diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
index 5ec518c79fb7..ee3b388a1f08 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -103,20 +103,20 @@ kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
     private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
 
     public class DriveLocalizer implements Localizer {
-        public final Encoder leftFront, leftRear, rightRear, rightFront;
+        public final Encoder leftFront, leftBack, rightBack, rightFront;
 
-        private int lastLeftFrontPos, lastLeftRearPos, lastRightRearPos, lastRightFrontPos;
+        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
         private Rotation2d lastHeading;
 
         public DriveLocalizer() {
             leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
-            leftRear = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
-            rightRear = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
+            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
+            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
             rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
 
             lastLeftFrontPos = leftFront.getPositionAndVelocity().position;
-            lastLeftRearPos = leftRear.getPositionAndVelocity().position;
-            lastRightRearPos = rightRear.getPositionAndVelocity().position;
+            lastLeftBackPos = leftBack.getPositionAndVelocity().position;
+            lastRightBackPos = rightBack.getPositionAndVelocity().position;
             lastRightFrontPos = rightFront.getPositionAndVelocity().position;
 
             lastHeading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
@@ -125,8 +125,8 @@ public DriveLocalizer() {
         @Override
         public Twist2dDual<Time> update() {
             PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
-            PositionVelocityPair leftRearPosVel = leftRear.getPositionAndVelocity();
-            PositionVelocityPair rightRearPosVel = rightRear.getPositionAndVelocity();
+            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
+            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
             PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
 
             Rotation2d heading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
@@ -138,12 +138,12 @@ public Twist2dDual<Time> update() {
                             leftFrontPosVel.velocity,
                     }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
-                            (leftRearPosVel.position - lastLeftRearPos),
-                            leftRearPosVel.velocity,
+                            (leftBackPosVel.position - lastLeftBackPos),
+                            leftBackPosVel.velocity,
                     }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
-                            (rightRearPosVel.position - lastRightRearPos),
-                            rightRearPosVel.velocity,
+                            (rightBackPosVel.position - lastRightBackPos),
+                            rightBackPosVel.velocity,
                     }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightFrontPosVel.position - lastRightFrontPos),
@@ -152,8 +152,8 @@ public Twist2dDual<Time> update() {
             ));
 
             lastLeftFrontPos = leftFrontPosVel.position;
-            lastLeftRearPos = leftRearPosVel.position;
-            lastRightRearPos = rightRearPosVel.position;
+            lastLeftBackPos = leftBackPosVel.position;
+            lastRightBackPos = rightBackPosVel.position;
             lastRightFrontPos = rightFrontPosVel.position;
 
             lastHeading = heading;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
index 32b949aff935..658f7903396a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
@@ -60,9 +60,9 @@ public static void register(OpModeManager manager) {
                 if (md.localizer instanceof MecanumDrive.DriveLocalizer) {
                     MecanumDrive.DriveLocalizer dl = (MecanumDrive.DriveLocalizer) md.localizer;
                     leftEncs.add(dl.leftFront);
-                    leftEncs.add(dl.leftRear);
+                    leftEncs.add(dl.leftBack);
                     rightEncs.add(dl.rightFront);
-                    rightEncs.add(dl.rightRear);
+                    rightEncs.add(dl.rightBack);
                 } else if (md.localizer instanceof ThreeDeadWheelLocalizer) {
                     ThreeDeadWheelLocalizer dl = (ThreeDeadWheelLocalizer) md.localizer;
                     parEncs.add(dl.par0);