diff --git a/ROAR/control_module/pid_controller.py b/ROAR/control_module/pid_controller.py
index fc817970..290323f4 100644
--- a/ROAR/control_module/pid_controller.py
+++ b/ROAR/control_module/pid_controller.py
@@ -138,5 +138,5 @@ def run_in_series(self, next_waypoint: Transform, **kwargs) -> float:
         lat_control = float(
             np.clip((k_p * _dot) + (k_d * _de) + (k_i * _ie), self.steering_boundary[0], self.steering_boundary[1])
         )
-        print(f"lat_control: {round(lat_control, 3)} | v_vec = {v_vec} | w_vec = {w_vec}")
+        # print(f"lat_control: {round(lat_control, 3)} | v_vec = {v_vec} | w_vec = {w_vec}")
         return lat_control
\ No newline at end of file
diff --git a/ROAR_Jetson b/ROAR_Jetson
index 058ae14b..555a76e4 160000
--- a/ROAR_Jetson
+++ b/ROAR_Jetson
@@ -1 +1 @@
-Subproject commit 058ae14b0d7a5ba37b7294c6e1863fa410373e63
+Subproject commit 555a76e45166cbaff8194f6e9c580a69400bedfb
diff --git a/ROAR_Sim b/ROAR_Sim
index 920f49ec..c4e9966a 160000
--- a/ROAR_Sim
+++ b/ROAR_Sim
@@ -1 +1 @@
-Subproject commit 920f49ec0370c0dad339086416447e9231d11c02
+Subproject commit c4e9966abdd4e303d6f78d67cbc06b6cce693515