diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
index 2d1c4da..ebfc6a3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
@@ -10,8 +10,6 @@ public class PedroConstants {
     /*
         Robot parameters
     */
-    // Turn localizer - -0.003
-
 
     // Robot motor configurations
     public static final String FRONT_LEFT_MOTOR = "Drive front lt";
@@ -25,24 +23,11 @@ public class PedroConstants {
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
-    // Robot IMU configuration
-    public static final String IMU = "imu";
-
-    // Robot IMU placement
-    public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
-            = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
-    public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
-            = RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
-
-    // 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";
-
     // Robot encoder direction
-    public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
-    public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
-    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double FRONT_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
+    public static final double BACK_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
+    public static final double FRONT_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
+    public static final double BACK_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
 
     /*
         Pedro's parameters
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
index fe5b223..ad74928 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
@@ -70,8 +70,7 @@ public class PoseUpdater {
      */
     public PoseUpdater(HardwareMap hardwareMap) {
         // TODO: replace the second argument with your preferred localizer
-        this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
-//        this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
+        this(hardwareMap, new DriveEncoderLocalizer(hardwareMap));
     }
 
     /**
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
index 94077a7..e0aa739 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
@@ -1,5 +1,13 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_ENCODER;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
@@ -64,16 +72,16 @@ public class DriveEncoderLocalizer extends Localizer {
     public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) {
         hardwareMap = map;
 
-        leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, leftFrontMotorName));
-        leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, leftRearMotorName));
-        rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, rightRearMotorName));
-        rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, rightFrontMotorName));
+        leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
+        leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
+        rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
+        rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
 
         // TODO: reverse any encoders necessary
-        leftFront.setDirection(Encoder.REVERSE);
-        rightRear.setDirection(Encoder.REVERSE);
-        leftRear.setDirection(Encoder.FORWARD);
-        rightRear.setDirection(Encoder.FORWARD);
+        leftFront.setDirection(FRONT_LEFT_MOTOR_ENCODER);
+        rightFront.setDirection(FRONT_RIGHT_MOTOR_ENCODER);
+        leftRear.setDirection(BACK_LEFT_MOTOR_ENCODER);
+        rightRear.setDirection(BACK_RIGHT_MOTOR_ENCODER);
 
         setStartPose(setStartPose);
         timer = new NanoTimer();