diff --git a/example/5516-2024-OffSeason/src/main/java/frc/robot/constants/DriveTrainConstants.java b/example/5516-2024-OffSeason/src/main/java/frc/robot/constants/DriveTrainConstants.java
index 4297b89..bc13b72 100644
--- a/example/5516-2024-OffSeason/src/main/java/frc/robot/constants/DriveTrainConstants.java
+++ b/example/5516-2024-OffSeason/src/main/java/frc/robot/constants/DriveTrainConstants.java
@@ -18,12 +18,16 @@ public class DriveTrainConstants {
             WHEEL_COEFFICIENT_OF_FRICTION = 0.95,
             ROBOT_MASS_KG = 37.35; // with bumpers
 
+    private static final DCMotor KRAKEN_X60 = new DCMotor(
+            12, 7.09, 366, 2, Units.rotationsPerMinuteToRadiansPerSecond(4800), 1);
+    private static final DCMotor FALCON_500 = new DCMotor(
+        12, 4.69, 257, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(5104), 1);
     /**
      *  TODO: change motor type to match your robot
      *  */
     public static final DCMotor
-            DRIVE_MOTOR = DCMotor.getKrakenX60(1),
-            STEER_MOTOR = DCMotor.getFalcon500(1);
+            DRIVE_MOTOR = KRAKEN_X60,
+            STEER_MOTOR = FALCON_500;
 
     /**
      * numbers imported from {@link TunerConstants}
diff --git a/example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java b/example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
index 44dc81b..e04f692 100644
--- a/example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
+++ b/example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import org.littletonrobotics.junction.Logger;
 
 import java.util.Arrays;
 
@@ -23,7 +24,7 @@
 public class ModuleIOSim implements ModuleIO {
     public final SwerveModulePhysicsSimulationResults physicsSimulationResults;
     private final DCMotorSim steerSim;
-    private double driveDesiredVolts = 0.0, steerAppliedVolts = 0.0;
+    private double driveDesiredVolts = 0.0, driveAppliedVolts = 0.0, driveActualCurrent = 0.0, steerAppliedVolts = 0.0;
 
     public ModuleIOSim() {
         this.steerSim = new DCMotorSim(STEER_MOTOR, STEER_GEAR_RATIO, STEER_INERTIA);
@@ -35,11 +36,8 @@ public ModuleIOSim() {
     public void updateInputs(ModuleIOInputs inputs) {
         inputs.driveWheelFinalRevolutions = physicsSimulationResults.driveWheelFinalRevolutions;
         inputs.driveWheelFinalVelocityRevolutionsPerSec = Units.radiansToRotations(physicsSimulationResults.driveWheelFinalVelocityRadPerSec);
-        inputs.driveMotorAppliedVolts = driveDesiredVolts;
-        inputs.driveMotorCurrentAmps = Math.abs(DRIVE_MOTOR.getCurrent(
-                physicsSimulationResults.driveWheelFinalVelocityRadPerSec,
-                driveDesiredVolts
-        ));
+        inputs.driveMotorAppliedVolts = driveAppliedVolts;
+        inputs.driveMotorCurrentAmps = Math.abs(driveActualCurrent);
 
         inputs.steerFacing = Rotation2d.fromRadians(steerSim.getAngularPositionRad());
         inputs.steerVelocityRadPerSec = steerSim.getAngularVelocityRadPerSec();
@@ -80,24 +78,27 @@ public double getSimulationTorque() {
                         * DRIVE_GEAR_RATIO;
         final double currentAtDesiredVolts = DRIVE_MOTOR.getCurrent(
                 driveMotorRotterSpeedRadPerSec,
-                driveDesiredVolts
+                driveAppliedVolts
         );
 
         // apply smart current limit
-        final double SMART_CURRENT_LIMIT_MINIMUM_VOLTAGE_RATE = 0.5;
-        double actualAppliedVolts = driveDesiredVolts;
+        driveAppliedVolts = driveDesiredVolts;
         if (Math.abs(currentAtDesiredVolts) > DRIVE_CURRENT_LIMIT
                 && driveDesiredVolts * physicsSimulationResults.driveWheelFinalVelocityRadPerSec > 0) {
-            final double currentLimitRate = DRIVE_CURRENT_LIMIT / Math.abs(currentAtDesiredVolts);
-            actualAppliedVolts *= Math.max(currentLimitRate, SMART_CURRENT_LIMIT_MINIMUM_VOLTAGE_RATE);
+            final double limitedCurrent = Math.copySign(DRIVE_CURRENT_LIMIT, currentAtDesiredVolts);
+            driveAppliedVolts = DRIVE_MOTOR.getVoltage(
+                    DRIVE_MOTOR.getTorque(limitedCurrent),
+                    driveMotorRotterSpeedRadPerSec
+            );
         }
 
