diff --git a/navigation/repulsorFieldPlanner.py b/navigation/repulsorFieldPlanner.py
index 4fd24b7..ed8b923 100644
--- a/navigation/repulsorFieldPlanner.py
+++ b/navigation/repulsorFieldPlanner.py
@@ -362,7 +362,7 @@ def update(self, curCmd:DrivetrainCommand, stepSize_m:float) -> DrivetrainComman
 
         return nextCmd
     
-    def _updateStuckStatus(self, curCmd:DrivetrainCommand, stepSize_m:float) -> bool:
+    def _updateStuckStatus(self, curCmd:DrivetrainCommand, stepSize_m:float) -> None:
 
         # Add our new command to the list
         self.stuckPrevCmdBuffer.append(curCmd.desPose)
diff --git a/potentialFieldPlotter.py b/potentialFieldPlotter.py
index 6da7ca8..406ffeb 100644
--- a/potentialFieldPlotter.py
+++ b/potentialFieldPlotter.py
@@ -92,8 +92,8 @@ def main():
 
     # Set up the actual repulsor field planner
     rfp = RepulsorFieldPlanner()
-    #rfp.setGoal(GOAL_SPEAKER)
-    rfp.setGoal(GOAL_PICKUP)
+    rfp.setGoal(GOAL_SPEAKER)
+    #rfp.setGoal(GOAL_PICKUP)
 
     # Field boundary
     canvas.add_rectangle(0.0, 0.0, FIELD_X_M, FIELD_Y_M, color="black")