diff --git a/zebROS_ws/src/gazebo_frcrobot_control/include/gazebo_frcrobot_control/gazebo_frcrobot_control_plugin.h b/zebROS_ws/src/gazebo_frcrobot_control/include/gazebo_frcrobot_control/gazebo_frcrobot_control_plugin.h
index 304fc02f3..29a942388 100644
--- a/zebROS_ws/src/gazebo_frcrobot_control/include/gazebo_frcrobot_control/gazebo_frcrobot_control_plugin.h
+++ b/zebROS_ws/src/gazebo_frcrobot_control/include/gazebo_frcrobot_control/gazebo_frcrobot_control_plugin.h
@@ -40,7 +40,6 @@
 		   Modified to allow multiple RobotHWSim instaces, each with their own controller manager
 */
 
-#include <optional>
 // ROS
 #include <ros/ros.h>
 #include <pluginlib/class_loader.h>
diff --git a/zebROS_ws/src/ros_control_boilerplate/config/2023_compbot_base_jetson.yaml b/zebROS_ws/src/ros_control_boilerplate/config/2023_compbot_base_jetson.yaml
index 03b89899d..aa9743cb6 100644
--- a/zebROS_ws/src/ros_control_boilerplate/config/2023_compbot_base_jetson.yaml
+++ b/zebROS_ws/src/ros_control_boilerplate/config/2023_compbot_base_jetson.yaml
@@ -43,18 +43,19 @@ hardware_interface:
        - {name: bl_drive, type: talonfxpro, can_bus: CANivore, can_id: 23, local: true}
        - {name: bl_angle, type: talonfxpro, can_bus: CANivore, can_id: 13, local: true}
 
-       - {name: elevator_leader, type: talonfxpro, can_bus: CANivore, can_id: 31, local: true}
-       - {name: elevator_follower, type: talonfxpro, can_bus: CANivore, can_id: 32, local: true}
-       - {name: four_bar, type: talonfxpro, can_bus: CANivore, can_id: 41, local: true}
+       #- {name: elevator_leader, type: talonfxpro, can_bus: CANivore, can_id: 31, local: true}
+       #- {name: elevator_follower, type: talonfxpro, can_bus: CANivore, can_id: 32, local: true}
+       # DO NOT MERGE THIS IN COMMENTED
+       #- {name: four_bar, type: talonfxpro, can_bus: CANivore, can_id: 41, local: true}
 
-       - {name: intake, type: talonfxpro, can_bus: CANivore, can_id: 51, local: true}
+       #- {name: intake, type: talonfxpro, can_bus: CANivore, can_id: 51, local: true}
        
        #- {name: pcm, type: pcm, pcm_id: 0}
-       - {name: pigeon2, type: pigeon2, frame_id: pigeon2_frame, can_bus: CANivore, can_id: 0, local: true}
+       #- {name: pigeon2, type: pigeon2, frame_id: pigeon2_frame, can_bus: CANivore, can_id: 0, local: true}
 
-       - {name: candle1, can_id: 0, can_bus: CANivore, type: candle, local: true}
+       #- {name: candle1, can_id: 0, can_bus: CANivore, type: candle, local: true}
 
-       - {name: babys_first_orchestra, type: orchestra, id: 1}
+       #- {name: babys_first_orchestra, type: orchestra, id: 1}
 
        - {name: robot_code_ready_jetson, local: true, type: ready}
        - {name: robot_code_ready_rio, local: false, type: ready} # Probably not really needed?
@@ -78,7 +79,7 @@ intake_talonfxpro_controller:
     joint: intake
     invert: counterclockwise_positive
     dynamic_reconfigure: True
-    neutral_mode: Coast
+    neutral_mode: Coast # TODO - probably want brake mode here?
 
 # This one creates the /talon_states topic necessary in ROS
 # It doesn't actually control anything, just takes the internal
diff --git a/zebROS_ws/src/ros_control_boilerplate/config/2023_swerve_drive_phoenix6.yaml b/zebROS_ws/src/ros_control_boilerplate/config/2023_swerve_drive_phoenix6.yaml
index 245eeaca8..ba09ffa23 100644
--- a/zebROS_ws/src/ros_control_boilerplate/config/2023_swerve_drive_phoenix6.yaml
+++ b/zebROS_ws/src/ros_control_boilerplate/config/2023_swerve_drive_phoenix6.yaml
@@ -27,6 +27,8 @@ swerve_drive_controller:
     f_a: 0.005
     f_v: 0.0379
 
+    # Inverts work for sim and will likely break reality
+
     # TODO : move this into sensor_to_mechanism_ratio for Falcons
     ratio_encoder_to_rotations: 0.148148148 # Test me, will show up in odom results
 
@@ -44,6 +46,7 @@ swerve_drive_controller:
     use_cos_scaling: True # scale motor speed by how close angle motors are to setpoints
     speed_joint_fl:
         joint: fl_drive
+        invert: clockwise_positive
         close_loop_values:
             - {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
         #current_limit_continuous_amps: 15
@@ -58,6 +61,7 @@ swerve_drive_controller:
         #neutral_deadband: 0.01
     speed_joint_fr:
         joint: fr_drive
+        invert: counterclockwise_positive
         close_loop_values:
             - {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
         #current_limit_continuous_amps: 15
@@ -72,6 +76,7 @@ swerve_drive_controller:
         #neutral_deadband: 0.01
     speed_joint_bl:
         joint: bl_drive
+        invert: clockwise_positive
         close_loop_values:
             - {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
         #feedback_type: IntegratedSensor
@@ -87,6 +92,7 @@ swerve_drive_controller:
         #neutral_deadband: 0.01
     speed_joint_br:
         joint: br_drive
+        invert: counterclockwise_positive
         close_loop_values:
             - {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
         #feedback_type: IntegratedSensor
@@ -166,7 +172,7 @@ swerve_angle_phoenix6_controller:
     remote_feedback_device_id0: 13
     #neutral_deadband: 0.01
     close_loop_values:
-        - {kP: 80, kI: 0.000, kD: 0.0, kV: 2.85, kS: 0}
+        - {kP: 8000, kI: 0.000, kD: 0.0, kV: 2.85, kS: 0}
     invert: clockwise_positive
     neutral_deadband: 0.01
     motion_magic_cruise_velocity: 5.0