diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 4ebb994..6c2448d 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -129,6 +129,7 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
+    m_robotContainer.configureTeleopBindings();
   }
 
   /** This function is called periodically during operator control. */
@@ -141,8 +142,7 @@ public void testInit() {
     CommandScheduler.getInstance().cancelAll();
 
     SignalLogger.stop();
-    // m_robotContainer.removeSubsystemDefaultCommands();
-    // m_robotContainer.configureTestBindings();
+    m_robotContainer.configureTestBindings();
   }
 
   /** This function is called periodically during test mode. */
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index deccbe3..853e2f8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -63,7 +63,6 @@ public class RobotContainer {
   private final DriveState driveState = DriveState.getInstance();
   private final LaunchState launchState = LaunchState.getInstance();
 
-  /*
   private final Command driveAndLaunchCommand =
       drivetrain
           .applyRequest(() -> getDriveAndLaunchRequest())
@@ -83,14 +82,13 @@ public class RobotContainer {
           .stopFullIndexingNoPID()
           .andThen(shooter.stopFlywheelCommand())
           .andThen(shooter.stowHood());
-   */
 
   private final SendableChooser<Command> autoChooser;
 
   public RobotContainer() {
     NamedCommands.registerCommand("Seed", drivetrain.runOnce(drivetrain::seedFieldCentric));
-    // NamedCommands.registerCommand("AutonShoot", autonShootCommand);
-    // NamedCommands.registerCommand("StopShot", stopShotCommand);
+    NamedCommands.registerCommand("AutonShoot", autonShootCommand);
+    NamedCommands.registerCommand("StopShot", stopShotCommand);
     NamedCommands.registerCommand("StopRoller", intake.stopRollerNoPID());
     NamedCommands.registerCommand(
         "Collect Intake",
@@ -126,7 +124,6 @@ public RobotContainer() {
                 .withName("Rumble & Set Pose"));
 
     configureSubsystemDefaultCommands();
-    configureTeleopBindings();
   }
 
   public void configureSubsystemDefaultCommands() {
@@ -163,11 +160,6 @@ public void configureSubsystemDefaultCommands() {
             .withName("Teleop Drive"));
   }
 
-  public void removeSubsystemDefaultCommands() {
-    drivetrain.removeDefaultCommand();
-  }
-
-  /*
   public void configureTestBindings() {
     // Idle while the robot is disabled. This ensures the configured
     // neutral mode is applied to the drive motors while disabled.
@@ -194,14 +186,13 @@ public void configureTestBindings() {
 
     driverJoystick
         .a()
-        .whileTrue(driveAndLaunchCommand)
+        .whileTrue(driveAndLaunchCommand.alongWith(indexer.startFullIndexingNoPID()))
         .onFalse(shooter.stopFlywheelCommand().andThen(shooter.stowHood()));
 
     driverJoystick.b().onTrue(intake.testRollerNoPID()).onFalse(intake.stopRollerNoPID());
 
     driverJoystick.x().onTrue(intake.spinRollerCommand()).onFalse(intake.stopRollerCommand());
   }
-  */
 
   public void configureTeleopBindings() {
     driverJoystick
@@ -213,14 +204,13 @@ public void configureTeleopBindings() {
         .leftBumper()
         .onTrue(
             intake
-                .stopRollerNoPID()
+                .stopRollerCommand()
                 .andThen(intake.setIntakeExtensionCommand(IntakeConstants.INTAKE_REVERSE_LIMIT))
                 .withName("Stow Intake"));
 
     // stop the roller without retracting.
     driverJoystick.x().onTrue(intake.stopRollerNoPID());
 
-    /*
     // outtake fuel.  don't retract when done.
     driverJoystick
         .b()
@@ -233,14 +223,15 @@ public void configureTeleopBindings() {
         .onFalse(
             intake.stopRollerNoPID().andThen(indexer.stopIndexerNoPID()).withName("Stop Roller"));
 
