diff --git a/src/action.rs b/src/action.rs
index eac4151..3819d67 100644
--- a/src/action.rs
+++ b/src/action.rs
@@ -61,7 +61,7 @@ fn gravity(
 
 fn falling_cat(
     mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CyberBikeControl)>,
-    diagnostics: Res<Diagnostics>,
+    _diagnostics: Res<Diagnostics>,
     settings: Res<CatControllerSettings>,
 ) {
     let (xform, mut forces, mut control_vars) = bike_query.single_mut();
@@ -82,13 +82,14 @@ fn falling_cat(
 
     let mag = (settings.kp * error) + (settings.kws * weighted_sum) + (settings.kd * derivative);
 
-    if let Some(count) = diagnostics
+    #[cfg(feature = "inspector")]
+    if let Some(count) = _diagnostics
         .get(FrameTimeDiagnosticsPlugin::FRAME_COUNT)
         .and_then(|d| d.smoothed())
         .map(|x| x as u64)
     {
         if count % 30 == 0 {
-            dbg!(&control_vars, mag, cos);
+            dbg!(&control_vars, mag, cos, derivative);
         }
     }
 
diff --git a/src/bike.rs b/src/bike.rs
index 9237fd3..7425e57 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -1,6 +1,6 @@
 use std::fmt::Debug;
 
-use bevy::prelude::{shape::Capsule as Tire, *};
+use bevy::prelude::{shape::UVSphere as Tire, *};
 use bevy_rapier3d::{
     geometry::Group,
     prelude::{
@@ -54,12 +54,12 @@ impl Default for WheelConfig {
     fn default() -> Self {
         Self {
             front_forward: 0.9,
-            front_stance: 1.2,
+            front_stance: 0.65,
             rear_back: 1.1,
-            y: -1.0,
-            limits: [0.1, 1.0],
-            stiffness: 10.0,
-            damping: 0.7,
+            y: -1.5,
+            limits: [-1.0, 1.0],
+            stiffness: 20.0,
+            damping: 1.0,
             radius: 0.3,
         }
     }
@@ -140,11 +140,27 @@ fn spawn_cyberbike(
         .insert(CyberBikeControl::default())
         .id();
 
-    //return;
-    re_tire(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
+    spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
 }
 
 fn re_tire(
+    mut commands: Commands,
+    wheel_conf: ResMut<WheelConfig>,
+    mut meshterials: Meshterial,
+    bquery: Query<(Entity, &Transform), With<CyberBikeBody>>,
+    wheels: Query<Entity, With<CyberWheel>>,
+) {
+    // we fuck with values in the egui inspector
+    let (bike, xform) = bquery.single();
+    if wheel_conf.is_changed() {
+        for wheel in wheels.iter() {
+            commands.entity(wheel).despawn_recursive();
+        }
+        spawn_tires(&mut commands, xform, bike, &wheel_conf, &mut meshterials);
+    }
+}
+
+fn spawn_tires(
     commands: &mut Commands,
     xform: &Transform,
     bike: Entity,
@@ -164,8 +180,6 @@ fn re_tire(
 
     let tire = Tire {
         radius: wheel_rad,
-        rings: 1,
-        depth: 0.2,
         ..Default::default()
     };
     let material = StandardMaterial {
@@ -191,7 +205,7 @@ fn re_tire(
     // left front
     {
         let wheel_x = -conf.front_stance;
-        let wheel_z = conf.front_forward;
+        let wheel_z = -conf.front_forward;
         let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
         wheel_poses.push(offset);
     }
@@ -199,15 +213,15 @@ fn re_tire(
     // right front
     {
         let wheel_x = conf.front_stance;
-        let wheel_z = conf.front_forward;
+        let wheel_z = -conf.front_forward;
         let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
         wheel_poses.push(offset);
     }
 
     // rear
     {
-        let wheel_x = -conf.front_stance;
-        let wheel_z = conf.front_forward;
+        let wheel_x = 0.0;
+        let wheel_z = conf.rear_back;
         let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
         wheel_poses.push(offset);
     }
@@ -224,7 +238,7 @@ fn re_tire(
 
         let damping = 0.3;
         let prismatic = PrismaticJointBuilder::new(Vec3::Y)
-            .local_anchor2(offset)
+            .local_anchor1(offset)
             .limits(limits)
             .motor_position(0.0, stiffness, damping);
         let joint = ImpulseJoint::new(bike, prismatic);
@@ -267,6 +281,7 @@ impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
         app.insert_resource(WheelConfig::default())
             .register_type::<WheelConfig>()
-            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
+            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike)
+            .add_system(re_tire);
     }
 }
diff --git a/src/input.rs b/src/input.rs
index a0a8014..97346e5 100644
--- a/src/input.rs
+++ b/src/input.rs
@@ -35,6 +35,13 @@ fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<K
             _ => continue,
         }
     }
+
+    if keys.get_just_released().len() > 0 {
+        keys.reset_all();
+        if shifted {
+            keys.press(KeyCode::LShift);
+        }
+    }
 }
 
 fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputState>) {
diff --git a/src/ui.rs b/src/ui.rs
index 8b82213..507dbe1 100644
--- a/src/ui.rs
+++ b/src/ui.rs
@@ -2,6 +2,7 @@ use bevy::prelude::{
     AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
     TextBundle, TextSection, TextStyle, With,
 };
+#[cfg(feature = "inspector")]
 use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier3d::prelude::Velocity;
 
@@ -50,8 +51,9 @@ pub struct CyberUIPlugin;
 
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
-        app.add_plugin(WorldInspectorPlugin)
-            .add_startup_system(setup_ui)
-            .add_system(update_ui);
+        #[cfg(feature = "inspector")]
+        app.add_plugin(WorldInspectorPlugin);
+
+        app.add_startup_system(setup_ui).add_system(update_ui);
     }
 }