diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedrosConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedrosConstants.java
index ede9a66..5f41c6a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedrosConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedrosConstants.java
@@ -8,6 +8,14 @@ public class PedrosConstants {
     public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
     public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
 
+    // Robot IMU configuration
+    public static final String IMU = "imu";
+
+    // Robot Encoders
+    public static final String LEFT_ENCODER = "encoder left";
+    public static final String RIGHT_ENCODER = "encoder right";
+    public static final String BACK_ENCODER = "encoder back";
+
     /*
         Pedro's parameters
      */
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
index 1e9fd7b..961611f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedrosConstants.*;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -88,7 +90,7 @@ public class ThreeWheelIMULocalizer extends Localizer {
      */
     public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) {
         hardwareMap = map;
-        imu = hardwareMap.get(IMU.class, "imu");
+        imu = hardwareMap.get(IMU.class, IMU);
 
         // TODO: replace this with your IMU's orientation
         imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.LEFT, RevHubOrientationOnRobot.UsbFacingDirection.UP)));
@@ -98,11 +100,10 @@ public class ThreeWheelIMULocalizer extends Localizer {
         rightEncoderPose = new Pose(-3, -5.7, 0);
         strafeEncoderPose = new Pose(6.9, 1, Math.toRadians(90));
 
-
         // TODO: replace these with your encoder ports
-        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "lb"));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "lf"));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rf"));
+        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
+        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
+        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
 
         // TODO: reverse any encoders necessary
         leftEncoder.setDirection(Encoder.REVERSE);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
index 6814b86..649c3f1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedrosConstants.*;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -85,9 +87,9 @@ public class ThreeWheelLocalizer extends Localizer {
         hardwareMap = map;
 
         // TODO: replace these with your encoder ports
-        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftRear"));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightFront"));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder"));
+        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
+        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
+        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
 
         // TODO: reverse any encoders necessary
         leftEncoder.setDirection(Encoder.REVERSE);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
index 62415d6..2be7a3f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
@@ -1,5 +1,8 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedrosConstants.BACK_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedrosConstants.LEFT_ENCODER;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -91,8 +94,8 @@ public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo w
         imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.LEFT)));
 
         // TODO: replace these with your encoder ports
-        forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftRear"));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder"));
+        forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
+        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
 
         // TODO: reverse any encoders necessary
         forwardEncoder.setDirection(Encoder.REVERSE);