diff --git a/java/CurrentLimits/src/test/java/CurrentLimitTests.java b/java/CurrentLimits/src/test/java/CurrentLimitTests.java
index 0eab2add..bf4b1b9c 100644
--- a/java/CurrentLimits/src/test/java/CurrentLimitTests.java
+++ b/java/CurrentLimits/src/test/java/CurrentLimitTests.java
@@ -113,7 +113,7 @@ public void testSupplyLimit() {
         supplyCurrent.waitForUpdate(1);
 
         System.out.println("Supply current is " + supplyCurrent);
-        assertTrue(supplyCurrent.getValue() > 100); // Supply current should be in excess of 100 amps
+        assertTrue(supplyCurrent.getValue() > 80); // Supply current should be in excess of 80 amps
 
         /* Now apply the supply current limit */
         currentLimitConfigs.SupplyCurrentLimitEnable = true;
@@ -126,7 +126,7 @@ public void testSupplyLimit() {
         supplyCurrent.waitForUpdate(1);
 
         System.out.println("Supply current is " + supplyCurrent);
-        assertTrue(supplyCurrent.getValue() > 100); // Make sure it's still over 100 amps (time hasn't exceeded 1 second in total)
+        assertTrue(supplyCurrent.getValue() > 80); // Make sure it's still over 80 amps (time hasn't exceeded 1 second in total)
 
         /* Wait a full extra couple seconds so the limit kicks in and starts limiting us */
         Timer.delay(2);
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
index d1b7ec1d..79a9a425 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
@@ -50,11 +50,11 @@ private void configureBindings() {
     // reset the field-centric heading on left bumper press
     joystick.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldRelative()));
 
-    drivetrain.registerTelemetry(logger::telemeterize);
-
     joystick.pov(0).whileTrue(drivetrain.applyRequest(() -> forwardStraight.withVelocityX(0.5).withVelocityY(0)));
     joystick.pov(180).whileTrue(drivetrain.applyRequest(() -> forwardStraight.withVelocityX(-0.5).withVelocityY(0)));
 
+    drivetrain.registerTelemetry(logger::telemeterize);
+
 
     /* Bindings for drivetrain characterization */
     /* These bindings require multiple buttons pushed to swap between quastatic and dynamic */