diff --git a/commands/motor/ControlMotor.java b/commands/motor/ControlMotor.java
index 3c352ecd..16fcedb3 100644
--- a/commands/motor/ControlMotor.java
+++ b/commands/motor/ControlMotor.java
@@ -20,12 +20,12 @@ public <A extends Subsystem & SpeedController> ControlMotor(A motor, Controller
 		this.axis = axis;
 		requires(motor);
 		setInterruptible(true);
-		logger = new LogKitten(LogKitten.LEVEL_WARN, LogKitten.LEVEL_WARN);
+		logger = new LogKitten(LogKitten.LEVEL_DEBUG, LogKitten.LEVEL_DEBUG);
 		logger.v("ControlMotor created for " + motor.getName());
 	}
 	
 	protected void initialize() {
-		logger.v("MotorInPipe initialized");
+		logger.v("ControlMotor initialized");
 		System.out.println("ControlMotor initlialized");
 	}
 	
diff --git a/subsystems/chassis/MecanumChassis.java b/subsystems/chassis/MecanumChassis.java
index 8e617c67..15a0b743 100644
--- a/subsystems/chassis/MecanumChassis.java
+++ b/subsystems/chassis/MecanumChassis.java
@@ -56,10 +56,10 @@ public void move(double speed, double turnSpeed) {
 	// At the moment, I see no reason that
 	private static class MecanumHelper {
 		public static double[] calculateWheels(double speed, double angle, double turnSpeed) {
-			System.out.println("Angle: " + angle);
-			System.out.println("Speed: " + speed);
-			System.out.println("Turnspeed: " + turnSpeed);
-			angle += Math.PI / 4.0; // Shift axes to work with mecanum
+			// System.out.println("Angle: " + angle);
+			// System.out.println("Speed: " + speed);
+			// System.out.println("Turnspeed: " + turnSpeed);
+			angle -= Math.PI / 4.0; // Shift axes to work with mecanum
 			angle = angle % (Math.PI * 2); // make sure angle makes sense
 			double frontLeft = speed * Math.sin(angle) + turnSpeed;
 			double frontRight = -1 * speed * Math.cos(angle) + turnSpeed;