diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index d9cf641..e9a0dd5 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2025RidgeScape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 180;
-  public static final String GIT_SHA = "9d3290a22d3d762914856191a44a3152c7694b34";
-  public static final String GIT_DATE = "2025-10-09 17:51:22 MDT";
+  public static final int GIT_REVISION = 181;
+  public static final String GIT_SHA = "ba0cfce5774aac2b4e8c86abf532cbc0cac1ee7a";
+  public static final String GIT_DATE = "2025-10-10 18:51:29 MDT";
   public static final String GIT_BRANCH = "advantagekit";
-  public static final String BUILD_DATE = "2025-10-10 17:42:57 MDT";
-  public static final long BUILD_UNIX_TIME = 1760139777669L;
+  public static final String BUILD_DATE = "2025-10-10 20:08:21 MDT";
+  public static final long BUILD_UNIX_TIME = 1760148501289L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/constants/Constants.java b/src/main/java/frc4388/robot/constants/Constants.java
index 6a3fefa..9f0789e 100644
--- a/src/main/java/frc4388/robot/constants/Constants.java
+++ b/src/main/java/frc4388/robot/constants/Constants.java
@@ -76,15 +76,15 @@ public final class Constants {
         // X is tangent to reef side
         // Y is normal to reef side
         public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field
-        public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1 + 10);
+        public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16-2);
         public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
 
         public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 6);
-        public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP +  Units.inchesToMeters(-4);
+        public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP +  Units.inchesToMeters(-4-4);
         // public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
         
         public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
-        public static final double L3_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(5+1);
+        public static final double L3_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(5+1-2);
         
         public static final double L2_PREP_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(6);
         public static final double L2_SCORE_DISTANCE = HALF_ROBOT_SIZE + Units.inchesToMeters(0.5-2);
@@ -114,8 +114,8 @@ public final class Constants {
         public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
         public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
 
-        public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-19.0 * Math.PI / 180));
-        public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,20.0 * Math.PI / 180));
+        public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75 + 2), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-19.0 * Math.PI / 180));
+        public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75 + 2), Units.inchesToMeters(9)), new Rotation3d(0,0.0,20.0 * Math.PI / 180));
         
         public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
 
@@ -181,7 +181,7 @@ public final class Constants {
         //Max for elevator = 50%
         
         public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
-        public static final double WAITING_POSITION_ELEVATOR = -9.5; // TODO: find 2-4 in off the pipe
+        public static final double WAITING_POSITION_ELEVATOR = -9.5 - 1.5; // TODO: find 2-4 in off the pipe
         public static final double HOVERING_POSITION_ELEVATOR = -7.5; // TODO: find 2-4 in off the pipe
         public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = -5; // TODO: find on the pipe
         public static final double SCORING_THREE_ELEVATOR = -9.25;