diff --git a/src/deploy/autos/paths/aside_home b/src/deploy/autos/paths/aside_home
deleted file mode 100644
index f4dc4d5..0000000
--- a/src/deploy/autos/paths/aside_home
+++ /dev/null
@@ -1 +0,0 @@
-P,277.15,37.5,55,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/aside_home_2 b/src/deploy/autos/paths/aside_home_2
deleted file mode 100644
index 2af41d9..0000000
--- a/src/deploy/autos/paths/aside_home_2
+++ /dev/null
@@ -1,2 +0,0 @@
-P,385.15,-60.5,0,3
-P,354.15,-80.5,50,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/aside_piece_one b/src/deploy/autos/paths/aside_piece_one
deleted file mode 100644
index e83b5e5..0000000
--- a/src/deploy/autos/paths/aside_piece_one
+++ /dev/null
@@ -1 +0,0 @@
-P,290.5,94,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/aside_piece_two b/src/deploy/autos/paths/aside_piece_two
deleted file mode 100644
index b12764d..0000000
--- a/src/deploy/autos/paths/aside_piece_two
+++ /dev/null
@@ -1 +0,0 @@
-P,424,165,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/drive_auto b/src/deploy/autos/paths/drive_auto
deleted file mode 100644
index 672ff0f..0000000
--- a/src/deploy/autos/paths/drive_auto
+++ /dev/null
@@ -1 +0,0 @@
-P,217.5,169,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_center_run b/src/deploy/autos/paths/fp_center_run
deleted file mode 100644
index 1871b90..0000000
--- a/src/deploy/autos/paths/fp_center_run
+++ /dev/null
@@ -1 +0,0 @@
-P,214.5,112.0,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_home b/src/deploy/autos/paths/fp_home
deleted file mode 100644
index 660d3f4..0000000
--- a/src/deploy/autos/paths/fp_home
+++ /dev/null
@@ -1 +0,0 @@
-P,217.5,49.5,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_home_2 b/src/deploy/autos/paths/fp_home_2
deleted file mode 100644
index 78a70dc..0000000
--- a/src/deploy/autos/paths/fp_home_2
+++ /dev/null
@@ -1 +0,0 @@
-P,219.5,54,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_home_3 b/src/deploy/autos/paths/fp_home_3
deleted file mode 100644
index 1f4de86..0000000
--- a/src/deploy/autos/paths/fp_home_3
+++ /dev/null
@@ -1 +0,0 @@
-P,214.5,58,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_piece_one b/src/deploy/autos/paths/fp_piece_one
deleted file mode 100644
index aaba24a..0000000
--- a/src/deploy/autos/paths/fp_piece_one
+++ /dev/null
@@ -1 +0,0 @@
-P,217.5,94,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_piece_three b/src/deploy/autos/paths/fp_piece_three
deleted file mode 100644
index 73a9e6d..0000000
--- a/src/deploy/autos/paths/fp_piece_three
+++ /dev/null
@@ -1 +0,0 @@
-P,270.5,92,20,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/fp_piece_two b/src/deploy/autos/paths/fp_piece_two
deleted file mode 100644
index c0c5536..0000000
--- a/src/deploy/autos/paths/fp_piece_two
+++ /dev/null
@@ -1 +0,0 @@
-P,153.5,90,-20,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/sside_exit b/src/deploy/autos/paths/sside_exit
deleted file mode 100644
index 8db1591..0000000
--- a/src/deploy/autos/paths/sside_exit
+++ /dev/null
@@ -1,2 +0,0 @@
-P,150.5,80.5,0,0
-P,150.5,115.5,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/sside_home b/src/deploy/autos/paths/sside_home
deleted file mode 100644
index 0631a84..0000000
--- a/src/deploy/autos/paths/sside_home
+++ /dev/null
@@ -1 +0,0 @@
-P,205.15,36.75,-55,0
\ No newline at end of file
diff --git a/src/deploy/autos/paths/sside_piece_one b/src/deploy/autos/paths/sside_piece_one
deleted file mode 100644
index 4b23bfd..0000000
--- a/src/deploy/autos/paths/sside_piece_one
+++ /dev/null
@@ -1 +0,0 @@
