diff --git a/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModule.java b/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModule.java
index 5cbee566..a2f0280e 100644
--- a/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModule.java
+++ b/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModule.java
@@ -8,14 +8,14 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
-import frc.trigon.robot.constants.RobotConstants;
-import frc.trigon.robot.poseestimation.robotposeestimator.RobotPoseEstimatorConstants;
-import frc.trigon.robot.subsystems.swerve.SwerveConstants;
 import frc.trigon.lib.hardware.phoenix6.cancoder.CANcoderEncoder;
 import frc.trigon.lib.hardware.phoenix6.cancoder.CANcoderSignal;
 import frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXMotor;
 import frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXSignal;
 import frc.trigon.lib.utilities.Conversions;
+import frc.trigon.robot.constants.RobotConstants;
+import frc.trigon.robot.poseestimation.robotposeestimator.RobotPoseEstimatorConstants;
+import frc.trigon.robot.subsystems.swerve.SwerveConstants;
 
 public class SwerveModule {
     private final TalonFXMotor
@@ -102,7 +102,9 @@ public void setTargetSteerAngle(Rotation2d angle) {
     }
 
     public SwerveModuleState getCurrentState() {
-        return new SwerveModuleState(driveWheelRotationsToMeters(driveMotor.getSignal(TalonFXSignal.VELOCITY)), getCurrentSteerAngle());
+        final Rotation2d currentSteerAngle = getCurrentSteerAngle();
+        final double currentDriveVelocity = driveMotor.getSignal(TalonFXSignal.VELOCITY) - (currentSteerAngle.getRotations() * SwerveModuleConstants.COUPLED_RATIO);
+        return new SwerveModuleState(driveWheelRotationsToMeters(currentDriveVelocity), currentSteerAngle);
     }
 
     public SwerveModuleState getTargetState() {
@@ -115,7 +117,10 @@ public SwerveModuleState getTargetState() {
      * @return the position of the drive wheel in meters
      */
     public double getDriveWheelPositionRadians() {
-        return edu.wpi.first.math.util.Units.rotationsToRadians(driveMotor.getSignal(TalonFXSignal.POSITION));
+        final double driveWheelPositionRotations = driveMotor.getSignal(TalonFXSignal.POSITION);
+        final double wheelAngleRotations = getCurrentSteerAngle().getRotations();
+        final double driveWheelPositionWithCouplingRatioRotations = driveWheelPositionRotations - (wheelAngleRotations * SwerveModuleConstants.COUPLED_RATIO);
+        return edu.wpi.first.math.util.Units.rotationsToRadians(driveWheelPositionWithCouplingRatioRotations);
     }
 
     /**
@@ -144,6 +149,7 @@ private boolean willOptimize(SwerveModuleState state) {
      * @param targetVelocityMetersPerSecond the target drive velocity, in meters per second
      */
     private void setTargetDriveVelocity(double targetVelocityMetersPerSecond) {
+        targetVelocityMetersPerSecond -= steerMotor.getSignal(TalonFXSignal.VELOCITY) * SwerveModuleConstants.COUPLED_RATIO;
         if (shouldDriveMotorUseClosedLoop) {
             setTargetClosedLoopDriveVelocity(targetVelocityMetersPerSecond);
             return;
@@ -154,7 +160,6 @@ private void setTargetDriveVelocity(double targetVelocityMetersPerSecond) {
 
     private void setTargetClosedLoopDriveVelocity(double targetVelocityMetersPerSecond) {
         final double targetDriveVelocityRotationsPerSecond = metersToDriveWheelRotations(targetVelocityMetersPerSecond);
-
         driveMotor.setControl(driveVelocityRequest.withVelocity(targetDriveVelocityRotationsPerSecond));
     }
 
diff --git a/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModuleConstants.java b/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModuleConstants.java
index 5a0b67c1..dae0c79d 100644
--- a/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModuleConstants.java
+++ b/src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModuleConstants.java
@@ -14,6 +14,7 @@
 import frc.trigon.robot.constants.AutonomousConstants;
 
 public class SwerveModuleConstants {
+    static final double COUPLED_RATIO = 3;
     private static final double
             DRIVE_MOTOR_GEAR_RATIO = 6.03,//R1: 7.03, R2: 6.03, R3: 5.27
             STEER_MOTOR_GEAR_RATIO = 287.0 / 11.0;