diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index d5db97c..873d59c 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 = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 119;
-  public static final String GIT_SHA = "9362d4389fe838757f8de94f4c17e5994c8adba0";
-  public static final String GIT_DATE = "2026-02-27 21:38:24 MST";
+  public static final int GIT_REVISION = 122;
+  public static final String GIT_SHA = "249751108410352b9e80c7a12316efaca273ae7a";
+  public static final String GIT_DATE = "2026-02-28 10:45:49 MST";
   public static final String GIT_BRANCH = "shikhar-op-controls";
-  public static final String BUILD_DATE = "2026-02-27 21:51:30 MST";
-  public static final long BUILD_UNIX_TIME = 1772254290903L;
+  public static final String BUILD_DATE = "2026-02-28 11:14:49 MST";
+  public static final long BUILD_UNIX_TIME = 1772302489449L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index 5a9e1c2..c966714 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -51,9 +51,9 @@ public class IntakeConstants {
 
     
 
-    public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.03);
+    public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
     public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
-    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
+    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.1);
     
 
 
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index 0862502..37214d4 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -22,7 +22,7 @@ public class    ShooterConstants {
     public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
     // public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
     
-    public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.3);
+    public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
     // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
     // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);
 
diff --git a/src/main/java/frc4388/utility/compute/FieldPositions.java b/src/main/java/frc4388/utility/compute/FieldPositions.java
index f3a1f17..e48ebfb 100644
--- a/src/main/java/frc4388/utility/compute/FieldPositions.java
+++ b/src/main/java/frc4388/utility/compute/FieldPositions.java
@@ -5,7 +5,7 @@ import edu.wpi.first.math.geometry.Translation2d;
 public class FieldPositions {
     // public static final Translation2d RED_HUB_POSITION = new Translation2d(0, 0);
     // public static final Translation2d BLUE_HUB_POSITION = new Translation2d(0, 0);
-    public static final Translation2d RED_HUB_POSITION = new Translation2d(11.9014494, 4.0213534 + 0.3);
+    public static final Translation2d RED_HUB_POSITION = new Translation2d(11.9014494, 4.0213534);// + 0.3);
     public static final Translation2d BLUE_HUB_POSITION = new Translation2d(4.61155415, 4.0213534);// + 0.3);