diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index a1bd59c2..9f45b916 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -104,7 +104,7 @@ public class SwerveDrive
   /**
    * Amount of seconds the duration of the timestep the speeds should be applied for.
    */
-  private        double                   discretizationdtSeconds                         = 0.02;
+  private       double                   discretizationdtSeconds                         = 0.02;
   /**
    * Deadband for speeds in heading correction.
    */
@@ -347,15 +347,17 @@ public void setHeadingCorrection(boolean state, double deadband)
   }
 
   /**
-   * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same time. 
-   * The inputs are added together so this is not intneded to be used to give the driver both methods of control.
-   * 
+   * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
+   * time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.
+   *
    * @param fieldOrientedVelocity The field oriented velocties to use
    * @param robotOrientedVelocity The robot oriented velocties to use
    */
-  public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity, ChassisSpeeds robotOrientedVelocity)
+  public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity,
+                                                 ChassisSpeeds robotOrientedVelocity)
   {
-    ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading()).plus(robotOrientedVelocity);
+    ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading())
+                                                .plus(robotOrientedVelocity);
     drive(TotalVelocties);
   }
 
@@ -1174,11 +1176,13 @@ public void setCosineCompensator(boolean enabled)
 
   /**
    * Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction
-   * 
-   * @param enable Enable chassis velocity correction, which will use {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} with the following.
+   *
+   * @param enable    Enable chassis velocity correction, which will use
+   *                  {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} with the following.
    * @param dtSeconds The duration of the timestep the speeds should be applied for.
    */
-  public void setChassisDiscretization(boolean enable, double dtSeconds){
+  public void setChassisDiscretization(boolean enable, double dtSeconds)
+  {
     chassisVelocityCorrection = enable;
     discretizationdtSeconds = dtSeconds;
   }
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index 8f71e615..4ef3bf55 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -82,14 +82,14 @@ public class SwerveModule
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
   public        int                    moduleNumber;
-  /**
-   * Feedforward for the drive motor during closed loop control.
-   */
-  private       SimpleMotorFeedforward driveMotorFeedforward;
   /**
    * Maximum speed of the drive motors in meters per second.
    */
   public        double                 maxSpeed;
+  /**
+   * Feedforward for the drive motor during closed loop control.
+   */
+  private       SimpleMotorFeedforward driveMotorFeedforward;
   /**
    * Anti-Jitter AKA auto-centering disabled.
    */
@@ -274,6 +274,16 @@ public void setFeedforward(SimpleMotorFeedforward drive)
     this.driveMotorFeedforward = drive;
   }
 
+  /**
+   * Get the current drive motor PIDF values.
+   *
+   * @return {@link PIDFConfig} of the drive motor.
+   */
+  public PIDFConfig getDrivePIDF()
+  {
+    return configuration.velocityPIDF;
+  }
+
   /**
    * Set the drive PIDF values.
    *
@@ -286,13 +296,13 @@ public void setDrivePIDF(PIDFConfig config)
   }
 
   /**
-   * Get the current drive motor PIDF values.
+   * Get the current angle/azimuth/steering motor PIDF values.
    *
-   * @return {@link PIDFConfig} of the drive motor.
+   * @return {@link PIDFConfig} of the angle motor.
    */
-  public PIDFConfig getDrivePIDF()
+  public PIDFConfig getAnglePIDF()
   {
-    return configuration.velocityPIDF;
+    return configuration.anglePIDF;
   }
 
   /**
@@ -306,16 +316,6 @@ public void setAnglePIDF(PIDFConfig config)
     angleMotor.configurePIDF(config);
   }
 
-  /**
-   * Get the current angle/azimuth/steering motor PIDF values.
-   *
-   * @return {@link PIDFConfig} of the angle motor.
-   */
-  public PIDFConfig getAnglePIDF()
-  {
-    return configuration.anglePIDF;
-  }
-
   /**
    * Set the desired state of the swerve module. <br /><b>WARNING: If you are not using one of the functions from
    * {@link SwerveDrive} you may screw up {@link SwerveDrive#kinematics}</b>
@@ -638,7 +638,8 @@ public void updateTelemetry()
     }
     SmartDashboard.putNumber(rawAngleName, angleMotor.getPosition());
     SmartDashboard.putNumber(rawDriveName, driveMotor.getPosition());
-    SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity()); SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
+    SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity());
+    SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
     SmartDashboard.putNumber(absoluteEncoderIssueName, getAbsoluteEncoderReadIssue() ? 1 : 0);
   }
 }
diff --git a/src/main/java/swervelib/motors/TalonSRXSwerve.java b/src/main/java/swervelib/motors/TalonSRXSwerve.java
index 5c5849ab..30db007e 100644
--- a/src/main/java/swervelib/motors/TalonSRXSwerve.java
+++ b/src/main/java/swervelib/motors/TalonSRXSwerve.java
@@ -7,7 +7,6 @@
 import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import edu.wpi.first.wpilibj.Timer;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.math.SwerveMath;
 import swervelib.parser.PIDFConfig;