-P,186.5,95.5,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/points.lst b/src/deploy/autos/points.lst
index 8824d81..638c38d 100644
--- a/src/deploy/autos/points.lst
+++ b/src/deploy/autos/points.lst
@@ -1,6 +1 @@
-N,kOrigin,0,0,0,0
-N,kSpeaker,217.5,-4,0,0
-N,kAmp,0,0,90,0
-N,kPointBlank,217.5,49,0,0
-N,kRightSub,253.15,57.75,60,0
-N,kLeftSub,222.84,57.75,-60,0
\ No newline at end of file
+N,kOrigin,0,0,0,0
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/amp_side_auto b/src/deploy/autos/scripts/amp_side_auto
deleted file mode 100644
index 0779e23..0000000
--- a/src/deploy/autos/scripts/amp_side_auto
+++ /dev/null
@@ -1,9 +0,0 @@
-0,2
-F,kRightSub
-ACT,prep_shoot
-ACT,shoot
-ACT,deploy_intake
-PATH,aside_piece_one
-ACT,a_prep_shoot
-PATH,aside_home
-ACT,shoot
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/amp_side_nothing b/src/deploy/autos/scripts/amp_side_nothing
deleted file mode 100644
index 9292a86..0000000
--- a/src/deploy/autos/scripts/amp_side_nothing
+++ /dev/null
@@ -1,4 +0,0 @@
-0,2
-F,kRightSub
-ACT,prep_shoot
-ACT,shoot
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/drive_auto b/src/deploy/autos/scripts/drive_auto
deleted file mode 100644
index 6f87d38..0000000
--- a/src/deploy/autos/scripts/drive_auto
+++ /dev/null
@@ -1,3 +0,0 @@
-0,0
-F,kPointBlank
-PATH,drive_auto
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/four_piece_auto b/src/deploy/autos/scripts/four_piece_auto
deleted file mode 100644
index cd081c7..0000000
--- a/src/deploy/autos/scripts/four_piece_auto
+++ /dev/null
@@ -1,21 +0,0 @@
-0,2
-F,kPointBlank
-ACT,auto_home
-ACT,prep_shoot
-ACT,shoot
-ACT,deploy_intake
-PATH,fp_piece_one
-ACT,a_prep_shoot
-PATH,fp_home
-ACT,shoot
-ACT,deploy_intake
-PATH,fp_piece_two
-ACT,a_prep_shoot
-PATH,fp_home_2
-ACT,shoot
-ACT,deploy_intake
-PATH,fp_piece_three
-ACT,a_prep_shoot
-PATH,fp_home_3
-ACT,shoot
-PATH,fp_center_run
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/source_side_auto b/src/deploy/autos/scripts/source_side_auto
deleted file mode 100644
index 5faab59..0000000
--- a/src/deploy/autos/scripts/source_side_auto
+++ /dev/null
@@ -1,10 +0,0 @@
-0,2
-F,kLeftSub
-ACT,auto_home
-ACT,prep_shoot
-ACT,shoot
-ACT,deploy_intake
-PATH,sside_piece_one
-ACT,a_prep_shoot
-PATH,sside_home
-ACT,shoot
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/source_side_mobility b/src/deploy/autos/scripts/source_side_mobility
deleted file mode 100644
index ed99f1d..0000000
--- a/src/deploy/autos/scripts/source_side_mobility
+++ /dev/null
@@ -1,5 +0,0 @@
-0,2
-F,kLeftSub
-ACT,prep_shoot
-ACT,shoot
-PATH,sside_exit
\ No newline at end of file
diff --git a/src/deploy/autos/scripts/source_side_nothing b/src/deploy/autos/scripts/source_side_nothing
deleted file mode 100644
index f27a3f2..0000000
--- a/src/deploy/autos/scripts/source_side_nothing
+++ /dev/null
@@ -1,4 +0,0 @@
-0,2
-F,kLeftSub
-ACT,prep_shoot
-ACT,shoot
\ No newline at end of file
diff --git a/src/frc846/cpp/frc846/robot/GenericRobot.cc b/src/frc846/cpp/frc846/robot/GenericRobot.cc
index 0161209..0e865ae 100644
--- a/src/frc846/cpp/frc846/robot/GenericRobot.cc
+++ b/src/frc846/cpp/frc846/robot/GenericRobot.cc
@@ -15,6 +15,7 @@
 #include "frc2/command/ParallelDeadlineGroup.h"
 #include "frc2/command/WaitCommand.h"
 #include "frc846/base/Loggable.h"
+#include "frc846/control/MotorMonkey.h"
 #include "frc846/robot/GenericCommand.h"
 #include "frc846/wpilib/NTAction.h"
 #include "frc846/wpilib/time.h"
@@ -173,6 +174,9 @@ void GenericRobot::StartCompetition() {
     // Update subsystem hardware
     generic_robot_container_->UpdateHardware();
 
