diff --git a/src/camera/Camera.cpp b/src/camera/Camera.cpp
index 865bd064..9c436bd0 100644
--- a/src/camera/Camera.cpp
+++ b/src/camera/Camera.cpp
@@ -29,7 +29,7 @@ bool Camera::open(int camera_id, CameraParams intrinsic_params, Mat extrinsic_pa
 	if (camera_id == 20) {
 		gstr_ss << "image/jpeg,width=640,height=480,framerate=30/1 ! "
 				   "jpegdec ! videoconvert ! appsink";
-	} else if (camera_id == 40 || camera_id == 60) {
+	} else if (camera_id == 40 || camera_id == 30) {
 		gstr_ss << "image/jpeg,width=1024,height=768,framerate=30/1 ! "
 				   "jpegdec ! videoconvert ! appsink";
 	} else if (camera_id == 100) {
diff --git a/src/control/SwerveController.cpp b/src/control/SwerveController.cpp
index a4cb31c1..afa3cee1 100644
--- a/src/control/SwerveController.cpp
+++ b/src/control/SwerveController.cpp
@@ -85,6 +85,7 @@ drive_commands_t SwerveController::setCrabCmdVel(double dtheta, double dy,
 
 bool SwerveController::checkWheelRotation(DriveMode mode,
 										  const swerve_rots_t& wheel_rots) const {
+    return true;
 	std::array<int, 4> rots = {wheel_rots.lfRot, wheel_rots.rfRot, wheel_rots.lbRot,
 							   wheel_rots.rbRot};
 	swerve_rots_t target = getSteerRots(mode);