diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 892ae72..49f9182 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -1,7 +1,7 @@
 {
 	"env": {
-		"vex_compilerPath": "${config:vexrobotics.vexcode.Cpp.Toolchain.Path}\\clang\\bin\\clang",
-		"vex_sdkPath": "${config:vexrobotics.vexcode.Cpp.Sdk.Home}\\V5\\V5_20240802_15_00_00\\vexv5",
+		"vex_compilerPath": "${config:vexrobotics.vexcode.Cpp.Toolchain.Path}/clang/bin",
+		"vex_sdkPath": "${config:vexrobotics.vexcode.Cpp.Sdk.Home}/V5/V5_20240802_15_00_00/vexv5",
 		"vex_gcc": "${vex_sdkPath}/gcc/include/c++/4.9.3",
 		"vex_sdkIncludes": [
 			"${vex_sdkPath}/clang/8.0.0/include/**",
diff --git a/.vscode/settings.json b/.vscode/settings.json
index e314c62..84aae75 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,6 +1,6 @@
 {
 	"C_Cpp.default.systemIncludePath": [
-		"${config:vexrobotics.vexcode.Cpp.Sdk.Home}\\V5\\V5_20240802_15_00_00\\vexv5\\gcc\\include\\sys"
+		"${config:vexrobotics.vexcode.Cpp.Sdk.Home}/V5/V5_20240802_15_00_00/vexv5/gcc/include/sys"
 	],
 	"makefile.configureOnOpen": true,
 	"C_Cpp.errorSquiggles": "disabled"
diff --git a/.vscode/vex_project_settings.json b/.vscode/vex_project_settings.json
index 70db017..a440d90 100644
--- a/.vscode/vex_project_settings.json
+++ b/.vscode/vex_project_settings.json
@@ -9,7 +9,7 @@
 		"creationDate": "Wed, 20 Nov 2024 02:36:10 GMT",
 		"platform": "V5",
 		"language": "cpp",
-		"slot": 8,
+		"slot": 1,
 		"sdkVersion": "V5_20240802_15_00_00",
 		"cpp": {
 			"includePath": [],
diff --git a/include/robot-config.h b/include/robot-config.h
index 2076aff..e7922d2 100644
--- a/include/robot-config.h
+++ b/include/robot-config.h
@@ -51,8 +51,8 @@ extern PID::pid_config_t drive_correction_pid;
 
 extern robot_specs_t robot_cfg;
 
-// extern OdometryNWheel<3> odom;
-extern OdometryTank odom;
+extern OdometryNWheel<3> odom;
+// extern OdometryTank odom;
 extern TankDrive drive_sys;
 
 /**
diff --git a/src/competition/autonomous.cpp b/src/competition/autonomous.cpp
index 544cc80..2d1b370 100644
--- a/src/competition/autonomous.cpp
+++ b/src/competition/autonomous.cpp
@@ -104,7 +104,7 @@ class DebugCommand : public AutoCommand {
 
 void skills() {
 	CommandController cc {
-		odom.SetPositionCmd({.x = 12, .y = 96, .rot = 0}),
+		odom.SetPositionCmd({.x = 9, .y = 96, .rot = 0}),
 
 		new Async(new FunctionCommand([]() {
 			while(true) {
@@ -140,18 +140,18 @@ void skills() {
 	drive_sys.DriveToPointCmd({24, 120}, vex::forward, .8) -> withTimeout(1),
 
 	// Fifth Ring
-	drive_sys.TurnToPointCmd(0, 144, vex::directionType::fwd, .6) -> withTimeout(1),
-	drive_sys.DriveToPointCmd({6, 138}, vex::forward, .8) -> withTimeout(1),
+	drive_sys.TurnToPointCmd(4, 144, vex::directionType::fwd, .6) -> withTimeout(1),
+	drive_sys.DriveToPointCmd({6, 137}, vex::forward, .8) -> withTimeout(1),
 		
 	// Deposit First Stake
-	drive_sys.DriveForwardCmd(8, vex::directionType::rev, .6) -> withTimeout(.7),
+	drive_sys.DriveForwardCmd(18, vex::directionType::rev, .6) -> withTimeout(.7),
 	// drive_sys.TurnToPointCmd(96, 120, vex::directionType::fwd, .6) -> withTimeout(3),
 	drive_sys.TurnToHeadingCmd(-45, .6) -> withTimeout(.5),
 	conveyor_stop_command(),
 
 	//drop goal/move away
 	goal_grabber_command(false),
-	drive_sys.DriveForwardCmd(4, vex::directionType::rev, .8) -> withTimeout(.3),
+	drive_sys.DriveForwardCmd(7, vex::directionType::rev, .8) -> withTimeout(.3),
 	drive_sys.DriveToPointCmd({24, 120}, vex::forward, .8) -> withTimeout(.6),
 
