diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index b93e4d8..72b2168 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -151,7 +151,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void disabledPeriodic() {
-    // System.out.println((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00));
+    System.out.println((40.44 - 10.0) / 134.0);
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 673df69..9b9a793 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -497,14 +497,14 @@ public class RobotContainer {
                                                                                  new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 5.0)
                                                                                )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
   
-    // ! DRIVE BACKWARDS AND SHOOT
+    // ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
     return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
                                        new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (3.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet
                                        new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
                                        
                                        weirdAutoShootingGroup, // * shoot
-                                       new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage
-    );
+                                       new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage
+    //);
 
     // ! TWO BALL AUTO (HOPEFULLY)
     // return new SequentialCommandGroup(  new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake