diff --git a/networktables.json b/networktables.json
index 67911c5d..d63b31e2 100644
--- a/networktables.json
+++ b/networktables.json
@@ -1,581 +1,54 @@
 [
   {
-    "name": "/Preferences/Arm/Acceleration Time Secs",
-    "type": "double",
-    "value": 0.125,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist Max Vel DegsS",
-    "type": "double",
-    "value": 360.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm Max Vel DegsS",
-    "type": "double",
-    "value": 360.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Theta Alignment.mm.kp",
-    "type": "double",
-    "value": 0.04,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Theta Alignment.mm.ki",
-    "type": "double",
-    "value": 0.01,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Theta Alignment.mm.kd",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kp",
-    "type": "double",
-    "value": 0.015,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kD",
-    "type": "double",
-    "value": 0.00675,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kS",
-    "type": "double",
-    "value": 0.21963,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kV",
-    "type": "double",
-    "value": 0.114541,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kp",
-    "type": "double",
-    "value": 0.015,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kD",
-    "type": "double",
-    "value": 0.00675,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kS",
-    "type": "double",
-    "value": 0.21963,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kV",
-    "type": "double",
-    "value": 0.114541,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/WristLowerLimit",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/WristUpperLimit",
-    "type": "double",
-    "value": 180.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/ArmLowerLimit",
-    "type": "double",
-    "value": -6.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/ArmUpperLimit",
-    "type": "double",
-    "value": 180.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist Gap",
-    "type": "double",
-    "value": 20.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kp",
-    "type": "double",
-    "value": 350.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.ki",
-    "type": "double",
-    "value": 10.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kD",
-    "type": "double",
-    "value": 0.5,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kS",
-    "type": "double",
-    "value": 0.375,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kG",
-    "type": "double",
-    "value": 0.375,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kp",
-    "type": "double",
-    "value": 350.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.ki",
-    "type": "double",
-    "value": 12.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kD",
-    "type": "double",
-    "value": 0.5,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kS",
-    "type": "double",
-    "value": 0.375,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kG",
-    "type": "double",
-    "value": 0.36,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kp",
-    "type": "double",
-    "value": 12.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kD",
+    "name": "/Preferences/Drive/Turning Speed",
     "type": "double",
-    "value": 0.0,
+    "value": 0.75,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Left Climber.mm.kS",
-    "type": "double",
-    "value": 0.0,
+    "name": "/Preferences/Drive/Hold Heading",
+    "type": "boolean",
+    "value": false,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Left Climber.mm.kV",
-    "type": "double",
-    "value": 0.0,
+    "name": "/Preferences/Drive/Use David Drive",
+    "type": "boolean",
+    "value": false,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Left Climber.mm.kG",
+    "name": "/Preferences/Drive/Theta Alignment.mm.kp",
     "type": "double",
-    "value": 0.0,
+    "value": 0.02,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Right Climber.mm.kp",
+    "name": "/Preferences/Drive/Theta Alignment.mm.ki",
     "type": "double",
-    "value": 12.0,
+    "value": 0.01,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Right Climber.mm.ki",
+    "name": "/Preferences/Drive/Theta Alignment.mm.kd",
     "type": "double",
-    "value": 0.0,
+    "value": 0.004,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Right Climber.mm.kD",
+    "name": "/Preferences/Wrist Angle Offset In",
     "type": "double",
     "value": 0.0,
     "properties": {
@@ -583,25 +56,25 @@
     }
   },
   {
-    "name": "/Preferences/Climber/Right Climber.mm.kS",
+    "name": "/Preferences/Wrist Angle Degs offset",
     "type": "double",
-    "value": 0.0,
+    "value": 1.6,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Right Climber.mm.kV",
+    "name": "/Preferences/ArmPoses/Pass SetpointArm Angle",
     "type": "double",
-    "value": 0.0,
+    "value": 45.0,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Climber/Right Climber.mm.kG",
+    "name": "/Preferences/ArmPoses/Pass SetpointWrist Angle",
     "type": "double",
-    "value": 0.0,
+    "value": 55.0,
     "properties": {
       "persistent": true
     }
@@ -622,198 +95,22 @@
       "persistent": true
