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diff --git a/ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 011 - 0 - ext.dat
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diff --git a/ctre_sim/Talon FX vers. C - 024 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 024 - 0 - ext.dat
index 970c9978..24a87e59 100644
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diff --git a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
index 72dbd6fb..58779fc5 100644
--- a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
+++ b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
@@ -35,6 +35,7 @@ import com.team4099.robot2023.subsystems.superstructure.Request
 import com.team4099.robot2023.subsystems.superstructure.Superstructure
 import com.team4099.robot2023.subsystems.vision.Vision
 import com.team4099.robot2023.subsystems.vision.camera.CameraIO
+import com.team4099.robot2023.subsystems.vision.camera.CameraIOPhotonvision
 import com.team4099.robot2023.subsystems.wrist.Wrist
 import com.team4099.robot2023.subsystems.wrist.WristIOSim
 import com.team4099.robot2023.subsystems.wrist.WristIOTalon
@@ -127,7 +128,7 @@ object RobotContainer {
       // Real Hardware Implementations
       // drivetrain = Drivetrain(object: GyroIO {},object: DrivetrainIO {}
 
-      drivetrain = Drivetrain(GyroIOPigeon2, SWERVE_MODULES_REAL)
+      drivetrain = Drivetrain(GyroIOPigeon2, { SWERVE_MODULES_REAL })
       vision = Vision(object : CameraIO {})
       limelight = LimelightVision(LimelightVisionIOReal)
       intake = Intake(object : IntakeIO {})
@@ -137,7 +138,7 @@ object RobotContainer {
       wrist = Wrist(WristIOTalon)
     } else {
       // Simulation implementations
-      drivetrain = Drivetrain(object : GyroIO {}, SWERVE_MODULES_SIM)
+      drivetrain = Drivetrain(object : GyroIO {}, { SWERVE_MODULES_SIM })
       vision = Vision(object : CameraIO {})
       limelight = LimelightVision(object : LimelightVisionIO {})
       intake = Intake(IntakeIOSim)
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
index 94806eeb..ae57653f 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
@@ -50,7 +50,7 @@ import java.util.concurrent.locks.Lock
 import java.util.concurrent.locks.ReentrantLock
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
-class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModule>) :
+class Drivetrain(private val gyroIO: GyroIO, val swerveModuleSupplier: () -> List<SwerveModule>) :
   SubsystemBase() {
   object TunableDriveStates {
 
@@ -99,6 +99,8 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
   private val swerveModuleID =
     LoggedTunableValue("Drivetrain/testModule", 0.degrees, Pair({ it.inDegrees }, { it.degrees }))
 
+  val swerveModules = swerveModuleSupplier()
+
   var currentRequest: DrivetrainRequest = DrivetrainRequest.ZeroSensors()
     set(value) {
       when (value) {
@@ -391,11 +393,12 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
           )
         )
     }
+
     CustomLogger.recordDebugOutput(
       "Drivetrain/desiredChassisSpeedsVXInMPS", desiredChassisSpeeds.vx.inMetersPerSecond
     )
     CustomLogger.recordDebugOutput(
-      "Drivetrain/desiredChassisSpeedsVYInMPS", desiredChassisSpeeds.vx.inMetersPerSecond
+      "Drivetrain/desiredChassisSpeedsVYInMPS", desiredChassisSpeeds.vy.inMetersPerSecond
     )
     CustomLogger.recordDebugOutput(
       "Drivetrain/omegaDegreesPerSecond", desiredChassisSpeeds.omega.inDegreesPerSecond
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
index 331fd879..2f228cdf 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
@@ -17,6 +17,7 @@ import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.falconspin.Falcon500
 import com.team4099.robot2023.subsystems.falconspin.MotorChecker
 import com.team4099.robot2023.subsystems.falconspin.MotorCollection
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.utils.threads.PhoenixOdometryThread
 import edu.wpi.first.wpilibj.AnalogInput
 import edu.wpi.first.wpilibj.RobotController
@@ -50,6 +51,7 @@ import org.team4099.lib.units.derived.inVoltsPerMetersPerSecond
 import org.team4099.lib.units.derived.inVoltsPerMetersPerSecondPerSecond
 import org.team4099.lib.units.derived.radians
 import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.inMetersPerSecond
 import org.team4099.lib.units.perSecond
 import java.lang.Math.PI
 import java.util.Queue
@@ -237,6 +239,7 @@ class SwerveModuleIOTalon(
         DrivetrainConstants.DRIVE_SENSOR_GEAR_RATIO
     )
     inputs.drivePosition = driveSensor.position
+    inputs.steerPosition = steeringSensor.position
     Logger.recordOutput("$label/rawSteeringValue", steeringFalcon.position.value)
 
     steeringFalcon.position.value