+    // Tick Motor Monkey
+    frc846::control::MotorMonkey::Tick();
+
     // Update dashboards
     frc::SmartDashboard::UpdateValues();
     frc::Shuffleboard::Update();
diff --git a/src/frc846/cpp/frc846/robot/swerve/control/swerve_ol_calculator.cc b/src/frc846/cpp/frc846/robot/swerve/control/swerve_ol_calculator.cc
index 183cc02..d092d7e 100644
--- a/src/frc846/cpp/frc846/robot/swerve/control/swerve_ol_calculator.cc
+++ b/src/frc846/cpp/frc846/robot/swerve/control/swerve_ol_calculator.cc
@@ -22,7 +22,7 @@ SwerveOpenLoopCalculatorOutput SwerveOpenLoopCalculator::calculate(
         kModuleLocationSigns[i].first * constants_.wheelbase_horizontal_dim,
         kModuleLocationSigns[i].second * constants_.wheelbase_forward_dim};
 
-    units::degree_t rot_direction = location.angle(false);
+    units::degree_t rot_direction = location.angle(false) - 90_deg;
 
     frc846::math::VectorND<units::feet_per_second, 2> rotation{
         inputs.rotation_target * units::math::cos(rot_direction) * radius /
@@ -30,7 +30,8 @@ SwerveOpenLoopCalculatorOutput SwerveOpenLoopCalculator::calculate(
         inputs.rotation_target * units::math::sin(rot_direction) * radius /
             1_rad};
 
-    module_targets[i] = inputs.translation_target + rotation;
+    module_targets[i] =
+        inputs.translation_target.rotate(-inputs.bearing, true) + rotation;
   }
 
   units::feet_per_second_t max_mag = 0_fps;
diff --git a/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc b/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc
index aa5587c..4d10a77 100644
--- a/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc
+++ b/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc
@@ -15,14 +15,16 @@ DrivetrainSubsystem::DrivetrainSubsystem(DrivetrainConfigs configs)
         configs_.module_unique_configs[i], configs_.module_common_config};
   }
 
-  RegisterPreference("steer_gains/kP", 0.3);
-  RegisterPreference("steer_gains/kI", 0.0);
-  RegisterPreference("steer_gains/kD", 0.0);
-  RegisterPreference("steer_gains/kF", 0.0);
+  RegisterPreference("steer_gains/_kP", 2.0);
+  RegisterPreference("steer_gains/_kI", 0.0);
+  RegisterPreference("steer_gains/_kD", 0.0);
+  RegisterPreference("steer_gains/_kF", 0.0);
 
   RegisterPreference("max_speed", 15_fps);
   RegisterPreference("max_omega", units::degrees_per_second_t{180});
 
