diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
index 233f653..a62f8e3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -217,10 +217,10 @@ public final class MecanumDrive {
 
         // TODO: make sure your config has motors with these names (or change them)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
+        leftFront = hardwareMap.get(DcMotorEx.class, "Drive front lt");
+        leftBack = hardwareMap.get(DcMotorEx.class, "Drive back lt");
+        rightBack = hardwareMap.get(DcMotorEx.class, "Drive back rt");
+        rightFront = hardwareMap.get(DcMotorEx.class, "Drive front rt");
 
         leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
index d4aaf45..9643b2f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -38,9 +38,9 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
         // TODO: make sure your config has **motors** with these names (or change them)
         //   the encoders should be plugged into the slot matching the named motor
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
-        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
+        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder left")));
+        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder right")));
+        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder back")));
 
         // TODO: reverse encoder directions if needed
         //   par0.setDirection(DcMotorSimple.Direction.REVERSE);