diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index ff87427..e8d2e92 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 = 164;
-  public static final String GIT_SHA = "f4a42f02eed0fa3b0950a05da55174b9f4b89ce7";
-  public static final String GIT_DATE = "2026-03-14 20:39:45 MDT";
+  public static final int GIT_REVISION = 166;
+  public static final String GIT_SHA = "86b36a687e0338ed3ae5c6d035fb0f5b7404c27b";
+  public static final String GIT_DATE = "2026-03-16 16:13:53 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-15 11:14:11 MDT";
-  public static final long BUILD_UNIX_TIME = 1773594851399L;
+  public static final String BUILD_DATE = "2026-03-18 13:27:40 MDT";
+  public static final long BUILD_UNIX_TIME = 1773862060483L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index f074a74..d486de3 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -15,8 +15,8 @@ import frc4388.utility.status.CanDevice;
 public class    ShooterConstants {
     // Motor conversions
     
-    public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
-    public static final double INDEXER_GEAR_RATIO = 1.;
+    public static final double SHOOTERMOTOR_GEAR_RATIO = 1.29; // TODO: supposed to be 9 rotations in to 7 out
+    public static final double INDEXER_GEAR_RATIO = 1.72; // TODO: change it is supposed to be 18 to 31 
     public static final double T_CONSTANT = 2;
     public static final double SHOOTER_RADIUS = 2/39.37;
     public static final double INDEXER_RADIUS = 0.625/39.37;
@@ -25,6 +25,7 @@ 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", -0.15);
     // 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/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index 9d99131..c471924 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -411,10 +411,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
         if (ballVelocity > 1E-3 && Math.abs(chassisSpeeds.vyMetersPerSecond) > 1E-3){
             double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(Math.abs(ballVelocity));
-            // double aimOffset = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub)));
+            double aimOffsetComplext = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub)));
 
             fieldPos =  new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
-            Logger.recordOutput("Offset", aimOffset);
+            Logger.recordOutput("Offset Simple", aimOffset);
+            Logger.recordOutput("Offset Complex", aimOffsetComplext);
 
         }
 
@@ -532,11 +533,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         vision.setLastOdomPose(state.currentPose);
         setLastOdomSpeed(state.currentPose, state.lastPose, state.odometryRate);
 
-        // if (state.speeds != null) {
-        //     this.chassisSpeeds = state.speeds;
-        // } else {
-        //     this.chassisSpeeds = new ChassisSpeeds();
-        // }
+        if (state.speeds != null) {
+            this.chassisSpeeds = state.speeds;
+        } else {
+            this.chassisSpeeds = new ChassisSpeeds();
+        }
         
         if (vision.isTag()) {
             Pose2d pose = vision.getPose2d();