diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
index a49eb9a..eae05fc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.tuning;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
+import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.ftc.AngularRampLogger;
 import com.acmerobotics.roadrunner.ftc.DriveType;
@@ -96,7 +97,9 @@ public final class TuningOpModes {
                         perpEncs,
                         md.imu,
                         md.voltageSensor,
-                        md.feedforward
+                        new MotorFeedforward(MecanumDrive.PARAMS.kS,
+                                MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick,
+                                MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick)
                 );
             };
         } else if (DRIVE_CLASS.equals(TankDrive.class)) {
@@ -137,7 +140,9 @@ public final class TuningOpModes {
                         perpEncs,
                         td.imu,
                         td.voltageSensor,
-                        td.feedforward
+                        new MotorFeedforward(TankDrive.PARAMS.kS,
+                                TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
+                                TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
                 );
             };
         } else {