+    driverJoystick.rightTrigger().onTrue(shooter.spinFlywheelCommand());
+
     operatorJoystick
         .rightTrigger()
         .whileTrue(
             drivetrain
                 .setXCommand()
-                .alongWith(indexer.pulsingIndexCommand())
-                .withName("Lock Wheels and Index"))
-        .onFalse(indexer.stopFullIndexingNoPID());
+                .alongWith(indexer.startFullIndexingNoPID())
+                .withName("Lock Wheels and Index"));
 
     operatorJoystick
         .leftTrigger()
@@ -256,7 +247,6 @@ public void configureTeleopBindings() {
         .rightBumper()
         .whileTrue(shooter.spinFlywheelPostCommand())
         .onFalse(shooter.stopFlywheelCommand().andThen(shooter.stowHood()));
-    */
 
     // Reset the field-centric heading on start button press.
     driverJoystick
@@ -302,11 +292,6 @@ public void configureTeleopBindings() {
                 .manualRumbleCommand(driverJoystick.getHID())
                 .withName("Rumble Driver Controller"));
 
-    operatorJoystick.rightTrigger().whileTrue(indexer.startFullIndexingNoPID());
-    operatorJoystick.a().onTrue(shooter.setHoodTargetCommand());
-    operatorJoystick.leftBumper().onTrue(shooter.setFlywheelOutputCommand());
-    operatorJoystick.rightBumper().onTrue(shooter.stopFlywheelOutputCommand());
-
     drivetrain.registerTelemetry(logger::telemeterize);
 
     SmartDashboard.putData(
diff --git a/src/main/java/frc/robot/subsystems/indexer/IndexerPreferences.java b/src/main/java/frc/robot/subsystems/indexer/IndexerPreferences.java
index 67920cd..2a9c1e8 100644
--- a/src/main/java/frc/robot/subsystems/indexer/IndexerPreferences.java
+++ b/src/main/java/frc/robot/subsystems/indexer/IndexerPreferences.java
@@ -9,25 +9,15 @@ private IndexerPreferences() {}
   protected static DoublePreference indexerPercent =
       new DoublePreference("Indexer/Index Percent (for without PID)", 0.1); // in percent
 
-  protected static DoublePreference acceleratorPercent =
-      new DoublePreference("Indexer/Accelerator Percent (for without PID)", 0.1); // in percent
-
-  /*
-  protected static DoublePreference indexSpeed =
-      new DoublePreference("Indexer/Index Speed (RotationsPS)", 0.1); // in rotations per second
-
   protected static DoublePreference indexerReversePercent =
       new DoublePreference("Indexer/Reverse Index Percent (for without PID)", -0.1); // in percent
 
-  protected static DoublePreference accelerateSpeed =
-      new DoublePreference(
-          "Indexer/Accelerate Speed (RotationsPS)", 0.1); // in rotations per second
-
+  protected static DoublePreference acceleratorPercent =
+      new DoublePreference("Indexer/Accelerator Percent (for without PID)", 0.1); // in percent
 
   protected static DoublePreference indexerRunTime =
       new DoublePreference("Indexer/Pulsing Run Time", 2.0); // in seconds
 
   protected static DoublePreference indexerPauseTime =
       new DoublePreference("Indexer/Pulsing Pause Time", 0.1); // in seconds
-  */
 }
diff --git a/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
index b03b18f..0ef0b0e 100644
--- a/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java
@@ -3,11 +3,9 @@
 import static edu.wpi.first.units.Units.Volts;
 
 import com.ctre.phoenix6.SignalLogger;
-import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.epilogue.Logged;
-import edu.wpi.first.epilogue.Logged.Importance;
-import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
@@ -17,15 +15,6 @@ public class IndexerSubsystem extends SubsystemBase {
   private final TalonFX indexerMotor;
   private final TalonFX acceleratorMotor;
 
-  @Logged(name = "Indexer Velocity Target", importance = Importance.CRITICAL)
-  private AngularVelocity indexerVelocityTarget; // RotationsPerSecond
-
-  @Logged(name = "Accelerator Velocity Target", importance = Importance.CRITICAL)
-  private AngularVelocity acceleratorVelocityTarget;
-
-  private VelocityVoltage indexerControl;
-  private VelocityVoltage acceleratorControl;
-
   final SysIdRoutine m_sysIdRoutineIndexer =
       new SysIdRoutine(
           new SysIdRoutine.Config(
@@ -86,22 +75,6 @@ private void setAcceleratorVoltage(double magnitude) {
     acceleratorMotor.setVoltage(magnitude);
   }
 