+  RegisterPreference("odom_fudge_factor", 0.875);
+
   odometry_.setConstants({});
   ol_calculator_.setConstants({
       .wheelbase_horizontal_dim = configs.wheelbase_horizontal_dim,
@@ -32,10 +34,10 @@ DrivetrainSubsystem::DrivetrainSubsystem(DrivetrainConfigs configs)
 
 void DrivetrainSubsystem::Setup() {
   frc846::control::base::MotorGains steer_gains{
-      GetPreferenceValue_double("steer_gains/kP"),
-      GetPreferenceValue_double("steer_gains/kI"),
-      GetPreferenceValue_double("steer_gains/kD"),
-      GetPreferenceValue_double("steer_gains/kF")};
+      GetPreferenceValue_double("steer_gains/_kP"),
+      GetPreferenceValue_double("steer_gains/_kI"),
+      GetPreferenceValue_double("steer_gains/_kD"),
+      GetPreferenceValue_double("steer_gains/_kF")};
   for (SwerveModuleSubsystem* module : modules_) {
     module->InitByParent();
     module->Setup();
@@ -115,11 +117,13 @@ DrivetrainReadings DrivetrainSubsystem::ReadFromHardware() {
   Graph("readings/velocity_y", velocity[1]);
 
   frc846::robot::swerve::odometry::SwervePose new_pose{
-      .position =
-          odometry_.calculate({bearing, steer_positions, drive_positions})
-              .position,
+      .position = odometry_
+                      .calculate({bearing, steer_positions, drive_positions,
+                          GetPreferenceValue_double("odom_fudge_factor")})
+                      .position,
       .bearing = bearing,
-      .velocity = velocity};
+      .velocity = velocity,
+  };
 
   // TODO: consider bearing simulation
 
@@ -139,18 +143,18 @@ void DrivetrainSubsystem::WriteToHardware(DrivetrainTarget target) {
     units::degree_t bearing = navX_.GetAngle() * 1_deg;
 
     auto ol_calc_outputs = ol_calculator_.calculate({ol_target->velocity,
-        ol_target->angular_velocity,
+        ol_target->angular_velocity, bearing,
         GetPreferenceValue_unit_type<units::feet_per_second_t>("max_speed")});
 
     for (int i = 0; i < 4; i++) {
-      modules_[i]->SetSteerGains({GetPreferenceValue_double("steer_gains/kP"),
-          GetPreferenceValue_double("steer_gains/kI"),
-          GetPreferenceValue_double("steer_gains/kD"),
-          GetPreferenceValue_double("steer_gains/kF")});
+      modules_[i]->SetSteerGains({GetPreferenceValue_double("steer_gains/_kP"),
+          GetPreferenceValue_double("steer_gains/_kI"),
+          GetPreferenceValue_double("steer_gains/_kD"),
+          GetPreferenceValue_double("steer_gains/_kF")});
 
       SwerveModuleOLControlTarget module_target{
           .drive = ol_calc_outputs.drive_outputs[i],
-          .steer = ol_calc_outputs.steer_outputs[i] - bearing};
+          .steer = ol_calc_outputs.steer_outputs[i]};
       modules_[i]->SetTarget(module_target);
     }
   } else if (DrivetrainAccelerationControlTarget* accel_target =
diff --git a/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_odometry_calculator.cc b/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_odometry_calculator.cc
index 0bb4074..59a19f1 100644
--- a/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_odometry_calculator.cc
+++ b/src/frc846/cpp/frc846/robot/swerve/odometry/swerve_odometry_calculator.cc
@@ -13,8 +13,10 @@ SwerveOdometryOutput SwerveOdometryCalculator::calculate(
 
   for (int i = 0; i < 4; i++) {
     displacement +=
-        frc846::math::Vector2D{inputs.drive_pos[i], inputs.steer_pos[i], true};
+        frc846::math::Vector2D{module_diffs[i], inputs.steer_pos[i], true} /
+        4.0;
   }
+  displacement *= inputs.odom_ff_;
   displacement.rotate(inputs.bearing, true);
 
