diff --git a/.run/Debug Robot via IP.run.xml b/.run/Debug Robot via IP.run.xml
index 9733b4769..c553ddb8f 100644
--- a/.run/Debug Robot via IP.run.xml	
+++ b/.run/Debug Robot via IP.run.xml	
@@ -1,12 +1,16 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="Debug Robot via IP" type="Remote">
-    <method v="2"/>
     <module name="YAGSL-Example.main"/>
+    <option name="USE_SOCKET_TRANSPORT" value="true"/>
     <option name="SERVER_MODE" value="false"/>
     <option name="SHMEM_ADDRESS" value="javadebug"/>
     <option name="HOST" value="10.34.81.2"/>
     <option name="PORT" value="8349"/>
     <option name="AUTO_RESTART" value="false"/>
-    <option name="USE_SOCKET_TRANSPORT" value="true"/>
+    <RunnerSettings RunnerId="Debug">
+      <option name="DEBUG_PORT" value="8349"/>
+      <option name="LOCAL" value="false"/>
+    </RunnerSettings>
+    <method v="2"/>
   </configuration>
 </component>
\ No newline at end of file
diff --git a/docs/index.html b/docs/index.html
index 0749a7a2a..a644d59e0 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -33,6 +33,7 @@ <h1 class="d-inline display-6">Swerve Drive</h1>
               <select class="form-select" id="imu_type-input" name="imu_type">
                 <option selected value="pigeon">Pigeon</option>
                 <option value="pigeon2">Pigeon2</option>
+                <option value="canandgyro">CanAndGyro</option>
                 <option value="navx">NavX</option>
                 <option value="navx_usb">NavX via USB</option>
                 <option value="navx_spi">NavX via SPI</option>
diff --git a/docs/schemas/controllerproperties_schema.json b/docs/schemas/controllerproperties_schema.json
index bbb7ccc94..31f0961ca 100644
--- a/docs/schemas/controllerproperties_schema.json
+++ b/docs/schemas/controllerproperties_schema.json
@@ -1,6 +1,6 @@
 {
   "$schema": "https://broncbotz3481.github.io/YAGSL-Example/schemas/controllerproperties_schema.json",
-  "description": "",
+  "description": "Controller Properties used within SwerveController",
   "type": "object",
   "properties": {
     "angleJoystickRadiusDeadband": {
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index afeb85fe5..e64a63e3a 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -104,7 +104,7 @@ public SwerveSubsystem(File directory)
                                                0.1); //Correct for skew that gets worse as angular velocity increases. Start with a coefficient of 0.1.
     swerveDrive.setModuleEncoderAutoSynchronize(false,
                                                 1); // Enable if you want to resynchronize your absolute encoders and motor encoders periodically when they are not moving.
-    swerveDrive.pushOffsetsToEncoders(); // Set the absolute encoder to be used over the internal encoder and push the offsets onto it. Throws warning if not possible
+//    swerveDrive.pushOffsetsToEncoders(); // Set the absolute encoder to be used over the internal encoder and push the offsets onto it. Throws warning if not possible
     if (visionDriveTest)
     {
 //      setupPhotonVision();