diff --git a/RELENTLESS/include/globals.hpp b/RELENTLESS/include/globals.hpp
index 60a0ca9..915d97f 100644
--- a/RELENTLESS/include/globals.hpp
+++ b/RELENTLESS/include/globals.hpp
@@ -7,6 +7,7 @@
 #define PLACEHOLDER_TC_OFFSET 2.5
 #define WHEEL_SIZE 2.75
 #define DRIVE_RATIO 0.75
+#define DRIVE_RPM 450
 
 namespace globals {
     extern pros::Controller master;
diff --git a/RELENTLESS/src/globals.cpp b/RELENTLESS/src/globals.cpp
index 38b1480..4dda58f 100644
--- a/RELENTLESS/src/globals.cpp
+++ b/RELENTLESS/src/globals.cpp
@@ -26,13 +26,13 @@ namespace globals {
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,
         &right_drive,
-        11.5,
+        TRACK_WIDTH,
         WHEEL_SIZE, 
-        450
+        DRIVE_RPM
     };
 
-    lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, 2.75, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
-    lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, 2.75, PLACEHOLDER_TC_OFFSET, 1); 
+    lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
+    lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); 
 
     Drive chassis(
         {-4,-4,-4,-4},