diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ea6286e..f140c9a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -87,13 +87,13 @@ private void configureBindings() {
 
     // Run SysId routines when holding back/start and X/Y.
     // Note that each routine should be run exactly once in a single log.
-    joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
-    joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
-    joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
-    joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
+    // joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
+    // joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
+    // joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
+    // joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
 
     // reset the field-centric heading on left bumper press
-    joystick.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+    joystick.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
 
     drivetrain.registerTelemetry(logger::telemeterize);
   }
diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
index 753b627..30833de 100644
--- a/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -106,7 +106,7 @@ public class TunerConstants {
     private static final Distance kWheelRadius = Inches.of(2);
 
     private static final boolean kInvertLeftSide = false;
-    private static final boolean kInvertRightSide = true;
+    private static final boolean kInvertRightSide = false;
 
     private static final int kPigeonId = 20;