     }
   },
-  {
-    "name": "/Preferences/ArmPoses/StowArm Angle",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/StowWrist Angle",
-    "type": "double",
-    "value": 35.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/IntakeArm Angle",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/IntakeWrist Angle",
-    "type": "double",
-    "value": 35.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/AmpArm Angle",
-    "type": "double",
-    "value": 94.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/AmpWrist Angle",
-    "type": "double",
-    "value": 145.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left RPM",
-    "type": "double",
-    "value": 3750.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right RPM",
-    "type": "double",
-    "value": 4500.0,
-    "properties": {
-      "persistent": true
-    }
-  },
   {
     "name": "/Preferences/ArmPoses/ShooterTestingArm Angle",
     "type": "double",
-    "value": 45.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/ShooterTestingWrist Angle",
-    "type": "double",
-    "value": 50.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Small.mm.kp",
-    "type": "double",
-    "value": 0.035,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Small.mm.ki",
-    "type": "double",
-    "value": 0.001,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Small.mm.kd",
-    "type": "double",
-    "value": 0.004,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Fast.mm.kp",
-    "type": "double",
-    "value": 0.1,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Fast.mm.ki",
-    "type": "double",
     "value": 0.0,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/Drive/Aimbot Fast.mm.kd",
-    "type": "double",
-    "value": 0.002,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Acceleration Compensation",
-    "type": "double",
-    "value": 0.1,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/Pass SetpointArm Angle",
-    "type": "double",
-    "value": 45.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/Pass SetpointWrist Angle",
+    "name": "/Preferences/ArmPoses/ShooterTestingWrist Angle",
     "type": "double",
     "value": 55.0,
     "properties": {
       "persistent": true
     }
   },
-  {
-    "name": "/Preferences/Drive/Turning Speed",
-    "type": "double",
-    "value": 0.75,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Hold Heading",
-    "type": "boolean",
-    "value": false,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Use David Drive",
-    "type": "boolean",
-    "value": false,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Wrist Angle Offset In",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Wrist Angle Degs offset",
-    "type": "double",
-    "value": 1.6,
-    "properties": {
-      "persistent": true
-    }
-  },
   {
     "name": "/Preferences/Wrist Angle",
     "type": "double",
diff --git a/networktables.json.bck b/networktables.json.bck
index 4885dccb..fc9a85d2 100644
--- a/networktables.json.bck
+++ b/networktables.json.bck
@@ -1,779 +1,4 @@
 [
-  {
-    "name": "/Preferences/Arm/Acceleration Time Secs",
-    "type": "double",
-    "value": 0.125,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist Max Vel DegsS",
-    "type": "double",
-    "value": 360.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm Max Vel DegsS",
-    "type": "double",
-    "value": 360.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kp",
-    "type": "double",
-    "value": 0.08,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kV",
-    "type": "double",
-    "value": 0.06,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kS",
-    "type": "double",
-    "value": 0.35,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Turn Pid Property.mm.kp",
-    "type": "double",
-    "value": 47.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Turn Pid Property.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Module3/Turn Pid Property.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Theta Alignment.mm.kp",
-    "type": "double",
-    "value": 0.04,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Theta Alignment.mm.ki",
-    "type": "double",
-    "value": 0.01,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Theta Alignment.mm.kd",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kp",
-    "type": "double",
-    "value": 0.015,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kD",
-    "type": "double",
-    "value": 0.00675,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kS",
-    "type": "double",
-    "value": 0.21963,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left PID.mm.kV",
-    "type": "double",
-    "value": 0.114541,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kp",
-    "type": "double",
-    "value": 0.015,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kD",
-    "type": "double",
-    "value": 0.00675,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kS",
-    "type": "double",
-    "value": 0.21963,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right PID.mm.kV",
-    "type": "double",
-    "value": 0.114541,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/WristLowerLimit",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/WristUpperLimit",
