diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 7c28598..1704484 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -5,14 +5,14 @@ package frc4388.robot.constants;
  */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
+  public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 66;
-  public static final String GIT_SHA = "3a5057fc4187877fa770eac46b7ffd7ff06413b0";
-  public static final String GIT_DATE = "2026-02-17 19:53:26 MST";
+  public static final int GIT_REVISION = 69;
+  public static final String GIT_SHA = "9bf368bf4a5ca480b13aece556686ad0270f44b0";
+  public static final String GIT_DATE = "2026-02-18 17:37:49 MST";
   public static final String GIT_BRANCH = "operator-controls";
-  public static final String BUILD_DATE = "2026-02-18 15:59:57 MST";
-  public static final long BUILD_UNIX_TIME = 1771455597028L;
+  public static final String BUILD_DATE = "2026-02-19 17:17:10 MST";
+  public static final long BUILD_UNIX_TIME = 1771546630658L;
   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 f1c9d5e..94b5289 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -34,10 +34,10 @@ public class IntakeConstants {
     // public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
 
     public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0);
-    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0*0.4);
-    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.1);
-    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.1);
-    public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .10);
+    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.3);
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
+    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
+    public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .60);
     // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
 
     // public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
index 185ff55..24b1c27 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
@@ -91,8 +91,9 @@ public class Shooter extends SubsystemBase {
         double AngSpeed  = Math.abs(speed.omegaRadiansPerSecond * (180/Math.PI));
 
         Pose2d robotPose2d = m_SwerveDrive.getPose2d();
-        
-        double distanceToHub = robotPose2d.getTranslation().minus(FieldPositions.HUB_POSITION).getNorm();
+        //
+        double distanceToHub = (robotPose2d.getTranslation().minus(FieldPositions.HUB_POSITION).getNorm());
+        //Center of hub to cameras in inches
         Logger.recordOutput("Hub Dist", distanceToHub);
 
 
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index 3299c03..60380e8 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -18,11 +18,11 @@ public class    ShooterConstants {
     public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
     public static final double INDEXER_GEAR_RATIO = 1.;
 
-    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 SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -40);
+    public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
     
     public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.1);
-    public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.1);
+    public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
 
 
     // Shoot mode tolerances