diff --git a/build.gradle b/build.gradle
index 6762242..efa4a25 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.25.0"
     id "io.freefair.lombok" version "8.4"
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
index de35250..e3450e9 100644
--- a/src/main/java/frc/robot/BuildConstants.java
+++ b/src/main/java/frc/robot/BuildConstants.java
@@ -1,17 +1,19 @@
 package frc.robot;
 
-/** Automatically generated file containing build version information. */
+/**
+ * Automatically generated file containing build version information.
+ */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "4829-BaseRobotCode";
+  public static final String MAVEN_NAME = "4829-BaseRobotCode-1";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 15;
-  public static final String GIT_SHA = "f6cf5383d95d1116029cbb69e2db020295f5c2bf";
-  public static final String GIT_DATE = "2024-11-09 19:29:39 EST";
-  public static final String GIT_BRANCH = "actual-unit-tests";
-  public static final String BUILD_DATE = "2024-11-09 19:50:39 EST";
-  public static final long BUILD_UNIX_TIME = 1731199839115L;
+  public static final int GIT_REVISION = 16;
+  public static final String GIT_SHA = "96078f7f7eb8a26dbec35e3ee1abb98234dcca13";
+  public static final String GIT_DATE = "2024-12-18 17:32:16 EST";
+  public static final String GIT_BRANCH = "configurbindingsmaxc";
+  public static final String BUILD_DATE = "2024-12-20 16:40:11 EST";
+  public static final long BUILD_UNIX_TIME = 1734730811073L;
   public static final int DIRTY = 1;
 
-  private BuildConstants() {}
+  private BuildConstants(){}
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..1756ec3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,13 +6,20 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.commands.drive.DriveCommand;
 public class RobotContainer {
+  CommandXboxController driverController = new CommandXboxController(4);
+  Trigger driverAButton = driverController.a();
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    driverAButton.onTrue(new DriveCommand(null, null, null, null, null, driverAButton, driverAButton));
+    
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
diff --git a/src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/BrushlessMotorSim.java b/src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/BrushlessMotorSim.java
index 5ba3122..a5373a9 100644
--- a/src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/BrushlessMotorSim.java
+++ b/src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/BrushlessMotorSim.java
@@ -61,7 +61,7 @@ public class BrushlessMotorSim {
    *
    * @param motor the {@link DCMotor} model representing the motor(s) in the simulation
    * @param gearRatio the gear ratio of the mechanism; values greater than 1 indicate a reduction
-   * @param loadIntertiaJKgMetersSquared the rotational inertia of the mechanism, in kg·m²
+   * @param loadIntertiaJKgMetersSquared the rotational inertia of the mechanism, in kg*m^2
    * @param frictionVoltage the voltage required to overcome friction and make the mechanism move
    */
   public BrushlessMotorSim(