diff --git a/src/main/java/frc/robot/subsystems/arm/ArmIOKraken.java b/src/main/java/frc/robot/subsystems/arm/ArmIOKraken.java
index 343a5b1d..4b37ddad 100644
--- a/src/main/java/frc/robot/subsystems/arm/ArmIOKraken.java
+++ b/src/main/java/frc/robot/subsystems/arm/ArmIOKraken.java
@@ -41,8 +41,8 @@ public class ArmIOKraken implements ArmIO {
   private final HeavyDoubleProperty m_wristMaxVelDegS;
   private final HeavyDoubleProperty m_accelTimeSecs;
 
-  private final MotionMagicConfigs m_armMMConfigs = new MotionMagicConfigs();
-  private final MotionMagicConfigs m_wristMMConfigs = new MotionMagicConfigs();
+  private double m_armMaxVel;
+  private double m_wristMaxVel;
 
   // Control outputs
   private final DynamicMotionMagicVoltage m_wristDynMMRequest;
@@ -51,8 +51,6 @@ public class ArmIOKraken implements ArmIO {
   private final Follower m_wristFollowerRequest;
   private final NeutralOut m_stopRequest;
 
-  private boolean m_tracking = false;
-
   private double m_prevArmVelocityMult = 0.0;
   private double m_prevWristVelocityMult = 0.0;
 
@@ -141,16 +139,16 @@ public ArmIOKraken() {
         .build();
 
     m_armMaxVelDegS = new HeavyDoubleProperty(
-        (double maxVel) -> m_armDynMMRequest.Velocity = Units.degreesToRotations(maxVel),
+        (double maxVel) -> m_armMaxVel = Units.degreesToRotations(maxVel),
         new GosDoubleProperty(false, "Arm/Arm Max Vel DegsS", 120));
 
     m_wristMaxVelDegS = new HeavyDoubleProperty(
-        (double maxVel) -> m_wristDynMMRequest.Velocity = Units.degreesToRotations(maxVel),
+        (double maxVel) -> m_wristMaxVel = Units.degreesToRotations(maxVel),
         new GosDoubleProperty(false, "Arm/Wrist Max Vel DegsS", 120));
 
     m_accelTimeSecs = new HeavyDoubleProperty((double accel) -> {
-      m_armDynMMRequest.Acceleration = m_armDynMMRequest.Velocity / accel;
-      m_wristDynMMRequest.Acceleration = m_wristDynMMRequest.Velocity / accel;
+      m_armDynMMRequest.Acceleration = m_armMaxVel / accel;
+      m_wristDynMMRequest.Acceleration = m_wristMaxVel / accel;
     }, new GosDoubleProperty(false, "Arm/Acceleration Time Secs", 1));
 
     m_armMaxVelDegS.updateIfChanged(true);
@@ -256,11 +254,7 @@ public void setArmVoltage(double voltage) {
 
   @Override
   public void setArmAngle(double degrees, double velocityMult) {
-    if (m_prevArmVelocityMult != velocityMult) {
-      m_armMaxVelDegS.updateIfChanged(true);
-    }
-    m_prevArmVelocityMult = velocityMult;
-    m_armDynMMRequest.Velocity = m_armDynMMRequest.Velocity * velocityMult;
+    m_armDynMMRequest.Velocity = m_armMaxVel * velocityMult;
 
     m_armMaster.setControl(m_armDynMMRequest.withPosition(degrees / 360));
     m_armFollower.setControl(m_armFollowerRequest);
@@ -274,11 +268,7 @@ public void setWristVoltage(double voltage) {
 
   @Override
   public void setWristAngle(double degrees, double velocityMult) {
-    if (m_prevWristVelocityMult != velocityMult) {
-      m_wristMaxVelDegS.updateIfChanged(true);
-    }
-    m_prevWristVelocityMult = velocityMult;
-    m_wristDynMMRequest.Velocity = m_wristDynMMRequest.Velocity * velocityMult;
+    m_wristDynMMRequest.Velocity = m_wristMaxVel * velocityMult;
 
     m_wristMaster.setControl(m_wristDynMMRequest.withPosition(degrees / 360));
     m_wristFollower.setControl(m_wristFollowerRequest);
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index f2555ef3..c42c1e93 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -293,16 +293,16 @@ public void periodic() {
   public void runVelocity(ChassisSpeeds speeds) {
     // Calculate module setpoints
     ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02);
-    SwerveModuleState[] m_setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
-    SwerveDriveKinematics.desaturateWheelSpeeds(m_setpointStates, DriveConstants.MAX_LINEAR_SPEED);
+    SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
+    SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, DriveConstants.MAX_LINEAR_SPEED);
 
     // Send setpoints to modules
     for (int i = 0; i < 4; i++) {
       // The module returns the optimized state, useful for logging
-      m_optimizedStates[i] = modules[i].runSetpoint(m_setpointStates[i]);
+      m_optimizedStates[i] = modules[i].runSetpoint(setpointStates[i]);
     }
 
-    Logger.recordOutput("SwerveStates/Setpoints", m_setpointStates);
+    Logger.recordOutput("SwerveStates/Setpoints", setpointStates);
     Logger.recordOutput("SwerveStates/Optimized", m_optimizedStates);
   }