-  // Indexer Commands
-  public Command startIndexerNoPID() {
-    return runEnd(
-            () -> indexerMotor.set(IndexerPreferences.indexerPercent.getValue()),
-            () -> indexerMotor.set(0))
-        .withName("Set Indexer Percent");
-  }
-
-  // Accelerator Commands
-  public Command startAcceleratorNoPID() {
-    return runEnd(
-            () -> acceleratorMotor.set(IndexerPreferences.acceleratorPercent.getValue()),
-            () -> acceleratorMotor.set(0))
-        .withName("Set Acceleration Percent");
-  }
-
   public Command startFullIndexingNoPID() {
     return runEnd(
         () -> {
@@ -123,9 +96,8 @@ public Command stopFullIndexingNoPID() {
         .withName("Stop Full Indexing No PID");
   }
 
-  /*
   public Command startIndexerReverseNoPID() {
-    return run(() -> indexerMotor.set(IndexerPreferences.indexerReversePercent.getValue()))
+    return runOnce(() -> indexerMotor.set(IndexerPreferences.indexerReversePercent.getValue()))
         .withName("Set Indexer Reverse Percent");
   }
 
@@ -133,6 +105,8 @@ public Command stopIndexerNoPID() {
     return runOnce(() -> indexerMotor.set(0)).withName("Stop Indexer Percent");
   }
 
+  /*
+
   public Command stopAcceleratorNoPID() {
     return runOnce(() -> acceleratorMotor.set(0)).withName("Stop Accelerator Percent");
   }
@@ -172,6 +146,8 @@ public Command stopCommand() {
         .withName("Stop Indexing Lemons");
   }
 
+  */
+
   public Command pulsingIndexCommand() {
     Timer timer = new Timer();
     return runEnd(
@@ -192,5 +168,4 @@ public Command pulsingIndexCommand() {
         .beforeStarting(() -> timer.restart())
         .withName("Pulsing Index");
   }
-  */
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
index 677d837..baf3906 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -16,12 +16,10 @@
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
-import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 
 @Logged
@@ -99,12 +97,14 @@ public IntakeSubsystem() {
   public void periodic() {
 
     // rollerMotor.setControl(rollerControl.withVelocity(rollerVelocityTarget.in(RotationsPerSecond)));
+    /*
     if (extensionMotor.getStatorCurrent().getValueAsDouble()
             > IntakePreferences.resistanceCurrentLimit.getValue()
         && isCompliantMode
         && RobotModeTriggers.teleop().getAsBoolean())
       CommandScheduler.getInstance()
           .schedule(stopRollerNoPID().andThen(setIntakeExtensionCommand(0)));
+    */
 
     extensionMotor.setControl(
         extensionControl
@@ -161,10 +161,14 @@ public boolean atExtensionSetpoint() {
   }
 
   public Command setIntakeExtensionCommand(double rotations) {
+    /*
     return runOnce(() -> isCompliantMode = false)
         .andThen(runOnce(() -> extensionTarget = Rotations.of(rotations)))
         .andThen(Commands.waitUntil(() -> atExtensionSetpoint()))
         .finallyDo(() -> isCompliantMode = true);
+    */
+    return runOnce(() -> extensionTarget = Rotations.of(rotations))
+        .andThen(Commands.waitUntil(() -> atExtensionSetpoint()));
   }
 
   public Command setExtendNoPID() {
diff --git a/src/main/java/frc/robot/subsystems/shooter/MappedLaunchRequestBuilder.java b/src/main/java/frc/robot/subsystems/shooter/MappedLaunchRequestBuilder.java
index b68db1b..91cf73f 100644
--- a/src/main/java/frc/robot/subsystems/shooter/MappedLaunchRequestBuilder.java
+++ b/src/main/java/frc/robot/subsystems/shooter/MappedLaunchRequestBuilder.java
@@ -16,9 +16,6 @@
 /** Add your docs here. */
 public class MappedLaunchRequestBuilder implements LaunchRequestBuilder {
 
-  private static final double minDistance;
-  private static final double maxDistance;
-
   // Launching Maps
   //   private static final InterpolatingTreeMap<Double, Rotation2d> hoodAngleMap =
   //   new InterpolatingTreeMap<>(InverseInterpolator.forDouble(), Rotation2d::interpolate);
@@ -26,25 +23,41 @@ public class MappedLaunchRequestBuilder implements LaunchRequestBuilder {
   private static final InterpolatingDoubleTreeMap flywheelSpeedMap =
       new InterpolatingDoubleTreeMap();
 
