diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
index f1e2af8..b9063d5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.pedroPathing;
 
+import com.acmerobotics.dashboard.config.Config;
+import com.pedropathing.control.PIDFCoefficients;
 import com.pedropathing.follower.Follower;
 import com.pedropathing.follower.FollowerConstants;
 import com.pedropathing.ftc.FollowerBuilder;
@@ -11,12 +13,15 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-
+@Config
 public class Constants {
     public static FollowerConstants followerConstants = new FollowerConstants()
             .mass(15.5)
             .forwardZeroPowerAcceleration(-29.512)
-            .lateralZeroPowerAcceleration(-72.872);
+            .lateralZeroPowerAcceleration(-72.872)
+            .translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012));
+
+    public static int DEBUG_VAR = 0;
 
     public static MecanumConstants driveConstants = new MecanumConstants()
             .maxPower(1)
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
index 7dbf3e9..1258ea1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
@@ -10,6 +10,7 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.telemetryM;
 
 import android.annotation.SuppressLint;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.bylazar.configurables.PanelsConfigurables;
 import com.bylazar.configurables.annotations.Configurable;
 import com.bylazar.configurables.annotations.IgnoreConfigurable;
@@ -44,6 +45,7 @@ import java.util.List;
  * @version 1.0, 6/26/2025
  */
 @Configurable
+@Config
 @TeleOp(name = "Tuning", group = "Pedro Pathing")
 public class Tuning extends SelectableOpMode {
     public static Follower follower;