   last_position_ += displacement;
diff --git a/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc b/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc
index 1844156..c026d9e 100644
--- a/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc
+++ b/src/frc846/cpp/frc846/robot/swerve/swerve_module.cc
@@ -95,8 +95,11 @@ void SwerveModuleSubsystem::ZeroWithCANcoder() {
     auto position = cancoder_.GetAbsolutePosition();
 
     if (position.IsAllGood()) {
-      steer_helper_.SetPosition(-position.GetValue());
-      Log("Zeroed to {}!", -position.GetValue());
+      units::degree_t position_zero =
+          -position.GetValue() +
+          GetPreferenceValue_unit_type<units::degree_t>("cancoder_offset_");
+      steer_helper_.SetPosition(position_zero);
+      Log("Zeroed to {}!", position_zero);
       return;
     }
 
@@ -130,13 +133,13 @@ void SwerveModuleSubsystem::WriteToHardware(SwerveModuleTarget target) {
     Graph("target/ol_steer_target", ol_target->steer);
 
     auto [steer_dir, invert_drive] =
-        calculateSteerPosition(GetReadings().steer_pos, ol_target->steer);
+        calculateSteerPosition(ol_target->steer, GetReadings().steer_pos);
 
     Graph("target/steer_dir", steer_dir);
     Graph("target/invert_drive", invert_drive);
 
     units::dimensionless::scalar_t cosine_comp =
-        units::math::cos(steer_dir - GetReadings().steer_pos);
+        units::math::cos(ol_target->steer - GetReadings().steer_pos);
 
     Graph("target/cosine_comp", cosine_comp.to<double>());
 
@@ -145,7 +148,7 @@ void SwerveModuleSubsystem::WriteToHardware(SwerveModuleTarget target) {
     drive_helper_.WriteDC(cosine_comp * drive_duty_cycle);
 
     if (std::abs(drive_duty_cycle) > 0.002) {
-      steer_helper_.WritePositionOnController(ol_target->steer);
+      steer_helper_.WritePositionOnController(steer_dir);
     }
   } else if (SwerveModuleTorqueControlTarget* torque_target =
                  std::get_if<SwerveModuleTorqueControlTarget>(&target)) {
@@ -159,20 +162,20 @@ void SwerveModuleSubsystem::WriteToHardware(SwerveModuleTarget target) {
 
 std::pair<units::degree_t, bool> SwerveModuleSubsystem::calculateSteerPosition(
     units::degree_t target_norm, units::degree_t current) {
-  bool reverse = false;
+  bool invert = false;
 
-  units::degree_t diff =
-      frc846::math::CoterminalDifference(target_norm, current);
+  units::degree_t target = target_norm;
 
-  if (diff > 90_deg) {
-    diff -= 180_deg;
-    reverse = true;
-  } else if (diff < -90_deg) {
-    diff += 180_deg;
-    reverse = true;
+  while ((target - current) > 90_deg) {
+    target -= 180_deg;
+    invert = !invert;
+  }
+  while ((target - current) < -90_deg) {
+    target += 180_deg;
+    invert = !invert;
   }
 
-  return {current + diff, reverse};
+  return {target, invert};
 }
 
 void SwerveModuleSubsystem::SetSteerGains(
diff --git a/src/frc846/include/frc846/robot/swerve/control/swerve_ol_calculator.h b/src/frc846/include/frc846/robot/swerve/control/swerve_ol_calculator.h
index 1be0927..29c490a 100644
--- a/src/frc846/include/frc846/robot/swerve/control/swerve_ol_calculator.h
+++ b/src/frc846/include/frc846/robot/swerve/control/swerve_ol_calculator.h
@@ -20,6 +20,7 @@ struct SwerveOpenLoopCalculatorConstants {
 struct SwerveOpenLoopCalculatorInputs {
   frc846::math::VectorND<units::feet_per_second, 2> translation_target;
   units::degrees_per_second_t rotation_target;
+  units::degree_t bearing;
   units::feet_per_second_t max_speed;
 };
 