-        final double actualCurrent = DRIVE_MOTOR.getCurrent(
+        driveActualCurrent = DRIVE_MOTOR.getCurrent(
                 driveMotorRotterSpeedRadPerSec,
-                actualAppliedVolts
+                driveAppliedVolts
         );
 
-        return DRIVE_MOTOR.getTorque(actualCurrent);
+
+        return DRIVE_MOTOR.getTorque(driveActualCurrent) * DRIVE_GEAR_RATIO;
     }
 
     public Rotation2d getSimulationSteerFacing() {
diff --git a/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java b/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java
index d395733..06a12c6 100644
--- a/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java
+++ b/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java
@@ -149,20 +149,21 @@ public RobotSimulationProfile() {
                     DriveTrainConstants.ROBOT_MASS_KG,
                     DriveTrainConstants.BUMPER_WIDTH_METERS,
                     DriveTrainConstants.BUMPER_LENGTH_METERS,
-                    0.1
+                    0.05,
+                    0.05
             );
         }
 
-        public RobotSimulationProfile(double robotMaxVelocity, double robotMaxAcceleration, double maxAngularVelocity, double robotMass, double width, double height, double dampingCoefficient) {
+        public RobotSimulationProfile(double robotMaxVelocity, double robotMaxAcceleration, double maxAngularVelocity, double robotMass, double width, double height, double translationalDampingCoefficient, double rotationalDampingCoefficient) {
             this.robotMaxVelocity = robotMaxVelocity;
             this.robotMaxAcceleration = robotMaxAcceleration;
             this.robotMass = robotMass;
             this.propellingForce = robotMaxAcceleration * robotMass;
             this.frictionForce = DriveTrainConstants.MAX_FRICTION_ACCELERATION * robotMass;
-            this.linearVelocityDamping = robotMaxAcceleration / robotMaxVelocity * dampingCoefficient;
+            this.linearVelocityDamping = robotMaxAcceleration / robotMaxVelocity * translationalDampingCoefficient;
             this.maxAngularVelocity = maxAngularVelocity;
             this.maxAngularAcceleration = robotMaxAcceleration / (Math.hypot(width, height) / 2);
-            this.angularDamping = maxAngularAcceleration / maxAngularVelocity * dampingCoefficient;
+            this.angularDamping = maxAngularAcceleration / maxAngularVelocity * rotationalDampingCoefficient;
             this.angularFrictionAcceleration = DriveTrainConstants.CHASSIS_FRICTIONAL_ANGULAR_ACCELERATION;
             this.width = width;
             this.height = height;
diff --git a/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java b/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
index bb2c639..ad47b64 100644
--- a/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
+++ b/example/5516-2024-OffSeason/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
@@ -44,7 +44,7 @@ public class OpponentRobotSimulation extends HolonomicChassisSimulation implemen
             Units.lbsToKilograms(125),
             DriveTrainConstants.BUMPER_WIDTH_METERS,
             DriveTrainConstants.BUMPER_LENGTH_METERS,
-            1
+            1, 1
     );
 
     private final int robotID;
diff --git a/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
index 44dc81b..e04f692 100644
--- a/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
+++ b/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+import org.littletonrobotics.junction.Logger;
 
 import java.util.Arrays;
 
@@ -23,7 +24,7 @@
 public class ModuleIOSim implements ModuleIO {
     public final SwerveModulePhysicsSimulationResults physicsSimulationResults;
     private final DCMotorSim steerSim;
-    private double driveDesiredVolts = 0.0, steerAppliedVolts = 0.0;
+    private double driveDesiredVolts = 0.0, driveAppliedVolts = 0.0, driveActualCurrent = 0.0, steerAppliedVolts = 0.0;
 
     public ModuleIOSim() {
         this.steerSim = new DCMotorSim(STEER_MOTOR, STEER_GEAR_RATIO, STEER_INERTIA);
@@ -35,11 +36,8 @@ public ModuleIOSim() {
     public void updateInputs(ModuleIOInputs inputs) {
         inputs.driveWheelFinalRevolutions = physicsSimulationResults.driveWheelFinalRevolutions;
         inputs.driveWheelFinalVelocityRevolutionsPerSec = Units.radiansToRotations(physicsSimulationResults.driveWheelFinalVelocityRadPerSec);
-        inputs.driveMotorAppliedVolts = driveDesiredVolts;
-        inputs.driveMotorCurrentAmps = Math.abs(DRIVE_MOTOR.getCurrent(
-                physicsSimulationResults.driveWheelFinalVelocityRadPerSec,
-                driveDesiredVolts
-        ));
+        inputs.driveMotorAppliedVolts = driveAppliedVolts;
+        inputs.driveMotorCurrentAmps = Math.abs(driveActualCurrent);
 
         inputs.steerFacing = Rotation2d.fromRadians(steerSim.getAngularPositionRad());
         inputs.steerVelocityRadPerSec = steerSim.getAngularVelocityRadPerSec();
@@ -80,24 +78,27 @@ public double getSimulationTorque() {
                         * DRIVE_GEAR_RATIO;
         final double currentAtDesiredVolts = DRIVE_MOTOR.getCurrent(
                 driveMotorRotterSpeedRadPerSec,
-                driveDesiredVolts
+                driveAppliedVolts
         );
 
