diff --git a/src/main/java/frc/lib/util/Util.java b/src/main/java/frc/lib/util/Util.java
index ea2dda8..a40cc8c 100644
--- a/src/main/java/frc/lib/util/Util.java
+++ b/src/main/java/frc/lib/util/Util.java
@@ -363,9 +363,9 @@ public void clearStatesBeforeTime(Time time) {
 		}
 
 		public Pose2dTimeInterpolable(Trajectory trajwithTan, Rotation2d startHeading, Rotation2d endHeading) {
-			double totalTimeSecpnods = trajwithTan.getTotalTime();
+			double totalTimeSeconds = trajwithTan.getTotalTime();
 			for (State state : trajwithTan.getStates()) {
-				Rotation2d poseRotation = startHeading.interpolate(endHeading, state.time / totalTimeSecpnods);
+				Rotation2d poseRotation = startHeading.interpolate(endHeading, state.time / totalTimeSeconds);
 				poseList.add(new Pair<>(
 						new Pose2d(state.pose.getTranslation(), poseRotation),
 						Units.Seconds.of(state.time)));
diff --git a/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java b/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
index 3e1b15a..a05df43 100644
--- a/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
+++ b/src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
@@ -85,7 +85,7 @@ public boolean closeEnoughToRaiseElevator() {
 	public boolean slowEnoughToRaiseElevator() {
 		return Math.hypot(
 						Drive.mInstance.getState().Speeds.vx,
-						Drive.mInstance.getState().Speeds.vx)
+						Drive.mInstance.getState().Speeds.vy)
 				< velToRaiseElevator.in(Units.MetersPerSecond);
 	}
 
diff --git a/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java b/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
index ef0e05a..31177e0 100644
--- a/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
+++ b/src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
@@ -67,7 +67,7 @@ public boolean closeEnoughToRaiseElevator() {
 	public boolean slowEnoughToRaiseElevator() {
 		return Math.hypot(
 						Drive.mInstance.getState().Speeds.vx,
-						Drive.mInstance.getState().Speeds.vx)
+						Drive.mInstance.getState().Speeds.vy)
 				< DriveConstants.kMaxSpeedTippy.times(1.1).in(Units.MetersPerSecond);
 	}