diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index 84eb33c..f37b576 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -75,11 +75,6 @@ public DriveSubsystem(SwerveIO io) {
             // Use default standard deviations of ±35" and ±52° for vision-derived position data
             VecBuilder.fill(
                 Inches.of(35).in(Meters), Inches.of(35).in(Meters), Degrees.of(52).in(Radians)));
-
-    Shuffleboard.getTab("Drive")
-        .add("Zero Heading", runOnce(this::zeroHeading).ignoringDisable(true));
-
-    Shuffleboard.getTab("Drive").add("Field", field);
   }
 
   @Override
diff --git a/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java b/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java
index 31063de..eaae88e 100644
--- a/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java
+++ b/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java
@@ -105,9 +105,9 @@ void setX() {
 
     // ... and be rotated 45° inward towards the center of the robot, within ±1°
     assertEquals(45, drivetrain.getModuleStates()[0].angle.getDegrees(), 1);
-    assertEquals(135, drivetrain.getModuleStates()[1].angle.getDegrees(), 1);
-    assertEquals(135, drivetrain.getModuleStates()[2].angle.getDegrees(), 1);
-    assertEquals(-135, drivetrain.getModuleStates()[3].angle.getDegrees(), 1);
+    assertEquals(-45, drivetrain.getModuleStates()[1].angle.getDegrees(), 1);
+    assertEquals(-45, drivetrain.getModuleStates()[2].angle.getDegrees(), 1);
+    assertEquals(45, drivetrain.getModuleStates()[3].angle.getDegrees(), 1);
   }
 
   private void tick() {