-  // TODO: All of this is made up.  Need real numbers.
   static {
-    minDistance = 0.9;
-    maxDistance = 4.0;
+    hoodAngleMap.put(1.3, 0.0);
+    hoodAngleMap.put(2.0, 0.6);
+    hoodAngleMap.put(2.6, 1.4);
+    hoodAngleMap.put(3.1, 1.8);
+    hoodAngleMap.put(3.21, 2.2);
+    hoodAngleMap.put(3.7, 2.6);
+    hoodAngleMap.put(4.2, 2.6);
+    hoodAngleMap.put(5.4, 3.0);
+
+    flywheelSpeedMap.put(1.3, 51.9);
+    flywheelSpeedMap.put(2.0, 54.5);
+    flywheelSpeedMap.put(2.6, 57.1);
+    flywheelSpeedMap.put(3.1, 62.4);
+    flywheelSpeedMap.put(3.21, 62.2);
+    flywheelSpeedMap.put(3.7, 65.0);
+    flywheelSpeedMap.put(4.2, 67.6);
+    flywheelSpeedMap.put(5.4, 78.1);
 
+    /* Old shooter settings
     hoodAngleMap.put(0.99, 0.0);
     hoodAngleMap.put(1.62, 1.0);
     hoodAngleMap.put(1.94, 2.1);
     hoodAngleMap.put(2.53, 3.3);
     hoodAngleMap.put(3.00, 4.0);
     hoodAngleMap.put(3.51, 4.0);
-    hoodAngleMap.put(6.00, 6.1); // put in a value to max out the hood
+    hoodAngleMap.put(6.00, 6.1);
 
     flywheelSpeedMap.put(0.99, 57.7);
     flywheelSpeedMap.put(1.62, 64.3);
     flywheelSpeedMap.put(1.94, 64.7);
     flywheelSpeedMap.put(3.00, 74.5);
     flywheelSpeedMap.put(3.51, 80.0);
-    flywheelSpeedMap.put(6.00, 108.0); // put in a value to max out the hood
+    flywheelSpeedMap.put(6.00, 108.0);
+    */
   }
 
   public LaunchRequest createLaunchRequest(
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
index 5881ae3..1ae593b 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
@@ -3,12 +3,15 @@
 import static edu.wpi.first.units.Units.*;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
+import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Distance;
 
 public class ShooterConstants {
@@ -60,6 +63,19 @@ public static SoftwareLimitSwitchConfigs createHoodSoftwareLimitSwitchConfigs()
     return configs;
   }
 
+  public static final double HOOD_MAX_VELOCITY_RPS = 5;
+  public static final double HOOD_MAX_ACCELERATION_RPS2 = 10;
+  public static final double HOOD_MAX_JERK_RPS2 = 10;
+
+  public static MotionMagicConfigs createHoodMotionMagicConfigs() {
+    MotionMagicConfigs configs = new MotionMagicConfigs();
+    configs.MotionMagicCruiseVelocity = HOOD_MAX_VELOCITY_RPS;
+    configs.MotionMagicAcceleration = HOOD_MAX_ACCELERATION_RPS2;
+    configs.MotionMagicJerk = HOOD_MAX_JERK_RPS2;
+
+    return configs;
+  }
+
   public static final double FLYWHEEL_CURRENT_LIMIT = 40;
 
   public static CurrentLimitsConfigs createFlywheelCurrentLimitsConfigs() {
@@ -80,17 +96,18 @@ public static CurrentLimitsConfigs createHoodCurrentLimitsConfigs() {
 
   public static final double HOOD_KS = 4.8;
   public static final double HOOD_KP = 9;
-  public static final double HOOD_KD = 0;
+  public static final double HOOD_KD = 0.1;
+  public static final double HOOD_KI = 1;
 
   public static Slot0Configs createHoodMotorSlot0Configs() {
     Slot0Configs slot = new Slot0Configs();
     slot.kS = HOOD_KS;
     slot.kP = HOOD_KP;
+    slot.kI = HOOD_KI;
     slot.kD = HOOD_KD;
     return slot;
   }
 
-
   // TODO: Tune Flywheel and Hood Motor
 
   // Flywheel motor
@@ -106,33 +123,11 @@ public static Slot0Configs createFlywheelMotorSlot0Configs() {
     return slot;
   }
 
