diff --git a/src/main/deploy/constants/BlueFieldLocations.json b/src/main/deploy/constants/BlueFieldLocations.json
index c431bf56..7d9d88c4 100644
--- a/src/main/deploy/constants/BlueFieldLocations.json
+++ b/src/main/deploy/constants/BlueFieldLocations.json
@@ -91,15 +91,15 @@
     "radians": -2.0943951023931953
   },
   "blueCoralStationRightTranslation": {
-    "x": 1.57,
-    "y": 0.67
+    "x": 1.72,
+    "y": 0.55
   },
   "blueCoralStationRightRotation": {
     "radians": 1.0471975511965976
   },
   "blueCoralStationLeftTranslation": {
-    "x": 1.61,
-    "y": 7.44
+    "x": 1.62,
+    "y": 7.38
   },
   "blueCoralStationLeftRotation": {
     "radians": -1.0471975511965976
diff --git a/src/main/deploy/constants/RedFieldLocations.json b/src/main/deploy/constants/RedFieldLocations.json
index 1bee04a9..e35f0bba 100644
--- a/src/main/deploy/constants/RedFieldLocations.json
+++ b/src/main/deploy/constants/RedFieldLocations.json
@@ -95,15 +95,15 @@
     "radians": 1.0471975511965976
   },
   "redCoralStationRightTranslation": {
-    "x": 15.99,
-    "y": 7.4
+    "x": 15.85,
+    "y": 7.38
   },
   "redCoralStationRightRotation": {
     "radians": -2.0943951023931953
   },
   "redCoralStationLeftTranslation": {
-    "x": 15.96,
-    "y": 0.64
+    "x": 16.1,
+    "y": 0.8
   },
   "redCoralStationLeftRotation": {
     "radians": 2.0943951023931953
diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json
index e56a9e3c..96253972 100644
--- a/src/main/deploy/constants/comp/DrivetrainConstants.json
+++ b/src/main/deploy/constants/comp/DrivetrainConstants.json
@@ -38,8 +38,8 @@
   "driveRotationKi": 0.0,
   "driveRotationKd": 0.0,
   "driveAlongTrackMultiplier": 1,
-  "driveAlongTrackOffset": 0.27,
-  "driveCrossTrackFrontRightOffset": -0.04,
+  "driveAlongTrackOffset": 0.24,
+  "driveCrossTrackFrontRightOffset": -0.03,
   "driveCrossTrackFrontLeftOffset": -0.03,
   "driveCrossTrackFrontRightAlgaeOffset": 0.25,
   "driveCrossTrackFrontLeftAlgaeOffset": 0.25,
diff --git a/src/main/deploy/constants/comp/controllers.json b/src/main/deploy/constants/comp/controllers.json
index 76d9e391..d2232cb2 100644
--- a/src/main/deploy/constants/comp/controllers.json
+++ b/src/main/deploy/constants/comp/controllers.json
@@ -53,12 +53,12 @@
         {
           "command": "driveX",
           "axis": "JOYSTICK_X",
-          "negate": false
+          "negate": true
         },
         {
           "command": "driveY",
           "axis": "JOYSTICK_Y",
-          "negate": false
+          "negate": true
         }
       ]
     },
@@ -83,7 +83,7 @@
         {
           "command": "driveRotation",
           "axis": "JOYSTICK_X",
-          "negate": false
+          "negate": true
         }
       ]
     },
diff --git a/src/main/java/frc/robot/InitBindings.java b/src/main/java/frc/robot/InitBindings.java
index ff888e37..9f5d3a18 100644
--- a/src/main/java/frc/robot/InitBindings.java
+++ b/src/main/java/frc/robot/InitBindings.java
@@ -70,9 +70,9 @@ public static void initDriveBindings(Drive drive, StrategyManager strategyManage
     drive.setDefaultCommand(
         new DriveWithJoysticks(
             drive, // type: DriveTemplate
-            () -> getAxis("driveX").getAsDouble(),
-            () -> getAxis("driveY").getAsDouble(),
-            () -> getAxis("driveRotation").getAsDouble(),
+            () -> -getAxis("driveX").getAsDouble(),
+            () -> -getAxis("driveY").getAsDouble(),
+            () -> -getAxis("driveRotation").getAsDouble(),
             JsonConstants.drivetrainConstants.maxLinearSpeed, // type: double (m/s)
             JsonConstants.drivetrainConstants.maxAngularSpeed, // type: double (rad/s)
             JsonConstants.drivetrainConstants.joystickDeadband // type: double