diff --git a/script.js b/script.js
index 35be137..650568d 100644
--- a/script.js
+++ b/script.js
@@ -45,6 +45,10 @@ class SwerveModule {
 // Swerve drive class to represent the robot as a whole
 class SwerveDrive {
     constructor(modulePositionsAndNames) {
+        this.setModules(modulePositionsAndNames);
+    }
+
+    setModules(modulePositionsAndNames) {
         // Take an array of module positions with a name and create an array of SwerveModule objects
         this.modules = modulePositionsAndNames.map(module =>
             new SwerveModule(module.x, module.y, module.name)
@@ -62,7 +66,10 @@ class SwerveDrive {
         if (maxCalculated > maxSpeed) {
             const scale = maxSpeed / maxCalculated;
             this.modules.forEach(module => {
-                module.speed *= scale;
+                module.velocity.x *= scale;
+                module.velocity.y *= scale;
+                module.speed = module.velocity.magnitude();
+                module.angle = module.velocity.angle();
             });
         }
     }
@@ -225,7 +232,7 @@ function drawGrid(ctx, sideLength, gridSquareSize, xOffset, yOffset, rotation) {
 function drawModule(ctx, module) {
     const x = module.position.x;
     const y = module.position.y;
-    const arrowLength = Math.max(module.speed * 1.5, 5);
+    const arrowLength = Math.max(module.speed / 2, 5);
 
     ctx.save();
     ctx.translate(x, y);
@@ -300,22 +307,25 @@ function animate() {
     ctx.save();
     ctx.translate(canvas.width / 2, canvas.height / 2);
 
-    // Animation for testing
-    xSpeed = vxSlider.value;
-    ySpeed = vySlider.value;
-    turnSpeed = omegaSlider.value;
+    // Update speeds based on sliders
+    xSpeed = parseFloat(vxSlider.value);
+    ySpeed = parseFloat(vySlider.value);
+    turnSpeed = parseFloat(omegaSlider.value);
 
     // Animate the grid with robot movement
     let offsetSpeedDivisor = (100 - gridSquareSize <= 0 ? 1 : 100 - gridSquareSize);
-    console.log(offsetSpeedDivisor);
-
-    // Accumulate grid offset and wrap it to create infinite grid effect
-    xGridOffset = (xGridOffset + (xSpeed / offsetSpeedDivisor)) % gridSquareSize;
-    yGridOffset = (yGridOffset + (ySpeed / offsetSpeedDivisor)) % gridSquareSize;
-
-    // Accumulate robot rotation based on turn speed (convert to radians)
     robotRotation += turnSpeed * 0.01; // Scale factor for reasonable rotation speed
 
+    // Convert robot velocities to world velocities for grid movement
+    const cosRot = Math.cos(robotRotation);
+    const sinRot = Math.sin(robotRotation);
+    const worldVx = xSpeed * cosRot - ySpeed * sinRot;
+    const worldVy = xSpeed * sinRot + ySpeed * cosRot;
+
+    // Update grid offsets based on robot movement
+    xGridOffset = (xGridOffset + (worldVx / offsetSpeedDivisor)) % gridSquareSize;
+    yGridOffset = (yGridOffset + (worldVy / offsetSpeedDivisor)) % gridSquareSize;
+
     // 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);