-
-  /* 
   public static final double ALLOWABLE_HOOD_ERROR = 0.1;
-  public static final double HOOD_FORWARD_LIMIT = 6.2;
-  public static final double HOOD_REVERSE_LIMIT = 0;
-
-  public static SoftwareLimitSwitchConfigs createHoodSoftwareLimitSwitchConfigs() {
-    SoftwareLimitSwitchConfigs configs = new SoftwareLimitSwitchConfigs();
-    configs.ForwardSoftLimitEnable = true;
-    configs.ReverseSoftLimitEnable = true;
-    configs.ForwardSoftLimitThreshold = HOOD_FORWARD_LIMIT;
-    configs.ReverseSoftLimitThreshold = HOOD_REVERSE_LIMIT;
-    return configs;
-  }
-
-  public static MotorOutputConfigs createHoodMotorOutputConfigs() {
-    MotorOutputConfigs newConfigs = new MotorOutputConfigs();
-    newConfigs.Inverted = InvertedValue.CounterClockwise_Positive;
-    newConfigs.NeutralMode = NeutralModeValue.Brake;
-    return newConfigs;
-  }
-  
 
   public static final DutyCycleOut SAFE_HOMING_EFFORT = new DutyCycleOut(-0.2);
   public static final Current SAFE_STATOR_LIMIT = Amp.of(0.8);
 
-  */
   // Conversion Constants
   public static final Angle ROTATIONS_PER_LAUNCH_DEGREE = Rotations.of(0.2);
   public static final Distance FLYWHEEL_RADIUS = Inch.of(2);
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPreferences.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPreferences.java
index 9708e39..c4ec371 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterPreferences.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterPreferences.java
@@ -5,32 +5,25 @@
 public class ShooterPreferences {
   private ShooterPreferences() {}
 
-  public static DoublePreference hoodTargetPreference =
-      new DoublePreference("Shooter/Hood/Target Rotations", 0);
+  public static DoublePreference flywheelLaunchSpeed =
+      new DoublePreference("Shooter/Launch Speed", 0.1); // in rotations per second
 
-  public static DoublePreference flywheelLaunchPercent =
-      new DoublePreference("Shooter/Launch Percent (for without PID)", 0.1); // in percent
+  public static DoublePreference hoodLaunchAngle =
+      new DoublePreference("Shooter/Hood Launch Position", 3); // in rotations
 
-  /*
-    public static DoublePreference flywheelLaunchSpeed =
-        new DoublePreference("Shooter/Launch Speed", 0.1); // in rotations per second
-    public static DoublePreference hoodLaunchAngle =
-        new DoublePreference("Shooter/Hood Launch Position", 3); // in rotations
+  public static DoublePreference hoodkP = new DoublePreference("Shooter/Hood/kP", 1);
+  public static DoublePreference hoodkD = new DoublePreference("Shooter/Hood/kD", 0);
 
-    public static DoublePreference hoodkP = new DoublePreference("Shooter/Hood/kP", 1);
-    public static DoublePreference hoodkD = new DoublePreference("Shooter/Hood/kD", 0);
+  // unit is *radians per second** for velocity.
+  public static DoublePreference tuningDefaultFlywheelRPS =
+      new DoublePreference("Shooter/Tuning/FlywheelRPS", 1000.0 / 60.0 / 2 * Math.PI);
+  public static DoublePreference tuningDefaultFlywheelStepRPS =
+      new DoublePreference("Shooter/Tuning/FlywheelStepRPS", 100.0 / 60.0 / 2 * Math.PI);
+  public static DoublePreference tuningDefaultHoodRotations =
+      new DoublePreference("Shooter/Tuning/HoodRotations", 0.0);
+  public static DoublePreference tuningDefaultHoodStepRotations =
+      new DoublePreference("Shooter/Tuning/HoodStepRotations", 0.2);
 
