diff --git a/src/main/java/org/codeorange/frc2024/robot/Constants.java b/src/main/java/org/codeorange/frc2024/robot/Constants.java
index 33f0c8f..7ef980c 100644
--- a/src/main/java/org/codeorange/frc2024/robot/Constants.java
+++ b/src/main/java/org/codeorange/frc2024/robot/Constants.java
@@ -9,6 +9,7 @@
 import edu.wpi.first.math.util.Units;
 import org.codeorange.frc2024.utility.MacAddressUtil;
 import org.codeorange.frc2024.utility.MacAddressUtil.RobotIdentity;
+import org.codeorange.frc2024.utility.swerve.SecondOrderModuleState;
 import org.codeorange.frc2024.utility.swerve.SwerveSetpointGenerator;
 import org.codeorange.frc2024.utility.swerve.SecondOrderKinematics;
 import org.jetbrains.annotations.NotNull;
@@ -135,10 +136,10 @@ public static class Ports {
 
             }
             case COMPETITION_BOT -> {
-                FL_ABSOLUTE_ENCODER_OFFSET = -0.962158203125;
-                BL_ABSOLUTE_ENCODER_OFFSET = -0.38037109375;
-                FR_ABSOLUTE_ENCODER_OFFSET = -0.038330078125;
-                BR_ABSOLUTE_ENCODER_OFFSET = -0.699462890625;
+                FL_ABSOLUTE_ENCODER_OFFSET = -0.669677734375 + 0.5;
+                BL_ABSOLUTE_ENCODER_OFFSET = -0.02197265625 + 0.5;
+                FR_ABSOLUTE_ENCODER_OFFSET = -0.378662109375 + 0.5;
+                BR_ABSOLUTE_ENCODER_OFFSET = -0.949462890625 + 0.5;
                 WRIST_ABSOLUTE_ENCODER_OFFSET = -0.10498046875;
                 ARM_ABSOLUTE_ENCODER_OFFSET = 0.45068359375;
             }
@@ -226,7 +227,7 @@ public static class Ports {
     public static final double SS_HOMING_WRIST = isPrototype() ? 0 : 0;
     public static final double SS_HOMING_CLIMBER = isPrototype() ? 0 : 0;
 
-    public static final double SWERVE_DRIVE_P = 50;
+    public static final double SWERVE_DRIVE_P = 30;
     public static final double SWERVE_DRIVE_D = 0;
     public static final double SWERVE_DRIVE_I = 0;
 
@@ -274,7 +275,7 @@ public static class Ports {
     public static final double SWERVE_INCHES_PER_ROTATION = 2*Math.PI*SWERVE_WHEEL_RADIUS;
     public static final double SWERVE_METER_PER_ROTATION = Units.inchesToMeters(SWERVE_INCHES_PER_ROTATION);
     public static final boolean USE_SECOND_ORDER_KINEMATICS = false;
-    public static final double STEER_MOTOR_POSITION_CONVERSION_FACTOR = 1 / 12.8;
+    public static final double STEER_MOTOR_POSITION_CONVERSION_FACTOR = 7.0 / 150.0;
     public static final double DRIVE_MOTOR_REDUCTION = 9 / 53.125;
 
     public static final double wheelBaseInches = isPrototype() ? 22.75 : 24.25; // not real number, just example
@@ -289,7 +290,7 @@ public static class Ports {
             SWERVE_RIGHT_BACK_LOCATION
     };
     // really, figure out if these locations are correct <_<
-    public static final SwerveDriveKinematics SWERVE_DRIVE_KINEMATICS = new SwerveDriveKinematics(
+    public static final SecondOrderKinematics SWERVE_DRIVE_KINEMATICS = new SecondOrderKinematics(
             SWERVE_MODULE_LOCATIONS
     );
 
diff --git a/src/main/java/org/codeorange/frc2024/subsystem/drive/Drive.java b/src/main/java/org/codeorange/frc2024/subsystem/drive/Drive.java
index 0494214..416dc76 100644
--- a/src/main/java/org/codeorange/frc2024/subsystem/drive/Drive.java
+++ b/src/main/java/org/codeorange/frc2024/subsystem/drive/Drive.java
@@ -188,11 +188,11 @@ private void setMotorSpeed(int module, double velocity, double acceleration, boo
     SwerveModuleState[] wantedStates = new SwerveModuleState[4];
     SwerveModuleState[] realStates = new SwerveModuleState[4];
 
