diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
index 0b44bfaa..0f4f07f7 100644
--- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -199,9 +199,7 @@ public SwerveSubsystem(BooleanSupplier redSupplier) {
                         FL_POS.getNorm(), // Drive base radius in meters. Distance from robot center to furthest module.
                         new ReplanningConfig(true, true)
                 ),
-            () -> {
-                return false;
-            },
+            redSupplier,
             this
         );
 
diff --git a/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java b/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java
index b2528ea4..0e85e161 100644
--- a/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java
+++ b/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java
@@ -24,6 +24,7 @@ public class VortexDriveMotor implements SwerveDriveMotor {
     public VortexDriveMotor(int canID) {
         motor = new CANSparkFlex(canID, MotorType.kBrushless);
         motor.setIdleMode(IdleMode.kBrake);
+        motor.setClosedLoopRampRate(.1);
 
         encoder = motor.getEncoder();
         encoder.setVelocityConversionFactor(conversionFactor); //STUB