diff --git a/.idea/misc.xml b/.idea/misc.xml
index 7bfef59..37a7509 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_7" project-jdk-name="1.8" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">
diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/EncoderTest.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/EncoderTest.java
index e3e7739..2fae268 100644
--- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/EncoderTest.java
+++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/EncoderTest.java
@@ -22,7 +22,7 @@ public class EncoderTest extends CyberarmState {
 
         robot.setDrivePower(-0.2 * engine.gamepad1.left_stick_y, -0.2 * engine.gamepad1.right_stick_y);
 
-        ticksLeft=robot.encoderLeft.getCurrentPosition();
+        ticksLeft= robot.encoderLeft.getCurrentPosition();
         ticksRight=robot.encoderRight.getCurrentPosition();
 
 
@@ -50,16 +50,16 @@ public class EncoderTest extends CyberarmState {
     @Override
     public void telemetry() {
 
-        engine.telemetry.addData("controler", engine.gamepad1.left_stick_y);
+        engine.telemetry.addData("controller", engine.gamepad1.left_stick_y);
         engine.telemetry.addLine("Latency Values");
-        engine.telemetry.addData("Y", robot.getLocationY());
-        engine.telemetry.addData("X", robot.getLocationX());
+        engine.telemetry.addData("Y", robot.ticksToInches(robot.getLocationY()));
+        engine.telemetry.addData("X", robot.ticksToInches(robot.getLocationX()));
         engine.telemetry.addLine();
         engine.telemetry.addData("Rotation", robot.getRotation());
         engine.telemetry.addLine();
         engine.telemetry.addLine("Actual Values");
-        engine.telemetry.addData("Left", ticksLeft);
-        engine.telemetry.addData("Right", ticksRight);
+        engine.telemetry.addData("Left", robot.ticksToInches(ticksLeft));
+        engine.telemetry.addData("Right", robot.ticksToInches(ticksRight));
 
 //        engine.telemetry.addLine("");
 //        engine.telemetry.addData("Front", robot.encoderFront);
diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
index 72f029b..05dc3cf 100644
--- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
+++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
@@ -25,8 +25,11 @@ public class Robot {
     public DcMotor encoderBack;
     public DcMotor encoderRight;
 
-    double BIAS_LEFT = 1.0;
-    double BIAS_RIGHT = 0.87;
+    double BIAS_LEFT = -1.0;
+    double BIAS_RIGHT = -0.87;
+
+    double Circumference_Encoder = Math.PI * 3.8;
+    int Counts_Per_Revolution = 8192;
 
     //Robot Localizatoin
     private double locationX;
@@ -46,7 +49,7 @@ public class Robot {
 //        encoderBack = hardwareMap.dcMotor.get("encoderBack");
         encoderRight = hardwareMap.dcMotor.get("encoderRight");
 
-        encoderLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        encoderRight.setDirection(DcMotorSimple.Direction.REVERSE);
         
         encoderLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         encoderRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -100,4 +103,12 @@ public class Robot {
     public double getLocationY() {
         return locationY;
     }
+
+    public double ticksToInches(double ticks) {
+        return ticks * (Circumference_Encoder / Counts_Per_Revolution);
+    }
+
+    public double inchesToTicks(double inches) {
+        return inches * (Counts_Per_Revolution / Circumference_Encoder);
+    }
 }