diff --git a/src/frc846/include/frc846/robot/swerve/odometry/swerve_odometry_calculator.h b/src/frc846/include/frc846/robot/swerve/odometry/swerve_odometry_calculator.h
index 52b36ed..0bf631c 100644
--- a/src/frc846/include/frc846/robot/swerve/odometry/swerve_odometry_calculator.h
+++ b/src/frc846/include/frc846/robot/swerve/odometry/swerve_odometry_calculator.h
@@ -16,6 +16,7 @@ struct SwerveOdometryInputs {
   units::degree_t bearing;
   std::array<units::degree_t, 4> steer_pos;
   frc846::math::VectorND<units::inch, 4> drive_pos;
+  double odom_ff_;
 };
 
 struct SwerveOdometryOutput {
diff --git a/src/y2025/cpp/subsystems/hardware/DrivetrainConstructor.cc b/src/y2025/cpp/subsystems/hardware/DrivetrainConstructor.cc
index 6e4b910..685fad2 100644
--- a/src/y2025/cpp/subsystems/hardware/DrivetrainConstructor.cc
+++ b/src/y2025/cpp/subsystems/hardware/DrivetrainConstructor.cc
@@ -82,17 +82,17 @@ DrivetrainConstructor::getDrivetrainConfigs() {
           num_connectors_BR)};
 
   frc846::robot::swerve::SwerveModuleUniqueConfig FR_config{"FR",
-      ports::drivetrain_::kFRDrive_CANID, ports::drivetrain_::kFRSteer_CANID,
-      ports::drivetrain_::kFRCANCoder_CANID, wire_resistance_FR};
+      ports::drivetrain_::kFRCANCoder_CANID, ports::drivetrain_::kFRDrive_CANID,
+      ports::drivetrain_::kFRSteer_CANID, wire_resistance_FR};
   frc846::robot::swerve::SwerveModuleUniqueConfig FL_config{"FL",
-      ports::drivetrain_::kFLDrive_CANID, ports::drivetrain_::kFLSteer_CANID,
-      ports::drivetrain_::kFLCANCoder_CANID, wire_resistance_FL};
+      ports::drivetrain_::kFLCANCoder_CANID, ports::drivetrain_::kFLDrive_CANID,
+      ports::drivetrain_::kFLSteer_CANID, wire_resistance_FL};
   frc846::robot::swerve::SwerveModuleUniqueConfig BL_config{"BL",
-      ports::drivetrain_::kBLDrive_CANID, ports::drivetrain_::kBLSteer_CANID,
-      ports::drivetrain_::kBLCANCoder_CANID, wire_resistance_BL};
+      ports::drivetrain_::kBLCANCoder_CANID, ports::drivetrain_::kBLDrive_CANID,
+      ports::drivetrain_::kBLSteer_CANID, wire_resistance_BL};
   frc846::robot::swerve::SwerveModuleUniqueConfig BR_config{"BR",
-      ports::drivetrain_::kBRDrive_CANID, ports::drivetrain_::kBRSteer_CANID,
-      ports::drivetrain_::kBRCANCoder_CANID, wire_resistance_BR};
+      ports::drivetrain_::kBRCANCoder_CANID, ports::drivetrain_::kBRDrive_CANID,
+      ports::drivetrain_::kBRSteer_CANID, wire_resistance_BR};
 
   frc846::control::config::MotorConstructionParameters drive_params{
       .can_id = 999,  // overriden by unique config
@@ -128,7 +128,7 @@ DrivetrainConstructor::getDrivetrainConfigs() {
           steer_params,
           frc846::control::base::MotorMonkeyType::TALON_FX_KRAKENX60,
           steer_reduction, drive_reduction, ""};
-  configs.module_unique_configs = {FR_config, FL_config, BR_config, BL_config};
+  configs.module_unique_configs = {FR_config, FL_config, BL_config, BR_config};
 
   return configs;
 }
\ No newline at end of file