diff --git a/RELENTLESS-Lite/include/globals.hpp b/RELENTLESS-Lite/include/globals.hpp
index fe10879..08a6017 100644
--- a/RELENTLESS-Lite/include/globals.hpp
+++ b/RELENTLESS-Lite/include/globals.hpp
@@ -1,6 +1,9 @@
 #include "main.h"
 
-#define TRACK_WIDTH 11.5;
+#define TRACK_WIDTH 11.5
+#define DRIVE_RATIO 0.75
+#define DRIVE_RPM 450
+#define WHEEL_SIZE 2.75
 
 namespace globals {
     extern pros::Controller master;
diff --git a/RELENTLESS-Lite/src/globals.cpp b/RELENTLESS-Lite/src/globals.cpp
index 709a0d1..17193c8 100644
--- a/RELENTLESS-Lite/src/globals.cpp
+++ b/RELENTLESS-Lite/src/globals.cpp
@@ -22,15 +22,15 @@ namespace globals {
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,
         &right_drive,
-        11.5,
-        2.75, 
-        450
+        TRACK_WIDTH,
+        WHEEL_SIZE, 
+        DRIVE_RPM
     };
 
     Drive chassis(
         {-20, -17, 8},
         {12, 1, -4},
-        2,
+        10,
         2.75,
         600,
         0.75