diff --git a/script.js b/script.js
index 58a1c93..a6beadb 100644
--- a/script.js
+++ b/script.js
@@ -216,35 +216,89 @@ resetBtn.addEventListener('click', (e) => {
 preset2WheelBtn.addEventListener('click', () => {
     const positions = PresetConfigs.twoWheel(robotSize);
     robot.setModules(positions);
+    createModuleDisplays(robot.modules);
+    updateModuleDisplays(robot.modules);
 });
 
 preset3WheelBtn.addEventListener('click', () => {
     const positions = PresetConfigs.threeWheel(robotSize);
     robot.setModules(positions);
+    createModuleDisplays(robot.modules);
+    updateModuleDisplays(robot.modules);
 });
 
 preset4WheelBtn.addEventListener('click', () => {
     const positions = PresetConfigs.fourWheelSquare(robotSize);
     robot.setModules(positions);
+    createModuleDisplays(robot.modules);
+    updateModuleDisplays(robot.modules);
 });
 
 preset4RectBtn.addEventListener('click', () => {
     const positions = PresetConfigs.fourWheelRectangle(robotSize);
     robot.setModules(positions);
+    createModuleDisplays(robot.modules);
+    updateModuleDisplays(robot.modules);
 });
 
 preset6WheelBtn.addEventListener('click', () => {
     const positions = PresetConfigs.sixWheel(robotSize);
     robot.setModules(positions);
+    createModuleDisplays(robot.modules);
+    updateModuleDisplays(robot.modules);
 });
 
 preset8WheelBtn.addEventListener('click', () => {
     const positions = PresetConfigs.eightWheel(robotSize);
     robot.setModules(positions);
+    createModuleDisplays(robot.modules);
+    updateModuleDisplays(robot.modules);
 });
 
 /*
 * END LISTENER CODE
+* BEGIN DYNAMIC DOM FUNCTIONS
+*/
+
+function createModuleDisplays(modules) {
+    const grid = document.getElementById('module-grid');
+    grid.innerHTML = ''; // Delete any pre-existing elements before creating new ones
+
+    modules.forEach((module, i) => {
+        const article = document.createElement('article');
+        article.className = 'module-display';
+        const name = module.name;
+
+        article.innerHTML = `
+            <h3>${name}</h3>
+            <div class="readout">
+                <span class="label">Angle:</span>
+                <span id="module-${i}-angle" class="value">0.0°</span>
+            </div>
+            <div class="readout">
+                <span class="label">Speed:</span>
+                <span id="module-${i}-speed" class="value">0.00 pixels/s</span>
+            </div>
+        `;
+        grid.appendChild(article);
+    });
+}
+
+function updateModuleDisplays(modules) {
+    modules.forEach((module, i) => {
+        const angleElement = document.getElementById(`module-${i}-angle`);
+        const speedElement = document.getElementById(`module-${i}-speed`);
+
+        if (angleElement && speedElement) {
+            const angleDeg = (module.angle * 180 / Math.PI).toFixed(1);
+            angleElement.textContent = `${angleDeg}°`;
+            speedElement.textContent = `${module.speed.toFixed(2)} pixels/s`;
+        }
+    });
+}
+
+/*
+* END DYNAMIC DOM FUNCTIONS
 * BEGIN ANIMATION CODE
 */
 
@@ -346,7 +400,9 @@ function drawRobot(ctx, robot) {
 
 // Initialize Variables
 const robotSize = 200;
-const robot = new SwerveDrive(PresetConfigs.fourWheelSquare(robotSize));
+const defaultModulePositions = PresetConfigs.fourWheelSquare(robotSize);
+const robot = new SwerveDrive(defaultModulePositions);
+createModuleDisplays(defaultModulePositions);
 let xSpeed = 0;
 let ySpeed = 0;
 let turnSpeed = -1;
@@ -382,13 +438,15 @@ function animate() {
     xGridOffset = (xGridOffset + (worldVx / offsetSpeedDivisor)) % gridSquareSize;
     yGridOffset = (yGridOffset + (worldVy / offsetSpeedDivisor)) % gridSquareSize;
 
+    // Update module states before drawing the robot
+    robot.drive(xSpeed, ySpeed, turnSpeed, parseFloat(maxSpeedSlider.value));
+    updateModuleDisplays(robot.modules);
+
     // Draw the robot and it's movement. Grid should be oversized so movement
     // doesn't find the edge of the grid
     drawGrid(ctx, canvas.width * 2, gridSquareSize, xGridOffset, yGridOffset, robotRotation);
     drawRobot(ctx, robot);
 
-    robot.drive(xSpeed, ySpeed, turnSpeed, parseFloat(maxSpeedSlider.value));
-
     // Do it all over again
     ctx.restore();
     requestAnimationFrame(animate);
diff --git a/styles.css b/styles.css
index cdecc50..7dc76de 100644
--- a/styles.css
+++ b/styles.css
@@ -296,4 +296,29 @@ button:hover {
   border-color: var(--accent-blue);
   transform: translateY(-2px);
   box-shadow: var(--shadow);
+}
+
+/* Module States Grid */
+.module-grid {
+  display: grid;
+  grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
+  gap: var(--spacing-small);
+  margin-top: var(--spacing-small);
+}
+
+.module-card {
+  background-color: var(--background-dark);
+  border: 2px solid var(--border-color);
+  border-radius: var(--border-radius-sm);
+  padding: var(--spacing-small);
+  transition: all 0.3s ease;
+}
+
+.config-info {
+  background-color: var(--background-dark);
+  border: 1px solid var(--border-color);
+  border-radius: var(--border-radius-sm);
+  padding: var(--spacing-small);
+  margin-bottom: var(--spacing-small);
+  color: var(--text-secondary);
 }
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