-    "type": "double",
-    "value": 180.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/ArmLowerLimit",
-    "type": "double",
-    "value": -6.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/ArmUpperLimit",
-    "type": "double",
-    "value": 180.0,
-    "properties": {
-      "persistent": true,
-      "retained": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist Gap",
-    "type": "double",
-    "value": 20.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kp",
-    "type": "double",
-    "value": 350.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.ki",
-    "type": "double",
-    "value": 10.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kD",
-    "type": "double",
-    "value": 0.5,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kS",
-    "type": "double",
-    "value": 0.375,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Arm PID.mm.kG",
-    "type": "double",
-    "value": 0.375,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kp",
-    "type": "double",
-    "value": 350.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.ki",
-    "type": "double",
-    "value": 12.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kD",
-    "type": "double",
-    "value": 0.5,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kS",
-    "type": "double",
-    "value": 0.375,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Arm/Wrist PID.mm.kG",
-    "type": "double",
-    "value": 0.36,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kp",
-    "type": "double",
-    "value": 12.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kS",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Left Climber.mm.kG",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Right Climber.mm.kp",
-    "type": "double",
-    "value": 12.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Right Climber.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Right Climber.mm.kD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Right Climber.mm.kS",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Right Climber.mm.kV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Climber/Right Climber.mm.kG",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/Amp IntermediateArm Angle",
-    "type": "double",
-    "value": 60.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/Amp IntermediateWrist Angle",
-    "type": "double",
-    "value": 145.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/StowArm Angle",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/StowWrist Angle",
-    "type": "double",
-    "value": 35.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/IntakeArm Angle",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/IntakeWrist Angle",
-    "type": "double",
-    "value": 35.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/AmpArm Angle",
-    "type": "double",
-    "value": 94.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/AmpWrist Angle",
-    "type": "double",
-    "value": 145.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Left RPM",
-    "type": "double",
-    "value": 3750.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Right RPM",
-    "type": "double",
-    "value": 4500.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/ShooterTestingArm Angle",
-    "type": "double",
-    "value": 45.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/ShooterTestingWrist Angle",
-    "type": "double",
-    "value": 50.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Small.mm.kp",
-    "type": "double",
-    "value": 0.035,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Small.mm.ki",
-    "type": "double",
-    "value": 0.001,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Small.mm.kd",
-    "type": "double",
-    "value": 0.004,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Fast.mm.kp",
-    "type": "double",
-    "value": 0.1,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Fast.mm.ki",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Drive/Aimbot Fast.mm.kd",
-    "type": "double",
-    "value": 0.002,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/Shooter/Acceleration Compensation",
-    "type": "double",
-    "value": 0.1,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/Pass SetpointArm Angle",
-    "type": "double",
-    "value": 45.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/ArmPoses/Pass SetpointWrist Angle",
-    "type": "double",
-    "value": 55.0,
-    "properties": {
-      "persistent": true
-    }
-  },
   {
     "name": "/Preferences/Drive/Turning Speed",
     "type": "double",
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index fdc8efce..e9075253 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -36,6 +36,7 @@
 import edu.wpi.first.units.Voltage;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
@@ -248,6 +249,10 @@ public void periodic() {
     // process timestamp inputs
     m_timestampInputs.timestamps =
             m_timestampQueue.stream().mapToDouble(Double::valueOf).toArray();
+    // fake sim inputs
+    if (m_timestampInputs.timestamps.length == 0) {
+      m_timestampInputs.timestamps = new double[] {Timer.getFPGATimestamp()};
+    }
     Logger.processInputs("Drive/Odometry/Timestamps", m_timestampInputs);
     m_odometryLock.unlock();
 
