diff --git a/src/main/java/com/team2502/robot2023/commands/DriveCommand.java b/src/main/java/com/team2502/robot2023/commands/DriveCommand.java
index 77d4469..93bb5f8 100644
--- a/src/main/java/com/team2502/robot2023/commands/DriveCommand.java
+++ b/src/main/java/com/team2502/robot2023/commands/DriveCommand.java
@@ -40,6 +40,9 @@ private enum Drivetype {
     private double dlxDrift;
     private double dlyDrift;
 
+    private boolean tgoggla =  false;
+    private boolean prevTog = false;
+
     private final SendableChooser<Drivetype> typeEntry = new SendableChooser<>();
     private final SendableChooser<DriveController> controllerEntry = new SendableChooser<>();
 
@@ -71,6 +74,14 @@ public void execute() {
             resetDrift();
         }
 
+        boolean tog = leftJoystick.getRawButton(OI.RET_MODE);
+        if (prevTog != tog && tog) {
+            tgoggla = !tgoggla;
+        }
+        prevTog = tog;
+
+        SmartDashboard.putBoolean("iosajioj", tgoggla);
+
         ChassisSpeeds speeds;
         Translation2d centerOfRotation;
         drivetrain.setTurnNeutralMode(NeutralMode.Brake);
@@ -106,9 +117,9 @@ public void execute() {
                     break;
                 case FieldOrientedTwist:
                     speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-                            leftJoystick.getY() * (leftJoystick.getRawButton(OI.RET_MODE) ? Drivetrain.RET_VEL : Drivetrain.MAX_VEL),
-                            -leftJoystick.getX() * (leftJoystick.getRawButton(OI.RET_MODE) ? Drivetrain.RET_VEL : Drivetrain.MAX_VEL),
-                            -rightJoystick.getZ() * (leftJoystick.getRawButton(OI.RET_MODE) ? Drivetrain.RET_ROT : Drivetrain.MAX_ROT),
+                            leftJoystick.getY() * (tgoggla ? Drivetrain.RET_VEL : Drivetrain.MAX_VEL),
+                            -leftJoystick.getX() * (tgoggla ? Drivetrain.RET_VEL : Drivetrain.MAX_VEL),
+                            -rightJoystick.getZ() * (tgoggla ? Drivetrain.RET_ROT : Drivetrain.MAX_ROT),
                             Rotation2d.fromDegrees(drivetrain.getHeading()+drivetrain.fieldOrientedOffset));
                     centerOfRotation = new Translation2d(0, 0);
                     drivetrain.setSpeeds(speeds, centerOfRotation);
diff --git a/src/main/java/com/team2502/robot2023/subsystems/DrivetrainSubsystem.java b/src/main/java/com/team2502/robot2023/subsystems/DrivetrainSubsystem.java
index f2ac661..e32e8a7 100644
--- a/src/main/java/com/team2502/robot2023/subsystems/DrivetrainSubsystem.java
+++ b/src/main/java/com/team2502/robot2023/subsystems/DrivetrainSubsystem.java
@@ -21,17 +21,15 @@
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.team2502.robot2023.Utils;
 import com.team2502.robot2023.Constants.HardwareMap;
 import com.team2502.robot2023.Constants.Subsystems.Field;
 import com.team2502.robot2023.Constants.Subsystems.Drivetrain;
 import com.team2502.robot2023.Constants.Subsystems.Drivetrain.*;
-
-import java.lang.Math;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
-public class DrivetrainSubsystem extends SubsystemBase{
+public class DrivetrainSubsystem extends SubsystemBase {
     private SwerveDriveKinematics kinematics;
     private SwerveDriveOdometry odometry;
 
@@ -50,10 +48,10 @@ public class DrivetrainSubsystem extends SubsystemBase{
     private CANSparkMax drivetrainEncoderBackRight;
     private CANSparkMax drivetrainEncoderFrontRight;*/
 
-    private CANCoder drivetrainEncoderBackLeft;
+    /*private CANCoder drivetrainEncoderBackLeft;
     private CANCoder drivetrainEncoderFrontLeft;
     private CANCoder drivetrainEncoderBackRight;
-    private CANCoder drivetrainEncoderFrontRight;
+    private CANCoder drivetrainEncoderFrontRight;*/
 
     private Field2d field;
 
@@ -93,10 +91,10 @@ public DrivetrainSubsystem(){
         drivetrainTurnFrontRight = new WPI_TalonFX(HardwareMap.FR_TURN_MOTOR, "can0");
         drivetrainTurnBackRight = new WPI_TalonFX(HardwareMap.BR_TURN_MOTOR, "can0");
 
-        drivetrainEncoderBackLeft = new CANCoder(HardwareMap.BL_TURN_ENCODER, "can0");
+        /*drivetrainEncoderBackLeft = new CANCoder(HardwareMap.BL_TURN_ENCODER, "can0");
         drivetrainEncoderFrontLeft = new CANCoder(HardwareMap.FL_TURN_ENCODER, "can0");
         drivetrainEncoderFrontRight = new CANCoder(HardwareMap.FR_TURN_ENCODER, "can0");
-        drivetrainEncoderBackRight = new CANCoder(HardwareMap.BR_TURN_ENCODER, "can0");
+        drivetrainEncoderBackRight = new CANCoder(HardwareMap.BR_TURN_ENCODER, "can0");*/
 