-    // unit is *radians per second** for velocity.
-    public static DoublePreference tuningDefaultFlywheelRPS =
-        new DoublePreference("Shooter/Tuning/FlywheelRPS", 1000.0 / 60.0 / 2 * Math.PI);
-    public static DoublePreference tuningDefaultFlywheelStepRPS =
-        new DoublePreference("Shooter/Tuning/FlywheelStepRPS", 100.0 / 60.0 / 2 * Math.PI);
-    public static DoublePreference tuningDefaultHoodRotations =
-        new DoublePreference("Shooter/Tuning/HoodRotations", 0.0);
-    public static DoublePreference tuningDefaultHoodStepRotations =
-        new DoublePreference("Shooter/Tuning/HoodStepRotations", 0.2);
-
-  */
   public static DoublePreference passingFlywheelSpeed =
       new DoublePreference("Shooter/Tuning/Flywheel Pass Speed", 62);
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
index fd0a0bb..144ed5e 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -3,14 +3,19 @@
 import static edu.wpi.first.units.Units.*;
 
 import com.ctre.phoenix6.SignalLogger;
+import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.MotorAlignmentValue;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.Logged.Importance;
 import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.robot.statemachines.LaunchState;
 
 @Logged
 public class ShooterSubsystem extends SubsystemBase {
@@ -19,14 +24,12 @@ public class ShooterSubsystem extends SubsystemBase {
   private final TalonFX flywheelMotorLeftFollower;
   private final TalonFX hoodMotor;
 
-  /*
   @Logged(name = "Velocity Target rads/s", importance = Importance.CRITICAL)
   private AngularVelocity velocityTarget; // *rads* Per Second is the base unit.
 
   private VelocityVoltage velocityControl;
 
   private final LaunchState launchState = LaunchState.getInstance();
-  */
 
   @Logged(name = "Hood Target (radians)", importance = Importance.CRITICAL)
   private Angle hoodTarget; // radians is the base unit.
@@ -36,7 +39,7 @@ public class ShooterSubsystem extends SubsystemBase {
   final SysIdRoutine m_sysIdRoutineFlywheel =
       new SysIdRoutine(
           new SysIdRoutine.Config(
-              null, // Use default ramp rate (1 V/s)
+              Volts.per(Second).of(0.2), // Use default ramp rate (1 V/s)
               Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
               null, // Use default timeout (10 s)
               // Log state with SignalLogger class
@@ -74,10 +77,20 @@ public ShooterSubsystem() {
 
     hoodMotor.getConfigurator().apply(ShooterConstants.createHoodSoftwareLimitSwitchConfigs());
 
+    hoodMotor.getConfigurator().apply(ShooterConstants.createHoodMotionMagicConfigs());
+
     hoodMotor.getConfigurator().apply(ShooterConstants.createHoodMotorSlot0Configs());
 
+    flywheelMotorLeftFollower.setControl(new Follower(5, MotorAlignmentValue.Aligned));
+    flywheelMotorRight.setControl(new Follower(5, MotorAlignmentValue.Opposed));
+
     hoodTarget = Rotations.of(0);
     hoodControl = new PositionVoltage(hoodTarget);
+
+    velocityTarget = RotationsPerSecond.of(0);
+    velocityControl = new VelocityVoltage(velocityTarget);
+
+    hoodMotor.setPosition(0);
   }
 
   private void setFlywheelVoltage(double magnitude) {
@@ -88,33 +101,10 @@ private void setFlywheelVoltage(double magnitude) {
 
   @Override
   public void periodic() {
-    /*
     launchState.refreshRequest();
-    flywheelMotorLeader.setControl(
-        velocityControl.withVelocity(velocityTarget.in(RotationsPerSecond)));
-    flywheelRightFollower.setControl(
+    flywheelMotorLeftLeader.setControl(
         velocityControl.withVelocity(velocityTarget.in(RotationsPerSecond)));
     hoodMotor.setControl(hoodControl.withPosition(hoodTarget));
-    flywheelLeftFollower.setControl(
-        velocityControl.withVelocity(velocityTarget.in(RotationsPerSecond)));
-    */
-    // hoodMotor.setControl(hoodControl.withPosition(hoodTarget));
-  }
-
-  public Command setHoodTargetCommand() {
-    return runOnce(
-            () -> hoodTarget = Rotations.of(ShooterPreferences.hoodTargetPreference.getValue()))
-        .withName("Set Hood Target");
-  }
-
-  public Command setFlywheelOutputCommand() {
-    return runOnce(
-            () -> setFlywheelMotorOutput(ShooterPreferences.flywheelLaunchPercent.getValue()))
-        .withName("Set Flywheel Output");
-  }
-
-  public Command stopFlywheelOutputCommand() {
-    return runOnce(() -> setFlywheelMotorOutput(0)).withName("Stop Flywheel Output");
   }
 
   public void setFlywheelMotorOutput(double output) {
@@ -123,17 +113,22 @@ public void setFlywheelMotorOutput(double output) {
     flywheelMotorRight.set(output);
   }
 
