diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index efcc937..c9e6434 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -141,11 +141,11 @@ public static final class Params {
         public static final Slot0Configs STEER_MOTOR_GAINS =
             new Slot0Configs().withKP(0).withKI(0).withKD(0).withKS(0).withKV(0).withKA(0);
         public static final ClosedLoopOutputType DRIVE_CLOSED_LOOP_OUTPUT =
-            ClosedLoopOutputType.Voltage;
+            ClosedLoopOutputType.TorqueCurrentFOC;
         public static final ClosedLoopOutputType STEER_CLOSED_LOOP_OUTPUT =
-            ClosedLoopOutputType.Voltage; // also paywall, but not important?
+            ClosedLoopOutputType.TorqueCurrentFOC;
         public static final SteerFeedbackType FEEDBACK_SOURCE =
-            SteerFeedbackType.RemoteCANcoder; // other types locked by paywall
+            SteerFeedbackType.FusedCANcoder; // dunno if this is the best option
         public static final double SPEED_TWELVE_VOLTS = 0;
         public static final double SLIP_CURRENT = 0;
       }