diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 731bb76..ceeeda9 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -329,6 +329,8 @@ public final class Constants {
 
     public static final class AutoConstants {
         public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
+       // public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
+
         public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
 
         public static final Trim X_OFFSET_TRIM =        new Trim("X Offset Trim",        Double.MAX_VALUE, -Double.MAX_VALUE,0.5, 0);
@@ -353,7 +355,7 @@ public final class Constants {
         public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
         public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
         
-        public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(1);
+        public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
 
         public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
 
@@ -445,6 +447,7 @@ public final class Constants {
         public static final double GEAR_RATIO_ENDEFECTOR = -100.0;
         public static final double ENDEFECTOR_DRIVE_SLOW = -0.08;
         //Max for endefector = 60%
+        public static final double L2_SCORE_ELEVATOR = -5;
 
         public static final double L2_SCORE_ENDEFFECTOR = -19;
 
diff --git a/src/main/java/frc4388/robot/subsystems/Elevator.java b/src/main/java/frc4388/robot/subsystems/Elevator.java
index 57d119c..bc41f4b 100644
--- a/src/main/java/frc4388/robot/subsystems/Elevator.java
+++ b/src/main/java/frc4388/robot/subsystems/Elevator.java
@@ -139,7 +139,7 @@ public class Elevator extends Subsystem {
       }
 
       case L2Score: {
-        PIDPosition(elevatorMotor, ElevatorConstants.HOVERING_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
+        PIDPosition(elevatorMotor, ElevatorConstants.L2_SCORE_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
         PIDPosition(endeffectorMotor, ElevatorConstants.L2_SCORE_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
         led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
         break;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index f8770a0..54855a9 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -326,7 +326,8 @@ public class SwerveDrive extends Subsystem {
                 rotTarget += deltaAngle;
             }
             
-            swerveDriveTrain.addVisionMeasurement(vision.lastVisionPose, time);
+            swerveDriveTrain.addVisionMeasurement(vision.lastVisionPose, time);// - 0.020);
+            //back to the ~~future~~ *past*
         }
 
         // if(e.isPresent())