-    private synchronized void setSwerveModuleStates(SwerveModuleState[] swerveModuleStates, boolean isOpenLoop) {
+    private synchronized void setSwerveModuleStates(SecondOrderModuleState[] swerveModuleStates, boolean isOpenLoop) {
         for (int i = 0; i < 4; i++) {
             var moduleState = swerveModuleStates[i];
             moduleState = SecondOrderModuleState.optimize(moduleState, Rotation2d.fromDegrees(getWheelRotation(i)));
-            wantedStates[i] = swerveModuleStates[i];
+            wantedStates[i] = swerveModuleStates[i].toFirstOrder();
 
             moduleIO[i].setSteerMotorPosition(moduleState.angle.getDegrees());
             setMotorSpeed(i, moduleState.speedMetersPerSecond, 0, isOpenLoop);
@@ -209,7 +209,7 @@ private synchronized void setSwerveModuleStates(SwerveModuleState[] swerveModule
     }
 
     public synchronized void drive(@NotNull ControllerDriveInputs inputs, boolean fieldRel, boolean openLoop) {
-        SwerveModuleState[] states =
+        SecondOrderModuleState[] states =
                 SWERVE_DRIVE_KINEMATICS.toSwerveModuleStates(
                         ChassisSpeeds.discretize(fieldRel ?
                                         ChassisSpeeds.fromFieldRelativeSpeeds(
@@ -222,7 +222,7 @@ public synchronized void drive(@NotNull ControllerDriveInputs inputs, boolean fi
                                         DRIVE_HIGH_SPEED_M * inputs.getY(),
                                         inputs.getRotation() * MAX_TELEOP_TURN_SPEED), 0.02
                                 ));
-        SwerveDriveKinematics.desaturateWheelSpeeds(states, DRIVE_HIGH_SPEED_M);
+        SecondOrderKinematics.desaturateWheelSpeeds(states, DRIVE_HIGH_SPEED_M);
 
         setSwerveModuleStates(states, openLoop);
     }
@@ -230,13 +230,13 @@ public synchronized void drive(@NotNull ControllerDriveInputs inputs, boolean fi
     public void swerveDriveTargetAngle(@NotNull ControllerDriveInputs inputs, double targetAngleRad) {
         double turn = turnPID.calculate(gyroInputs.yawPositionRad, targetAngleRad);
         Logger.recordOutput("Drive/Wanted Omega", turn);
-        SwerveModuleState[] states = SWERVE_DRIVE_KINEMATICS.toSwerveModuleStates(
+        SecondOrderModuleState[] states = SWERVE_DRIVE_KINEMATICS.toSwerveModuleStates(
                 ChassisSpeeds.discretize(
                         ChassisSpeeds.fromFieldRelativeSpeeds(DRIVE_HIGH_SPEED_M * inputs.getX(),
                                 DRIVE_HIGH_SPEED_M * inputs.getY(),
                                 -turn,
                                 gyroInputs.rotation2d), 0.02));
-        SwerveDriveKinematics.desaturateWheelSpeeds(states, DRIVE_HIGH_SPEED_M);
+        SecondOrderKinematics.desaturateWheelSpeeds(states, DRIVE_HIGH_SPEED_M);
         setSwerveModuleStates(states, true);
     }
 
@@ -312,7 +312,7 @@ public Pose2d getPose() {
 
     public void setNextChassisSpeeds(ChassisSpeeds nextChassisSpeeds) {
         var states = SWERVE_DRIVE_KINEMATICS.toSwerveModuleStates(ChassisSpeeds.discretize(nextChassisSpeeds, 0.02));
-        SwerveDriveKinematics.desaturateWheelSpeeds(states, DRIVE_HIGH_SPEED_M);
+        SecondOrderKinematics.desaturateWheelSpeeds(states, DRIVE_HIGH_SPEED_M);
         setSwerveModuleStates(states, false);
     }
 }