         Translation2d m_frontLeftLocation = new Translation2d(Drivetrain.SWERVE_WIDTH, -Drivetrain.SWERVE_LENGTH);
         Translation2d m_frontRightLocation = new Translation2d(Drivetrain.SWERVE_WIDTH, Drivetrain.SWERVE_LENGTH);
@@ -185,6 +183,7 @@ public Pose2d reflectPose(Pose2d input) {
      * call once after aligning turn motors after motor rebuild
      * ensures that swerve zeros persist across restarts
      */
+    /*
     public void setSwerveInit() {
         drivetrainEncoderFrontLeft.configMagnetOffset(
                 drivetrainEncoderFrontLeft.getAbsolutePosition());
@@ -201,20 +200,24 @@ public void setSwerveInit() {
         drivetrainEncoderBackRight.configMagnetOffset(
                 drivetrainEncoderBackRight.getAbsolutePosition());
         drivetrainEncoderBackRight.setPositionToAbsolute();
-    }
+    }*/
 
     private SwerveModulePosition[] getModulePositions() {
         Rotation2d FLRotation = Rotation2d.fromDegrees(
-                drivetrainEncoderFrontLeft.getPosition()
+                //drivetrainEncoderFrontLeft.getPosition()
+                drivetrainTurnFrontLeft.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
         );
         Rotation2d FRRotation = Rotation2d.fromDegrees(
-                drivetrainEncoderFrontRight.getPosition()
+                //drivetrainEncoderFrontRight.getPosition()
+                drivetrainTurnFrontRight.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
         );
         Rotation2d BLRotation = Rotation2d.fromDegrees(
-                drivetrainEncoderBackLeft.getPosition()
+                //drivetrainEncoderBackLeft.getPosition()
+                drivetrainTurnBackLeft.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
         );
         Rotation2d BRRotation = Rotation2d.fromDegrees(
-                drivetrainEncoderBackRight.getPosition()
+                //drivetrainEncoderBackRight.getPosition()
+                drivetrainTurnBackRight.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
         );
 
         SwerveModulePosition FRPosition = new SwerveModulePosition(
@@ -300,23 +303,23 @@ public void setSpeeds(ChassisSpeeds speed, Translation2d centerOfRotation) {
 
         Rotation2d FLRotation = Rotation2d.fromDegrees(
             //drivetrainEncoderFrontLeft.getAlternateEncoder(Drivetrain.SWERVE_ENCODER_COUNTS_PER_REV).getPosition()/360
-            //drivetrainTurnFrontLeft.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
-                -drivetrainEncoderFrontLeft.getPosition()
+            drivetrainTurnFrontLeft.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
+                //-drivetrainEncoderFrontLeft.getPosition()
         );
         Rotation2d FRRotation = Rotation2d.fromDegrees(
             //drivetrainEncoderFrontRight.getAlternateEncoder(Drivetrain.SWERVE_ENCODER_COUNTS_PER_REV).getPosition()/360
-            //drivetrainTurnFrontRight.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
-                -drivetrainEncoderFrontRight.getPosition()
+            drivetrainTurnFrontRight.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
+                //-drivetrainEncoderFrontRight.getPosition()
         );
         Rotation2d BLRotation = Rotation2d.fromDegrees(
             //drivetrainEncoderBackLeft.getAlternateEncoder(Drivetrain.SWERVE_ENCODER_COUNTS_PER_REV).getPosition()/360
-            //drivetrainTurnBackLeft.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
-                -drivetrainEncoderBackLeft.getPosition()
+            drivetrainTurnBackLeft.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
+                //-drivetrainEncoderBackLeft.getPosition()
         );
         Rotation2d BRRotation = Rotation2d.fromDegrees(
             //drivetrainEncoderBackRight.getAlternateEncoder(Drivetrain.SWERVE_ENCODER_COUNTS_PER_REV).getPosition()/360
-            //drivetrainTurnBackRight.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
-                -drivetrainEncoderBackRight.getPosition()
+            drivetrainTurnBackRight.getSelectedSensorPosition() * Drivetrain.SWERVE_FALCON_ENCODER_COUNTS_TO_DEGREES
+                //-drivetrainEncoderBackRight.getPosition()
         );
         
         SwerveModuleState FLState = SwerveModuleState.optimize(moduleStates[0], FLRotation);
@@ -459,12 +462,13 @@ public double getMaxTemp() {
         return Math.max(Math.max(fl, fr), Math.max(bl, br));
     }
 
+    /*
     public void zeroTurn() {
         drivetrainEncoderFrontRight.setPosition(0);
         drivetrainEncoderFrontLeft.setPosition(0);
         drivetrainEncoderBackRight.setPosition(0);
         drivetrainEncoderBackLeft.setPosition(0);
-    }
+    }*/
 
     @Override
     public void periodic(){