diff --git a/src/main/java/frc/robot/TunerConstants/TunerConstants.java b/src/main/java/frc/robot/TunerConstants/TunerConstants.java
index 3229ec0..8a85a3e 100644
--- a/src/main/java/frc/robot/TunerConstants/TunerConstants.java
+++ b/src/main/java/frc/robot/TunerConstants/TunerConstants.java
@@ -23,15 +23,19 @@ public class TunerConstants {
 
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
-    private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(52.109).withKI(0).withKD(3.0232)
-        .withKS(0.24757).withKV(2.4715).withKA(0.062286)
+    //private static final Slot0Configs steerGains = new Slot0Configs()
+     //   .withKP(68.294).withKI(0).withKD(4.7806)
+     //   .withKS(0.20754).withKV(2.4832).withKA(0.099824)
+      //  .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+        private static final Slot0Configs steerGains = new Slot0Configs()
+        .withKP(43.502).withKI(0).withKD(2.7353)
+        .withKS(0.027275).withKV(2.5818).withKA(0.1055)
         .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control
     // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
     private static final Slot0Configs driveGains = new Slot0Configs()
-        .withKP(0.1).withKI(0).withKD(0)
-        .withKS(0).withKV(0.124);
+        .withKP(63.167).withKI(0).withKD(0.54521)
+        .withKS(0.18227).withKV(0.12483);
 
     // The closed-loop output type to use for the steer motors;
     // This affects the PID/FF gains for the steer motors
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 8c27352..311b4ca 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -124,9 +124,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                 ),
                 new PPHolonomicDriveController(
                     // PID constants for translation
-                    new PIDConstants(10, 0, 0),
+                    new PIDConstants(63.167, 0, 0.54521),
                     // PID constants for rotation
-                    new PIDConstants(7, 0, 0)
+                    new PIDConstants(7.9735, 0, 0.038499)
                 ),
                 config,
                 // Assume the path needs to be flipped for Red vs Blue, this is normally the case
@@ -142,7 +142,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         }
  
     /* The SysId routine to test */
-    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
+    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.