-  /*
-  @Logged(name = "Velocity Target RPM", importance = Importance.CRITICAL)
-  public double getFlywheelTargetRPM() {
-    return velocityTarget.in(RotationsPerSecond) * 60;
-  }
-
   @Logged(name = "Hood Angle Rotations", importance = Importance.CRITICAL)
   public double getHoodTargetRotations() {
     return hoodTarget.in(Rotations);
   }
 
+  @Logged(name = "At Hood Setpoint", importance = Importance.CRITICAL)
+  public boolean atHoodSetpoint() {
+    return Math.abs(hoodMotor.getPosition().getValueAsDouble() - hoodTarget.in(Rotations))
+        < ShooterConstants.ALLOWABLE_HOOD_ERROR;
+  }
+
+  @Logged(name = "Velocity Target RPM", importance = Importance.CRITICAL)
+  public double getFlywheelTargetRPM() {
+    return velocityTarget.in(RotationsPerSecond) * 60;
+  }
+
   public Command spinFlywheelCommand() {
     return runOnce(
             () -> {
@@ -144,23 +139,6 @@ public Command spinFlywheelCommand() {
         .withName("Start Spinning Flywheel");
   }
 
-  public Command spinFlywheelPostCommand() {
-    return runOnce(
-            () -> {
-              velocityTarget = RotationsPerSecond.of(74.5);
-              hoodTarget = Rotations.of(4);
-            })
-        .withName("Start Spinning Flywheel");
-  }
-
-  public Command spinFlywheelCommand(AngularVelocity v) {
-    return runOnce(() -> velocityTarget = v).withName("Spinning To AV");
-  }
-
-  public Command spinFlyWheelCommand(DoublePreference d) {
-    return runOnce(() -> velocityTarget = RotationsPerSecond.of(d.getValue()));
-  }
-
   public Command stopFlywheelCommand() {
     return runOnce(() -> velocityTarget = RotationsPerSecond.of(0))
         .withName("Stop Spinning Flywheel");
@@ -170,76 +148,6 @@ public Command stowHood() {
     return runOnce(() -> hoodTarget = Rotations.of(0));
   }
 
-  public Command setHoodToPreference() {
-    return runOnce(
-        () -> hoodTarget = Rotations.of(ShooterPreferences.hoodTargetPreference.getValue()));
-  }
-
-  @Logged(name = "At Hood Setpoint", importance = Importance.CRITICAL)
-  public boolean atHoodSetpoint() {
-    return Math.abs(hoodMotor.getPosition().getValueAsDouble() - hoodTarget.in(Rotations))
-        < ShooterConstants.ALLOWABLE_HOOD_ERROR;
-  }
-
-  public Command setHoodCommand(Angle position) {
-    return runOnce(() -> hoodTarget = position)
-        .andThen(Commands.waitUntil(() -> atHoodSetpoint()))
-        .withName("Set Hood Angle");
-  }
-
-  public Command spinFlywheelRanged() {
-    return run(
-        () -> {
-          velocityTarget = launchState.getLaunchRequest().getFlywheelVelocity();
-          hoodTarget = launchState.getLaunchRequest().getHoodTarget();
-        });
-  }
-
-  public Command spinFlywheelHardCoded() {
-    return run(
-        () -> {
-          velocityTarget = RotationsPerSecond.of(66.5);
-          hoodTarget = Rotations.of(2.38);
-        });
-  }
-
-  public Command launchLemonsCommandNoPID() {
-    return setHoodCommand(Rotations.of(ShooterPreferences.hoodLaunchAngle.getValue()))
-        .andThen(
-            runOnce(
-                () -> {
-                  flywheelMotorLeader.set(ShooterPreferences.flywheelLaunchPercent.getValue());
-                  flywheelMotorFollower.set(ShooterPreferences.flywheelLaunchPercent.getValue());
-                }))
-        .withName("Start Launching Lemons (No PID)");
-  }
-
-  public Command stopLaunchLemonsNoPIDCommand() {
-    return setHoodCommand(Rotations.of(0))
-        .andThen(
-            runOnce(
-                () -> {
-                  flywheelMotorLeader.set(0);
-                  flywheelMotorFollower.set(0);
-                }))
-        .withName("Stop Launching Lemons (No PID)");
-  }
-
-  public Command stowCommand() {
-    return stopFlywheelCommand().andThen(setHoodCommand(Rotations.of(0))).withName("Stow Shooter");
-  }
-
-  public Command homeShooterCommand() {
-    return runEnd(
-            () -> hoodMotor.set(ShooterConstants.SAFE_HOMING_EFFORT.Output),
-            () -> hoodMotor.setPosition(0))
-        .until(
-            () -> {
-              return hoodMotor.getStatorCurrent().getValueAsDouble()
-                  > ShooterConstants.SAFE_STATOR_LIMIT.in(Amp);
-            });
-  }
-
   public Command increaseFlywheelCommand() {
     return runOnce(
             () ->
@@ -281,19 +189,46 @@ public Command decreaseHoodCommand() {
   }
 
