diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
index 85f8ebee..9ccae1bd 100644
--- a/src/main/java/com/stuypulse/robot/constants/Settings.java
+++ b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -121,7 +121,7 @@ public interface Drive {
 
         public interface FrontRight {
             String ID = "Front Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(357.213206) // recalibrated 4/21
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(357.213206) // recalibrated 4/21                
                 .plus(Rotation2d.fromDegrees(0));
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5);
         }
@@ -142,7 +142,7 @@ public interface BackLeft {
 
         public interface BackRight {
             String ID = "Back Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(6.342437) // recalibrated 4/21
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(7.748473) // recalibrated 5/24
                 .plus(Rotation2d.fromDegrees(90));
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5);
         }
@@ -237,7 +237,7 @@ public interface Wrist {
                     MOI,
                     RADIUS);
 
-            Rotation2d ZERO_ANGLE = Rotation2d.fromRotations(0.662482 + 60.0/360.0).plus(Rotation2d.fromDegrees(180));
+            Rotation2d ZERO_ANGLE = Rotation2d.fromRotations(0.662482).plus(Rotation2d.fromDegrees(120));
 
             SmartNumber TELEOP_MAX_VELOCITY = new SmartNumber("Arm/Wrist/Teleop Max Velocity (deg)", 480.0);
             SmartNumber TELEOP_MAX_ACCELERATION = new SmartNumber("Arm/Wrist/Teleop Max Acceleration (deg)", 480.0);