diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
index 35adc83a..67454ec8 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
@@ -10,18 +10,26 @@
 import frc.robot.CommandSwerveDrivetrain;
 
 public class TunerConstants {
-    // Both sets of gains need to be tuned to your individual robot
-    // The steer motor uses MotionMagicVoltage control
+    // Both sets of gains need to be tuned to your individual robot.
+
+    // The steer motor uses any SwerveModule.SteerRequestType control request with the
+    // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
     private static final Slot0Configs steerGains = new Slot0Configs()
         .withKP(100).withKI(0).withKD(0.05)
         .withKS(0).withKV(1.5).withKA(0);
-    // When using closed-loop control, the drive motor uses:
-    // - VelocityVoltage, if DrivetrainConstants.SupportsPro is false (default)
-    // - VelocityTorqueCurrentFOC, if DrivetrainConstants.SupportsPro is true
+    // When using closed-loop control, the drive motor uses the control
+    // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
     private static final Slot0Configs driveGains = new Slot0Configs()
         .withKP(3).withKI(0).withKD(0)
         .withKS(0).withKV(0).withKA(0);
 
+    // The closed-loop output type to use for the steer motors;
+    // This affects the PID/FF gains for the steer motors
+    private static final ClosedLoopOutputType steerClosedLoopOutput = ClosedLoopOutputType.Voltage;
+    // The closed-loop output type to use for the drive motors;
+    // This affects the PID/FF gains for the drive motors
+    private static final ClosedLoopOutputType driveClosedLoopOutput = ClosedLoopOutputType.Voltage;
+
     // The stator current at which the wheels start to slip;
     // This needs to be tuned to your individual robot
     private static final double kSlipCurrentA = 300.0;
@@ -61,6 +69,8 @@ public class TunerConstants {
             .withSlipCurrent(kSlipCurrentA)
             .withSteerMotorGains(steerGains)
             .withDriveMotorGains(driveGains)
+            .withSteerMotorClosedLoopOutput(steerClosedLoopOutput)
+            .withDriveMotorClosedLoopOutput(driveClosedLoopOutput)
             .withSpeedAt12VoltsMps(kSpeedAt12VoltsMps)
             .withSteerInertia(kSteerInertia)
             .withDriveInertia(kDriveInertia)