diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
index d9e1a1d..44eec90 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
@@ -29,6 +29,11 @@ public class PhoenixBot1 {
     public static double leftCompensatorGlobal;
     public static double RightCompensatorGlobal;
     public double VEER_COMPENSATION_DBL; // some place around 1, .99 is 1% power reduction
+    public double DRIVETRAIN_MINIMUM_POWER;
+    public double ROTATION_MINIMUM_POWER;
+    public double STRAFE_MINIMUM_POWER;
+    public double DRIVE_TOLERANCE;
+    public double ROTATION_TOLERANCE;
 
 //    private static final String TFOD_MODEL_ASSET = "22-23_PowerPlay_Colors.tflite";
     private static final String TFOD_MODEL_ASSET = "AprilTagsV1.tflite";
@@ -86,6 +91,11 @@ public class PhoenixBot1 {
 
         public void initConstants(){
             VEER_COMPENSATION_DBL = configuration.variable("Robot", "Tuning", "VEER_COMPENSATION_DBL").value();
+            DRIVETRAIN_MINIMUM_POWER = configuration.variable("Robot", "Tuning", "DRIVETRAIN_MINIMUM_POWER").value();
+            ROTATION_MINIMUM_POWER = configuration.variable("Robot", "Tuning", "ROTATION_MINIMUM_POWER").value();
+            STRAFE_MINIMUM_POWER = configuration.variable("Robot", "Tuning", "STRAFE_MINIMUM_POWER").value();
+            DRIVE_TOLERANCE = configuration.variable("Robot", "Tuning", "DRIVE_TOLERANCE").value();
+            ROTATION_TOLERANCE = configuration.variable("Robot", "Tuning", "ROTATION_TOLERANCE").value();
         }
 
     private void initVuforia(){
@@ -217,11 +227,10 @@ public class PhoenixBot1 {
 //            HighRiserRight.setDirection(Servo.Direction.FORWARD);
             LowRiserLeft.setDirection(Servo.Direction.FORWARD);
             LowRiserRight.setDirection(Servo.Direction.REVERSE);
-            ArmMotor.setDirection(DcMotorSimple.Direction.REVERSE);
-            ArmMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-            ArmMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-            ArmMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            ArmMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+//            ArmMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+//            ArmMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+//            ArmMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+//            ArmMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
             CameraServo.setDirection(Servo.Direction.FORWARD);
 
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
index ecb6aea..df52009 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
@@ -43,7 +43,7 @@ public class Robot {
     public final ColorSensor indicatorA, indicatorB;
     public LynxModule expansionHub;
 
-    public final double imuAngleOffset;
+    public final double imuAngleOffset, initialFacing;
     public boolean wristManuallyControlled = false, armManuallyControlled = false;
     public boolean automaticAntiTipActive = false;
     public boolean hardwareFault = false;
@@ -191,6 +191,9 @@ public class Robot {
 
         imu.initialize(parameters);
 
+        // Preserve our "initial" facing, since we transform it from zero.
+        initialFacing = facing();
+
         // BulkRead from Hubs
         for (LynxModule hub : engine.hardwareMap.getAll(LynxModule.class)) {
             hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
@@ -725,6 +728,10 @@ public class Robot {
         arm.setPower(tuningConfig("arm_automatic_power").value());
     }
 
+    public double initialFacing() {
+        return initialFacing;
+    }
+
     public double facing() {
         double imuDegrees = -imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
 
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Rotate.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Rotate.java
index 4bfd70a..db11705 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Rotate.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Rotate.java
@@ -32,7 +32,7 @@ public class Rotate extends CyberarmState {
 
         stateDisabled = !robot.getConfiguration().action(groupName, actionName).enabled;
 
-        facing = (robot.facing() + targetFacing + 360.0) % 360.0;
+        facing = (robot.initialFacing() + targetFacing + 360.0) % 360.0;
 
         velocity = targetVelocity;
     }