diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index a461f69..82c7841 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit a461f69cf02bc4092100a12679ca594a5409c1b2
+Subproject commit 82c7841751610a18be487ad94767a182fd2c25c5
diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java
index 4d30f0e..1711157 100644
--- a/TeamCode/src/main/java/teamcode/RobotParams.java
+++ b/TeamCode/src/main/java/teamcode/RobotParams.java
@@ -296,7 +296,7 @@ public class RobotParams
             driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"};
             driveMotorInverted = new boolean[] {true, false};
             // Odometry Wheels
-            odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;    // 0.00105687652708656383937269814237 in/count
+            odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
             xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
             xOdWheelXOffsets = new double[] {0.0};
             xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
@@ -361,7 +361,7 @@ public class RobotParams
             driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
             driveMotorInverted = new boolean[] {true, false, true, false};
             // Odometry Wheels
-            odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;    // 0.00105687652708656383937269814237 in/count
+            odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
             xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
             xOdWheelXOffsets = new double[] {0.0};
             xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
@@ -430,7 +430,7 @@ public class RobotParams
             driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
             driveMotorInverted = new boolean[] {true, false, true, false};
             // Odometry Wheels
-            odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;    // 0.00105687652708656383937269814237 in/count
+            odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
             xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
             xOdWheelXOffsets = new double[] {0.0};
             xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};