diff --git a/FRC_TBD_2e1222392fcc8c02.wpilog b/FRC_TBD_2e1222392fcc8c02.wpilog
deleted file mode 100644
index c8524049..00000000
Binary files a/FRC_TBD_2e1222392fcc8c02.wpilog and /dev/null differ
diff --git a/FRC_TBD_f5fa01df8b142e71.wpilog b/FRC_TBD_f5fa01df8b142e71.wpilog
new file mode 100644
index 00000000..75642de8
Binary files /dev/null and b/FRC_TBD_f5fa01df8b142e71.wpilog differ
diff --git a/networktables.json b/networktables.json
new file mode 100644
index 00000000..fe51488c
--- /dev/null
+++ b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 00000000..73cc713c
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
new file mode 100644
index 00000000..449f4b1d
--- /dev/null
+++ b/simgui.json
@@ -0,0 +1,7 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  }
+}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 822ef67f..dae238a6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -41,7 +41,7 @@ public static final class SwerveConstants {
             : 1.382026108103343;
         public static final double TR_OFFSET_RADS = IS_R1 
             ? -1.1199431538621365 // 2.0216494997276566
-            : 2.771561729904038;
+            : -0.37003092686; // 2.771561729904038
         public static final double BL_OFFSET_RADS = IS_R1
             ? -2.374440566697393
             : -0.0563106973979135 ; //3.0852819561918796
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5bae3052..f5435590 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -127,8 +127,8 @@ public class RobotContainer {
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
-        driveController = new DualJoystickDriveController();
-        // driveController = new XboxDriveController();
+        // driveController = new DualJoystickDriveController();
+        driveController = new XboxDriveController();
 
         photonWrapper = new PhotonWrapper();
         switchableCamera = new SwitchableCamera(shuffleboardTab);