diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 82d9ea5a..664e879a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -21,6 +21,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.Constants.DriveConstants;
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.FeedForwardCharacterization;
 import frc.robot.subsystems.drive.DriveSubsystem;
@@ -70,10 +71,10 @@ public RobotContainer() {
           new DriveSubsystem(
             new GyroIO() {
             },
-            new ModuleIOSim(),
-            new ModuleIOSim(),
-            new ModuleIOSim(),
-            new ModuleIOSim());
+            new ModuleIOSim(DriveConstants.FL_MOD_CONSTANTS),
+            new ModuleIOSim(DriveConstants.FR_MOD_CONSTANTS),
+            new ModuleIOSim(DriveConstants.BL_MOD_CONSTANTS),
+            new ModuleIOSim(DriveConstants.BR_MOD_CONSTANTS));
         m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
       }
     default -> {