diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f410d8e..30b20a5 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -7,21 +7,22 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.RobotController;
 import java.io.IOException;
 import java.nio.file.Path;
 import java.util.function.BooleanSupplier;
 
 public final class Constants {
   public static final Mode kCurrentMode = Mode.kReal;
-  public static final RobotName kRobot = RobotName.kBlackMamba;
+  public static final RobotName kRobot;
 
-  // static {
-  //   final String rioSerialNumber = RobotController.getSerialNumber();
-  //   if (rioSerialNumber.equals(RobotName.kViper.rioSerialNumber)) kRobot = RobotName.kViper;
-  //   else if (rioSerialNumber.equals(RobotName.kBlackMamba.rioSerialNumber))
-  //     kRobot = RobotName.kBlackMamba;
-  //   else kRobot = RobotName.kBlackMamba;
-  // }
+  static {
+    final String rioSerialNumber = RobotController.getSerialNumber();
+    if (rioSerialNumber.equals(RobotName.kViper.rioSerialNumber)) kRobot = RobotName.kBlackMamba;
+    else if (rioSerialNumber.equals(RobotName.kBlackMamba.rioSerialNumber))
+      kRobot = RobotName.kBlackMamba;
+    else kRobot = RobotName.kBlackMamba;
+  }
 
   public static final boolean kIsViper = false;
   public static final boolean kIsSim = Constants.kCurrentMode.equals(Mode.kSim);
@@ -29,7 +30,7 @@ public final class Constants {
   public static final String kSuperstructureCanBus = "CANivore2";
   public static final boolean kInTuningMode = true;
   public static final Translation3d poseOffset =
-      new Translation3d(Units.inchesToMeters(0), 0.0, 0.0);
+      new Translation3d(Units.inchesToMeters(2.5), 0.0, 0.0);
   public static final BooleanSupplier onRedAllianceSupplier =
       () ->
           DriverStation.getAlliance().isPresent()
@@ -62,7 +63,7 @@ public static enum RobotName {
     kViper("032380FD"),
     kBlackMamba("032243C9");
 
-    public String rioSerialNumber;
+    public final String rioSerialNumber;
 
     private RobotName(String rioSerialNumber) {
       this.rioSerialNumber = rioSerialNumber;