         // apply smart current limit
-        final double SMART_CURRENT_LIMIT_MINIMUM_VOLTAGE_RATE = 0.5;
-        double actualAppliedVolts = driveDesiredVolts;
+        driveAppliedVolts = driveDesiredVolts;
         if (Math.abs(currentAtDesiredVolts) > DRIVE_CURRENT_LIMIT
                 && driveDesiredVolts * physicsSimulationResults.driveWheelFinalVelocityRadPerSec > 0) {
-            final double currentLimitRate = DRIVE_CURRENT_LIMIT / Math.abs(currentAtDesiredVolts);
-            actualAppliedVolts *= Math.max(currentLimitRate, SMART_CURRENT_LIMIT_MINIMUM_VOLTAGE_RATE);
+            final double limitedCurrent = Math.copySign(DRIVE_CURRENT_LIMIT, currentAtDesiredVolts);
+            driveAppliedVolts = DRIVE_MOTOR.getVoltage(
+                    DRIVE_MOTOR.getTorque(limitedCurrent),
+                    driveMotorRotterSpeedRadPerSec
+            );
         }
 
-        final double actualCurrent = DRIVE_MOTOR.getCurrent(
+        driveActualCurrent = DRIVE_MOTOR.getCurrent(
                 driveMotorRotterSpeedRadPerSec,
-                actualAppliedVolts
+                driveAppliedVolts
         );
 
-        return DRIVE_MOTOR.getTorque(actualCurrent);
+
+        return DRIVE_MOTOR.getTorque(driveActualCurrent) * DRIVE_GEAR_RATIO;
     }
 
     public Rotation2d getSimulationSteerFacing() {
diff --git a/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java b/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java
index d395733..06a12c6 100644
--- a/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java
+++ b/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/HolonomicChassisSimulation.java
@@ -149,20 +149,21 @@ public RobotSimulationProfile() {
                     DriveTrainConstants.ROBOT_MASS_KG,
                     DriveTrainConstants.BUMPER_WIDTH_METERS,
                     DriveTrainConstants.BUMPER_LENGTH_METERS,
-                    0.1
+                    0.05,
+                    0.05
             );
         }
 
-        public RobotSimulationProfile(double robotMaxVelocity, double robotMaxAcceleration, double maxAngularVelocity, double robotMass, double width, double height, double dampingCoefficient) {
+        public RobotSimulationProfile(double robotMaxVelocity, double robotMaxAcceleration, double maxAngularVelocity, double robotMass, double width, double height, double translationalDampingCoefficient, double rotationalDampingCoefficient) {
             this.robotMaxVelocity = robotMaxVelocity;
             this.robotMaxAcceleration = robotMaxAcceleration;
             this.robotMass = robotMass;
             this.propellingForce = robotMaxAcceleration * robotMass;
             this.frictionForce = DriveTrainConstants.MAX_FRICTION_ACCELERATION * robotMass;
-            this.linearVelocityDamping = robotMaxAcceleration / robotMaxVelocity * dampingCoefficient;
+            this.linearVelocityDamping = robotMaxAcceleration / robotMaxVelocity * translationalDampingCoefficient;
             this.maxAngularVelocity = maxAngularVelocity;
             this.maxAngularAcceleration = robotMaxAcceleration / (Math.hypot(width, height) / 2);
-            this.angularDamping = maxAngularAcceleration / maxAngularVelocity * dampingCoefficient;
+            this.angularDamping = maxAngularAcceleration / maxAngularVelocity * rotationalDampingCoefficient;
             this.angularFrictionAcceleration = DriveTrainConstants.CHASSIS_FRICTIONAL_ANGULAR_ACCELERATION;
             this.width = width;
             this.height = height;
diff --git a/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java b/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
index bb2c639..ad47b64 100644
--- a/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
+++ b/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
@@ -44,7 +44,7 @@ public class OpponentRobotSimulation extends HolonomicChassisSimulation implemen
             Units.lbsToKilograms(125),
             DriveTrainConstants.BUMPER_WIDTH_METERS,
             DriveTrainConstants.BUMPER_LENGTH_METERS,
-            1
+            1, 1
     );
 
     private final int robotID;