diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d9180ac..e5a3b65 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -119,6 +119,17 @@ public class RobotContainer {
   private enum ClimberMode { MANUAL, AUTONOMOUS };
   private ClimberMode currentClimberMode = ClimberMode.MANUAL;
 
+/**
+ * SmartDash
+ * - Limelight cam X
+ * - Limit switches X
+ * - Shooter RPM X
+ * - Distance to target x
+ * - target locked
+ * - claws boolean
+ * - field
+ */
+
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
diff --git a/src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/RunExtender.java b/src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/RunExtender.java
index 4f4183e..972afee 100644
--- a/src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/RunExtender.java
+++ b/src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/RunExtender.java
@@ -42,7 +42,7 @@ public class RunExtender extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    System.out.println("RunExtender is working");
+    //System.out.println("RunExtender is working");
     this.extender.runExtender(ExtenderIntakeGroup.direction * 1.0);
     updateError();
   }
diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
index 622376d..5b9d131 100644
--- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
@@ -43,7 +43,7 @@ public class TrackTarget extends CommandBase {
   ArrayList<Point> points = new ArrayList<>();
 
   private boolean targetLocked = false;
-  private double velocityTolerance = 100.0;
+  private double velocityTolerance = 300.0;
   private double hoodTolerance = 5.0;
 
   boolean isExecuted = false;
@@ -110,21 +110,21 @@ public class TrackTarget extends CommandBase {
       double regressedDistance = getDistance(average.y);
       
       // ! no longer a +30 lol -aarav
-      velocity = m_boomBoom.getVelocity(regressedDistance);
-      hoodPosition = m_boomBoom.getHood(regressedDistance);
+      velocity = m_boomBoom.getVelocity(regressedDistance + 20);
+      hoodPosition = m_boomBoom.getHood(regressedDistance + 20);
       
-      m_boomBoom.runDrumShooterVelocityPID(velocity + 20);
-      m_hood.runAngleAdjustPID(hoodPosition + 20);
+      m_boomBoom.runDrumShooterVelocityPID(velocity);
+      m_hood.runAngleAdjustPID(hoodPosition);
       
       double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
       double currentHood = this.m_hood.getEncoderPosition();
   
-      targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance);
+      targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance) && (output < 0.2);
 
-      SmartDashboard.putNumber("Regressed Distance", regressedDistance);
+      SmartDashboard.putNumber("Distance to Target", regressedDistance);
       // SmartDashboard.putNumber("Distance", distance);
-      SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
-      SmartDashboard.putNumber("Vel Target Track", velocity);
+      // SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
+      // SmartDashboard.putNumber("Vel Target Track", velocity);
       SmartDashboard.putBoolean("Target Locked", targetLocked);
     } catch (Exception e){
       e.printStackTrace();
@@ -195,7 +195,7 @@ public class TrackTarget extends CommandBase {
   @Override
   public boolean isFinished() {
     if (this.isAuto) {
-      if (targetLocked& !timerStarted) {
+      if (targetLocked && !timerStarted) {
         timerStarted = true;
         startTime = System.currentTimeMillis();
       }
@@ -203,9 +203,5 @@ public class TrackTarget extends CommandBase {
     } else {
       return false;
     }
-    // return isExecuted && Math.abs(output) < .1;
-  // }
-
-    // return false;
   }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 6ef257c..51f675d 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -96,7 +96,7 @@ public class BoomBoom extends SubsystemBase {
     // speed2 = SmartDashboard.getNumber("Shooter Offset", 0.0);
     // SmartDashboard.putNumber("Shooter Current", getCurrent());
     // SmartDashboard.putNumber("Shooter Voltage",  m_shooterFalconLeft.getMotorOutputVoltage());
-    // SmartDashboard.putNumber("Shooter Actual Velocity", m_shooterFalconLeft.getSelectedSensorVelocity());
+    SmartDashboard.putNumber("Shooter RPM", (m_shooterFalconLeft.getSelectedSensorVelocity() * 10) / 2048);
   }
 
   public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
diff --git a/src/main/java/frc4388/robot/subsystems/Claws.java b/src/main/java/frc4388/robot/subsystems/Claws.java
index 486f5a4..5edce2a 100644
--- a/src/main/java/frc4388/robot/subsystems/Claws.java
+++ b/src/main/java/frc4388/robot/subsystems/Claws.java
@@ -39,7 +39,6 @@ public class Claws extends SubsystemBase {
     m_open = false;
     clawsOpen = false;
   }
-
   /**
    * Sets the state of both hooks
    * @param open The state of the hooks
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 997d08f..43eb4f8 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -180,7 +180,7 @@ public class SwerveDrive extends SubsystemBase {
     SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
     SmartDashboard.putNumber("Pigeon Yaw (0 to 360)", m_gyro.getYaw() % 360);
 
-    // m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());
+    m_field.setRobotPose(m_odometry.getPoseMeters());
     super.periodic();
   }
 
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index 3ebfabc..92c5d62 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -116,8 +116,8 @@ public class Turret extends SubsystemBase {
     
     SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
     SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
-    SmartDashboard.putBoolean("Left Limit Switch Pressed", m_boomBoomLeftLimit.isPressed());
-    SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
+    SmartDashboard.putBoolean("Turret Left Limit", m_boomBoomLeftLimit.isPressed());
+    SmartDashboard.putBoolean("Turret Right Limit", m_boomBoomRightLimit.isPressed());
 
     // limit switch annoying time thing but actually worked first try wtf
     leftState = m_boomBoomLeftLimit.isPressed(); // * Get the state of the left limit switch (true for pressed).