@@ -283,6 +288,7 @@ public void periodic() {
           double velocity = (modulePositions[moduleIndex].distanceMeters
               - m_lastModulePositions[moduleIndex].distanceMeters)
               / dt;
+
           double omega = modulePositions[moduleIndex].angle
               .minus(m_lastModulePositions[moduleIndex].angle)
               .getDegrees()
@@ -292,12 +298,14 @@ public void periodic() {
               new SwerveModulePosition(
                   modulePositions[moduleIndex].distanceMeters
                       - m_lastModulePositions[moduleIndex].distanceMeters,
-                  modulePositions[moduleIndex].angle);
+                  modulePositions[moduleIndex].angle.minus(
+                      m_lastModulePositions[moduleIndex].angle));
 
           m_lastModulePositions[moduleIndex] = modulePositions[moduleIndex];
 
-          useUpdate = velocity <= DriveConstants.MAX_LINEAR_SPEED / 0.2
-              && omega <= 90 / 0.2; // make not a floating number
+          // make sure our delta isn't too large
+          useUpdate = Math.abs(velocity) <= DriveConstants.MAX_LINEAR_SPEED * 5.0
+              && Math.abs(omega) <= 1080 * 5.0; // make not a floating number
         }
       }
 
@@ -306,13 +314,15 @@ public void periodic() {
         m_rawGyroRotation = gyroInputs.yawPosition;
       } else {
         Twist2d twist = kinematics.toTwist2d(moduleDeltas);
-        m_rawGyroRotation.plus(new Rotation2d(twist.dtheta));
+        m_rawGyroRotation = m_rawGyroRotation.plus(new Rotation2d(twist.dtheta));
       }
 
       // apply gyro update
       if (useUpdate) {
         m_wpiPoseEstimator.updateWithTime(currentTimestamp, m_rawGyroRotation, modulePositions);
       }
+      m_lastTimestamp = currentTimestamp;
+
     }
 
     // Stop moving when disabled
diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSim.java
index 9e242ac4..8d62ebf9 100644
--- a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSim.java
+++ b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOSim.java
@@ -32,7 +32,7 @@ public class ModuleIOSim implements ModuleIO {
   private static final double LOOP_PERIOD_SECS = 0.02;
 
   private final DCMotorSim driveSim =
-      new DCMotorSim(DCMotor.getKrakenX60(1), ModuleConstants.GearRatios.L3_KRAKEN.ratio, 0.025);
+      new DCMotorSim(DCMotor.getKrakenX60(1), ModuleConstants.GearRatios.L3.ratio, 0.025);
 
   private final DCMotorSim turnSim =
       new DCMotorSim(DCMotor.getFalcon500Foc(1), ModuleConstants.GearRatios.TURN.ratio, 0.004);
@@ -71,15 +71,15 @@ public void updateInputs(ModuleIOInputsAutoLogged inputs) {
     inputs.turnAppliedVolts = turnAppliedVolts;
     inputs.turnCurrentAmps = new double[] {Math.abs(turnSim.getCurrentDrawAmps())};
 
-    inputs.odometryTimestamps = new double[] {Timer.getFPGATimestamp()};
     inputs.odometryDrivePositionsMeters = new double[] {inputs.drivePositionMeters};
     inputs.odometryTurnPositions = new Rotation2d[] {inputs.turnPosition};
   }
 
   @Override
   public void setDriveVelocityMPS(double mps) {
-    double rps = (mps / m_moduleConstants.WHEEL_CURCUMFERENCE_METERS()) * m_moduleConstants.DRIVE_GEAR_RATIO();
+    double rps = (mps / m_moduleConstants.WHEEL_CURCUMFERENCE_METERS()) * ModuleConstants.GearRatios.L3.ratio;
     driveAppliedVolts = m_driveController.calculate(driveSim.getAngularVelocityRPM() / 60.0, rps);
+    driveAppliedVolts += rps * m_moduleConstants.DRIVE_KV();
     driveAppliedVolts = MathUtil.clamp(driveAppliedVolts, -12.0, 12.0);
     driveSim.setInputVoltage(driveAppliedVolts);
   }