diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 20557ad..eef5841 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -219,19 +219,19 @@ public static final class DriveConstants{
     /*Motor IDs and offsets */
     public static final int frontLeftDriveID = 8;
     public static final int frontLeftTurningID = 2;
-    public static final double frontLeftOffsetRad = 2.275 + Units.degreesToRadians(12);
+    public static final double frontLeftOffsetRad = 0.797+Math.PI/2 + (Math.PI - 3.068);
 
     public static final int frontRightDriveID = 3;
     public static final int frontRightTurningID = 7;
-    public static final double frontRightOffsetRad =  0.754;
+    public static final double frontRightOffsetRad = 2.900 - 3*Math.PI/2 - 1.12;
 
     public static final int rearRightDriveID = 1;
     public static final int rearRightTurningID = 4;
-    public static final double rearRightOffsetRad = 0.653 + + Units.degreesToRadians(16);
+    public static final double rearRightOffsetRad = 2.116 - 1*Math.PI/2 + (2*Math.PI - 6.127);
 
     public static final int rearLeftDriveID = 6;
     public static final int rearLeftTurningID = 5;
-    public static final double rearLeftOffsetRad = 0.606 + Units.degreesToRadians(18);
+    public static final double rearLeftOffsetRad = 5.541 - 3*Math.PI/2 + (2*Math.PI - 6.124);