diff --git a/src/control/SwerveController.cpp b/src/control/SwerveController.cpp
index 3501f9e3..d64c4ede 100644
--- a/src/control/SwerveController.cpp
+++ b/src/control/SwerveController.cpp
@@ -1,7 +1,6 @@
 #include "SwerveController.h"
 
 #include "../Constants.h"
-#include "../Globals.h"
 
 using namespace control;
 using robot::types::motorid_t;
@@ -21,11 +20,6 @@ SwerveController::setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t& wheel
 swerve_commands_t SwerveController::setTurnInPlaceCmdVel(double dtheta,
 														 const swerve_rots_t& wheel_rots,
 														 double& scaleFactor) const {
-	if (dtheta == 0) {
-		scaleFactor = 0;
-		return {0.0, 0.0, 0.0, 0.0};
-	}
-
 	if (!checkWheelRotation(DriveMode::TurnInPlace, wheel_rots)) {
 		scaleFactor = 0;
 		return {0.0, 0.0, 0.0, 0.0};
@@ -63,11 +57,6 @@ swerve_commands_t SwerveController::setCrabCmdVel(double dtheta, double dy,
 swerve_commands_t SwerveController::setCrabCmdVel(double dtheta, double dy,
 												  const swerve_rots_t& wheel_rots,
 												  double& scaleFactor) const {
-	if (Globals::E_STOP && (dtheta != 0 || dy != 0)) {
-		scaleFactor = 0;
-		return {0.0, 0.0, 0.0, 0.0};
-	}
-
 	if (!checkWheelRotation(DriveMode::Crab, wheel_rots)) {
 		scaleFactor = 0;
 		return {0.0, 0.0, 0.0, 0.0};
@@ -91,7 +80,8 @@ swerve_commands_t SwerveController::setCrabCmdVel(double dtheta, double dy,
 	return {rPWM, rPWM, lPWM, lPWM};
 }
 
-bool SwerveController::checkWheelRotation(DriveMode mode, swerve_rots_t wheel_rots) const {
+bool SwerveController::checkWheelRotation(DriveMode mode,
+										  const swerve_rots_t& wheel_rots) const {
 	std::array<int, 4> rots = {wheel_rots.lfRot, wheel_rots.rfRot, wheel_rots.lbRot,
 							   wheel_rots.rbRot};
 	swerve_rots_t target = getSteerRots(mode);
@@ -135,12 +125,12 @@ DriveMode SwerveController::getDriveMode() const {
 	return driveMode;
 }
 
-swerve_rots_t SwerveController::setDriveMode(DriveMode mode) const {
+swerve_rots_t SwerveController::setDriveMode(DriveMode mode) {
 	driveMode = mode;
 	return getSteerRots(mode);
 }
 
-void SwerveController::setOverride(bool override) const {
+void SwerveController::setOverride(bool override) {
 	override_steer_check = override;
 }
 
diff --git a/src/control/SwerveController.h b/src/control/SwerveController.h
index 74a5762f..d4fa2ef2 100644
--- a/src/control/SwerveController.h
+++ b/src/control/SwerveController.h
@@ -132,7 +132,7 @@ class SwerveController {
 	 *
 	 * @param override Override the wheel rotation check.
 	 */
-	void setOverride(bool override) const;
+	void setOverride(bool override);
 
 	/**
 	 * @brief Get the current drive mode of the controller.
@@ -147,7 +147,7 @@ class SwerveController {
 	 * @param mode The new drive mode to set.
 	 * @return swerve_rots_t The wheel steer rotations associated with this drive mode.
 	 */
-	swerve_rots_t setDriveMode(DriveMode mode) const;
+	swerve_rots_t setDriveMode(DriveMode mode);
 
 	/**
 	 * @brief Check to see if all wheels are at their target position.
@@ -157,7 +157,7 @@ class SwerveController {
 	 * @return bool if the wheels are within `STEER_EPSILON` of their
 	 * target position OR if `overide_steer_check` is true.
 	 */
-	bool checkWheelRotation(DriveMode mode, swerve_rots_t wheel_rots) const;
+	bool checkWheelRotation(DriveMode mode, const swerve_rots_t& wheel_rots) const;
 
 	/**
 	 * @brief Get the wheel steer rotations for a given drive mode in millidegrees.
@@ -172,13 +172,13 @@ class SwerveController {
 	/**
 	 * @brief The current drive mode.
 	 */
-	mutable DriveMode driveMode;
+	DriveMode driveMode;
 
 	/**
 	 * @brief Whether or not wheel rotation check should be ignored when
 	 * doing swerve-based driving.
 	 */
-	mutable bool override_steer_check;
+	bool override_steer_check;
 };
 } // namespace control
 
diff --git a/src/network/MissionControlTasks.cpp b/src/network/MissionControlTasks.cpp
index dfb03407..e6f4f335 100644
--- a/src/network/MissionControlTasks.cpp
+++ b/src/network/MissionControlTasks.cpp
@@ -30,7 +30,7 @@ static control::swerve_rots_t getAllSteerRotations();
 /**
  * Set the steer power of all wheels with a swerve_commands_t.
  */
-static void setAllSteerPowers(control::swerve_commands_t commands);
+static void setAllSteerPowers(const control::swerve_commands_t& commands);
 
 PowerRepeatTask::PowerRepeatTask()
 	: util::PeriodicTask<>(Constants::JOINT_POWER_REPEAT_PERIOD,
@@ -233,7 +233,7 @@ static control::swerve_rots_t getAllSteerRotations() {
 			robot::getMotorPos(motorid_t::rearRightWheel).getData()};
 }
 
-static void setAllSteerPowers(control::swerve_commands_t commands) {
+static void setAllSteerPowers(const control::swerve_commands_t& commands) {
 	robot::setMotorPower(motorid_t::frontLeftWheel, commands.lfPower);
 	robot::setMotorPower(motorid_t::frontRightWheel, commands.rfPower);
 	robot::setMotorPower(motorid_t::rearLeftWheel, commands.lbPower);