diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java
index d55cd6e..f25ec63 100644
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@@ -20,12 +20,6 @@ import swervelib.parser.SwerveParser;
 
 public class Drive extends SubsystemBase {
   /** Creates a new Drive. */
-
-  public static final boolean kFrontLeftDriveMotorReversed = true;
-  public static final boolean kBackLeftDriveMotorReversed = true;
-  public static final boolean kFrontRightDriveMotorReversed = false;
-  public static final boolean kBackRightDriveMotorReversed = true;
-
    SwerveDrive swerveDrive;
 
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
@@ -41,7 +35,7 @@ public class Drive extends SubsystemBase {
       e.printStackTrace();
     }
     AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
-      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 15,
+      new PIDConstants(0.4,0,0.01), new PIDConstants(0.4,0,0.01), 1,
       0.275,
       new ReplanningConfig()
       ), ()->{