 		
@@ -161,7 +161,7 @@ void skills() {
 
  	//grab second goal
  	drive_sys.TurnToHeadingCmd(90, .6) -> withTimeout(1),
- 	drive_sys.DriveForwardCmd(24,vex::directionType::rev,.6)-> withTimeout(1),
+ 	drive_sys.DriveToPointCmd({96, 96},vex::directionType::rev,.6)-> withTimeout(1),
  	goal_grabber_command(true),
  	conveyor_intake_command()->withCancelCondition(new ConveyorStalled),
 
diff --git a/src/competition/opcontrol.cpp b/src/competition/opcontrol.cpp
index b61c10c..3b0776c 100644
--- a/src/competition/opcontrol.cpp
+++ b/src/competition/opcontrol.cpp
@@ -16,7 +16,8 @@ void testing();
 */
 void opcontrol()
 {
-    autonomous();
+    // autonomous();
+    testing();
     // ================ INIT ================
     while (imu.isCalibrating()) {
         vexDelay(1);
@@ -116,8 +117,8 @@ void testing() {
             //     drive_sys.DriveForwardCmd(24.0, vex::fwd, 0.6)->withTimeout(12),
             //     new DelayCommand(500),
             // }, new TimesTestedCondition(4)),
-            drive_sys.DriveForwardCmd(48.0, vex::fwd, 0.8)->withTimeout(3),
-            drive_sys.TurnToHeadingCmd(90.0, 0.7)->withTimeout(3),
+            // drive_sys.DriveForwardCmd(48.0, vex::fwd, 0.8)->withTimeout(3),
+            // drive_sys.TurnToHeadingCmd(90.0, 0.7)->withTimeout(3),
             // drive_sys.DriveForwardCmd(96.0, vex::fwd, 0.8)->withTimeout(3),
             // drive_sys.TurnToHeadingCmd(180.0, 0.7)->withTimeout(3),
             // drive_sys.DriveForwardCmd(96.0, vex::fwd, 0.8)->withTimeout(3),
diff --git a/src/robot-config.cpp b/src/robot-config.cpp
index a82438b..91cfbf7 100644
--- a/src/robot-config.cpp
+++ b/src/robot-config.cpp
@@ -12,9 +12,9 @@ CustomEncoder left_enc{Brain.ThreeWirePort.C, 2048};
 CustomEncoder right_enc{Brain.ThreeWirePort.E, 2048};
 CustomEncoder front_enc{Brain.ThreeWirePort.G, 2048};
 
-tracking_wheel_cfg_t left_enc_cfg{-0.0625, 3.625, M_PI, 0.9};
-tracking_wheel_cfg_t right_enc_cfg{-0.0625, -3.625, 0, 0.9};
-tracking_wheel_cfg_t front_enc_cfg{4.5, -0.375, (M_PI/2), 0.9};
+tracking_wheel_cfg_t left_enc_cfg{-0.0625, 3.625, M_PI, 1.0625};
+tracking_wheel_cfg_t right_enc_cfg{-0.0625, -3.625, 0, 1.0625};
+tracking_wheel_cfg_t front_enc_cfg{4.5, -0.375, (M_PI/2), 1.0625};
 
 // ================ OUTPUTS ================
 // Motors
@@ -86,7 +86,7 @@ PID::pid_config_t turn_pid_cfg{
     .i = 0.005,
     .d = 0.001,
     //.deadband = 1.5,
-    .deadband = 3,
+    .deadband = 2,
     .on_target_time = 0.1,
 };
 
@@ -98,7 +98,7 @@ robot_specs_t robot_cfg{
     .robot_radius = 12.0,
     .odom_wheel_diam = 2.125,
     .odom_gear_ratio = 1.0,
-    .dist_between_wheels = 11.0,
+    .dist_between_wheels = 12.5,
 
     // .drive_correction_cutoff = 0,
     .drive_feedback = &drive_pid,
@@ -106,8 +106,8 @@ robot_specs_t robot_cfg{
     .correction_pid = drive_correction_pid,
 };
 
-// OdometryNWheel<3> odom({left_enc, right_enc, front_enc}, {left_enc_cfg, right_enc_cfg, front_enc_cfg}, &imu, true);
-OdometryTank odom(left_enc, right_enc, robot_cfg, &imu);
+OdometryNWheel<3> odom({left_enc, right_enc, front_enc}, {left_enc_cfg, right_enc_cfg, front_enc_cfg}, &imu, true);
+// OdometryTank odom(left_enc, right_enc, robot_cfg, &imu);
 TankDrive drive_sys(left_motors, right_motors, robot_cfg, &odom);
 
 /**