+                                .withSteerKI(steerI)
+                                .withSteerKD(steerD)
+                                .withSteerKV(steerKV)
+                                .withSteerOffset(-0.338623)
+                                .withSteerEncoderId(13)
+                                .withModuleLocation(new Translation2d(1, 1))
+                                .withModuleName("Front Left")
+                                .withGearRatio(8.14)
+                                .withWheelDiameter(0.1016)
+                                .build())
+                .withSwerveModule(
+                        swerveBuilder.new SwerveModuleBuilder()
+                                .withDriveMotorId(22)
+                                .withDriveKP(driveP)
+                                .withDriveKI(driveI)
+                                .withDriveKD(driveD)
+                                .withDriveKV(driveKV)
+                                .withDriveInverted()
+                                .withSteerMotorId(21)
+                                .withSteerKP(steerP)
+                                .withSteerKI(steerI)
+                                .withSteerKD(steerD)
+                                .withSteerKV(steerKV)
+                                .withSteerOffset(0.110840)
+                                .withSteerEncoderId(23)
+                                .withModuleLocation(new Translation2d(1, -1))
+                                .withModuleName("Front Right")
+                                .withGearRatio(8.14)
+                                .withWheelDiameter(0.1016)
+                                .build())
+                .withSwerveModule(
+                        swerveBuilder.new SwerveModuleBuilder()
+                                .withDriveMotorId(32)
+                                .withDriveKP(driveP)
+                                .withDriveKI(driveI)
+                                .withDriveKD(driveD)
+                                .withDriveKV(driveKV)
+                                .withSteerMotorId(31)
+                                .withSteerKP(steerP)
+                                .withSteerKI(steerI)
+                                .withSteerKD(steerD)
+                                .withSteerKV(steerKV)
+                                .withSteerOffset(-0.496582)
+                                .withSteerEncoderId(33)
+                                .withModuleLocation(new Translation2d(-1, 1))
+                                .withModuleName("Back Left")
+                                .withGearRatio(8.14)
+                                .withWheelDiameter(0.1016)
+                                .build())
+                .withSwerveModule(
+                        swerveBuilder.new SwerveModuleBuilder()
+                                .withDriveMotorId(42)
+                                .withDriveKP(driveP)
+                                .withDriveKI(driveI)
+                                .withDriveKD(driveD)
+                                .withDriveKV(driveKV)
+                                .withDriveInverted()
+                                .withSteerMotorId(41)
+                                .withSteerKP(steerP)
+                                .withSteerKI(steerI)
+                                .withSteerKD(steerD)
+                                .withSteerKV(steerKV)
+                                .withSteerOffset(0.463379)
+                                .withSteerEncoderId(43)
+                                .withModuleLocation(new Translation2d(-1, -1))
+                                .withModuleName("Back Right")
+                                .withGearRatio(8.14)
+                                .withWheelDiameter(0.1016)
+                                .build())
+                .build();
+
+        this.setDefaultCommand(Commands.run(new Runnable() {
+
+            @Override
+            public void run() {
+                driveSystem.setChassisSpeedsFromJoystickRobotRelative(
+                        -(xboxController.getLeftY() * Math.abs(xboxController.getLeftY())),
+                        -(xboxController.getLeftX() * Math.abs(xboxController.getLeftX())),
+                        -(xboxController.getRawAxis(4) * Math.abs(xboxController.getRawAxis(4))));
+
+                // driveSubsystem.setChassisSpeed(new ChassisSpeeds(1, 0, 0));
+
+                Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates());
+                Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates());
+                Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose());
+            }
+
+        }, this));
+
+    }
+
+    @Override
+    public void periodic() {
+        super.periodic();
+        driveSystem.periodic();
+    }
+
+    @Override
+    public void simulationPeriodic() {
+        super.simulationPeriodic();
+        driveSystem.simulationPeriodic();
+    }
+
+    @PostTest()
+    public void DriveSubsystem_CanDevicesConnected(){
+
+        SwerveModule[] modules = driveSystem.getModules();
+
+        for(int i=0;i < modules.length; i++){
+            assertThat(modules[i].getDriveMotor().isConnected()).as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
+            assertThat(modules[i].getSteerMotor().isConnected()).as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
+            assertThat(modules[i].getSteerEncoder().isConnected()).as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
+        }
+
+        assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue();
+
+    }
+
+}