diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
index 0b274f6..a0e706a 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
@@ -152,19 +152,15 @@ public class Shooter extends SubsystemBase {
         switch (mode) {
             case Shooting:
                 io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
-                if(state.motor1Velocity.in(RotationsPerSecond) > 30){
-                    io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_FORWARD_VELOCITY.get()));
-                }else{
-                  io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));  
-                }
+                io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());            
                 break;
             case Ready:
                 io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
-                io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));
+                io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
                 break;
             case NotReady:
                 io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
-                io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));
+                io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
                 break;
         }
 
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index 1a20a91..55e533c 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -25,8 +25,8 @@ public class    ShooterConstants {
     public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35);
     public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10);
     
-    public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", -10);
-    public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10);
+    public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD Velocity", -10);
+    public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse Velocity", 10);
 
 
     // Tolerances
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
index efd97b0..463cb4b 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
@@ -21,11 +21,12 @@ public interface ShooterIO {
 
         AngularVelocity motor1TargetVelocity = RotationsPerSecond.of(0);
         AngularVelocity motor2TargetVelocity = RotationsPerSecond.of(0);
-        AngularVelocity indexerTargetVelocity = RotationsPerSecond.of(0);
+        double indexerTargetOutput = 0;
+
 
         AngularVelocity motor1Velocity = RotationsPerSecond.of(0);
         AngularVelocity motor2Velocity = RotationsPerSecond.of(0);
-        AngularVelocity indexerVelocity = RotationsPerSecond.of(0);
+        double indexerOutput = 0;
         
         Current motor1Current = Amps.of(0);
         Current motor2Current = Amps.of(0);
@@ -38,7 +39,7 @@ public interface ShooterIO {
     // public default void setShooterPitch(ShooterState state, Angle angle) {}
     public default void setShooterVelocity(ShooterState state, AngularVelocity angularVelocity) {}
     // public default void setMotor2Velocity(ShooterState state, AngularVelocity angularVelocity) {}
-    public default void setIndexerVelocity(ShooterState state, AngularVelocity linearVelocity) {}
+    public default void setIndexerOutput(ShooterState state, double percentOutput) {}
 
     public default void updateInputs(ShooterState state) {}
 
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
index a8e9479..4379de6 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
@@ -56,16 +56,18 @@ public class ShooterReal implements ShooterIO {
     }
 
     @Override
-    public void setIndexerVelocity(ShooterState state, AngularVelocity target) {
-        state.indexerTargetVelocity = target;
+    public void setIndexerOutput(ShooterState state, double percentOutput) {
+        state.indexerTargetOutput = percentOutput;
 
-        if(target.baseUnitMagnitude() == 0) {
+        if(percentOutput == 0) {
             m_indexerMotor.set(0);
             return;
         }
 
-        AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
-        m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps));
+
+
+        // AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
+        m_indexerMotor.set(percentOutput);
     }
 
 
@@ -74,7 +76,8 @@ public class ShooterReal implements ShooterIO {
 
         state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
         state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
-        state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
+        state.indexerOutput = m_indexerMotor.get();
+        // state.indexerOutput = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
 
         // state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);