diff --git a/src/main/deploy/ShooterData.csv b/src/main/deploy/ShooterData.csv
index b694df7..ce14a5a 100644
--- a/src/main/deploy/ShooterData.csv
+++ b/src/main/deploy/ShooterData.csv
@@ -2,6 +2,7 @@ Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds)
 0             ,-29.5         ,8000
 78.5          ,-29.5         ,8000
 99            ,-39.62        ,8500
+111           ,-42           ,9000
 127.25        ,-49.12        ,9500
 150           ,-66.22        ,10000
 164.5         ,-75.52        ,10000
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8aeb457..e7b3cb4 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -519,16 +519,17 @@ public class RobotContainer {
                                                                                  new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
                                                                                  new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0)
                                                                                )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
-
+    // ! POSITIVE Y IS LEFT, POSITIVE X IS BACKWARDS
+  
     // ! DRIVE OFF LINE, THEN SHOOT BALL (HOPEFULLY)
     return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
-                                       new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.5, 0.0, 0.0}, 0.5), // * drive out of tarmac
-                                       new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
+                                       new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.6, 0, 0.0, 0.0}, 0.5), // * drive out of tarmac
+                                       new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive)); // * brake
 
-                                       new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
-                                       weirdAutoShootingGroup, // * shoot
-                                       new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage
-                                      );
+                                      //  new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
+                                      //  weirdAutoShootingGroup, // * shoot
+                                      //  new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage
+                                     // );
 
     // ! TWO BALL AUTO (HOPEFULLY)
     // return new SequentialCommandGroup(  new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake
diff --git a/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java b/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java
index bd78995..b2827f7 100644
--- a/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java
+++ b/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java
@@ -49,7 +49,7 @@ public class DriveWithInputForTime extends CommandBase {
   public void execute() {
     System.out.println("RUNNING");
     elapsed = System.currentTimeMillis() - start;
-    this.swerve.driveWithInput(inputs[0], inputs[1], inputs[2], inputs[3], true);
+    this.swerve.driveWithInput(inputs[0], inputs[1], inputs[2], inputs[3], false);
   }
 
   // Called once the command ends or is interrupted.