   public Command startShooterTuningCommand() {
-    return spinFlyWheelCommand(ShooterPreferences.tuningDefaultFlywheelRPS)
-        .andThen(
-            setHoodCommand(Rotations.of(ShooterPreferences.tuningDefaultHoodRotations.getValue())))
+    return runOnce(
+            () -> {
+              velocityTarget =
+                  RotationsPerSecond.of(ShooterPreferences.tuningDefaultFlywheelRPS.getValue());
+              hoodTarget = Rotations.of(ShooterPreferences.tuningDefaultHoodRotations.getValue());
+            })
         .withName("Start Shooter Tuning");
   }
 
   public Command stopShooterTuningCommand() {
-    return stopFlywheelCommand()
-        .andThen(
-            setHoodCommand(Rotations.of(ShooterPreferences.tuningDefaultHoodRotations.getValue())))
-        .withName("Stop Shooter Tuning");
+    return stopFlywheelCommand().andThen(stowHood()).withName("Stop Shooter Tuning");
+  }
+
+  public Command spinFlywheelPostCommand() {
+    return runOnce(
+            () -> {
+              velocityTarget = RotationsPerSecond.of(74.5);
+              hoodTarget = Rotations.of(4);
+            })
+        .withName("Start Spinning Flywheel");
+  }
+
+  public Command spinFlywheelRanged() {
+    return run(
+        () -> {
+          velocityTarget = launchState.getLaunchRequest().getFlywheelVelocity();
+          hoodTarget = launchState.getLaunchRequest().getHoodTarget();
+        });
+  }
+
+  public Command homeShooterCommand() {
+    return runEnd(
+            () -> hoodMotor.set(ShooterConstants.SAFE_HOMING_EFFORT.Output),
+            () -> hoodMotor.setPosition(0))
+        .until(
+            () -> {
+              return hoodMotor.getStatorCurrent().getValueAsDouble()
+                  > ShooterConstants.SAFE_STATOR_LIMIT.in(Amp);
+            });
   }
-  */
 
   public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
     return m_sysIdRoutineFlywheel.quasistatic(direction);
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
index 6eb0399..992c0d4 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -36,18 +36,17 @@ public class VisionConstants {
           put(
               photonCameraName_Front,
               new Transform3d(
-                  new Translation3d(-0.1638, 0, 0.7192),
-                  new Rotation3d(0, Math.toRadians(-20), 0)));
+                  new Translation3d(0.13, 0, 0.696), new Rotation3d(0, Math.toRadians(-22), 0)));
           put(
               photonCameraName_Left,
               new Transform3d(
-                  new Translation3d(-0.2680, 0.3164, 0.451),
-                  new Rotation3d(0, Math.toRadians(-20), Math.toRadians(120))));
+                  new Translation3d(-0.252, 0.328, 0.715),
+                  new Rotation3d(0, 0, Math.toRadians(160))));
           put(
               photonCameraName_Right,
               new Transform3d(
-                  new Translation3d(-0.2680, -0.3164, 0.451),
-                  new Rotation3d(0, Math.toRadians(-20), Math.toRadians(-120))));
+                  new Translation3d(-0.252, -0.328, 0.715),
+                  new Rotation3d(0, 0, Math.toRadians(-160))));
         }
       };