diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7079abf9..21d4a9dd 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -41,7 +41,7 @@ public final class Constants {
     public static final double DRIVE_PID_FF_S = 1;
     public static final double DRIVE_PID_FF_V = 2.8;
 
-    public static final double STEER_PID_P = 0.3;
+    public static final double STEER_PID_P = .4;
     public static final double STEER_PID_I = 0;
     public static final double STEER_PID_D = 0;
     public static final double STEER_PID_FF_S = 0;//0.2;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d4ca48c7..3c1ee65d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -14,12 +14,15 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.autochooser.chooser.AutoChooser;
 import frc.robot.commands.RampMove;
 import frc.robot.commands.ReportErrorCommand;
 import frc.robot.autochooser.chooser.AutoChooser2024;
 import frc.robot.commands.SetInitOdom;
+import frc.robot.commands.drive.WheelAlign;
 import frc.robot.subsystems.Ramp;
 import frc.robot.subsystems.swervev2.KinematicsConversionConfig;
 import frc.robot.subsystems.swervev2.SwerveDrivetrain;
@@ -91,10 +94,17 @@ private void setupDriveTrain() {
         SwervePidConfig pidConfig = new SwervePidConfig(drivePid, steerPid, driveGain, steerGain, constraints);
         AHRS navxGyro = new AHRS();
         this.drivetrain = new SwerveDrivetrain(frontLeftIdConf, frontRightIdConf, backLeftIdConf, backRightIdConf, kinematicsConversionConfig, pidConfig, navxGyro);
+    
     }
     public void putShuffleboardCommands() {
         SmartShuffleboard.putCommand("Ramp", "SetArmPID400", new RampMove(ramp, 400));
         SmartShuffleboard.putCommand("Ramp", "SetArmPID500", new RampMove(ramp, 500));
+        SmartShuffleboard.put("Test", "P", Constants.STEER_PID_P);   
+        SmartShuffleboard.put("Test", "I", Constants.STEER_PID_I);
+        SmartShuffleboard.put("Test", "D", Constants.STEER_PID_D);
+
+
+        
 
     }
 
diff --git a/src/main/java/frc/robot/subsystems/swervev2/SwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/swervev2/SwerveDrivetrain.java
index e93b3a66..05459eb4 100644
--- a/src/main/java/frc/robot/subsystems/swervev2/SwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/swervev2/SwerveDrivetrain.java
@@ -45,6 +45,19 @@ private double getGyro() {
     public void periodic() {
         gyroValue = getGyro();
         poseEstimator.updatePosition(gyroValue);
+        frontLeft.setP(SmartShuffleboard.getDouble("Test", "P", Constants.STEER_PID_P));
+        frontRight.setP(SmartShuffleboard.getDouble("Test", "P", Constants.STEER_PID_P));
+        backRight.setP(SmartShuffleboard.getDouble("Test", "P", Constants.STEER_PID_P));
+        backLeft.setP(SmartShuffleboard.getDouble("Test", "P", Constants.STEER_PID_P));
+        frontLeft.setI(SmartShuffleboard.getDouble("Test", "I", Constants.STEER_PID_I));
+        frontRight.setI(SmartShuffleboard.getDouble("Test", "I", Constants.STEER_PID_I));
+        backRight.setI(SmartShuffleboard.getDouble("Test", "I", Constants.STEER_PID_I));
+        backLeft.setI(SmartShuffleboard.getDouble("Test", "I", Constants.STEER_PID_I));
+        frontLeft.setD(SmartShuffleboard.getDouble("Test", "D", Constants.STEER_PID_D));
+        frontRight.setD(SmartShuffleboard.getDouble("Test", "D", Constants.STEER_PID_D));
+        backRight.setD(SmartShuffleboard.getDouble("Test", "D", Constants.STEER_PID_D));
+        backLeft.setD(SmartShuffleboard.getDouble("Test", "D", Constants.STEER_PID_D));
+       
     }
 
     public SwerveDrivetrain(SwerveIdConfig frontLeftConfig, SwerveIdConfig frontRightConfig, SwerveIdConfig backLeftConfig, SwerveIdConfig backRightConfig,
diff --git a/src/main/java/frc/robot/subsystems/swervev2/type/GenericSwerveModule.java b/src/main/java/frc/robot/subsystems/swervev2/type/GenericSwerveModule.java
index 77704c03..3cde737f 100644
--- a/src/main/java/frc/robot/subsystems/swervev2/type/GenericSwerveModule.java
+++ b/src/main/java/frc/robot/subsystems/swervev2/type/GenericSwerveModule.java
@@ -63,4 +63,17 @@ public GenericEncodedSwerve getSwerveMotor(){
         return swerveMotor;
     }
 
+    public void setP(double P) {
+        turningPIDController.setP(P);
+    }
+
+    public void setI(double I) {
+        turningPIDController.setI(I);
+    }
+
+    public void setD(double D) {
+        turningPIDController.setD(D);
+    }
+
+
 }