diff --git a/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path b/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path
index 3c07cfe..8166269 100644
--- a/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path
+++ b/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path
@@ -62,8 +62,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
-    "maxAngularAcceleration": 700.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
@@ -77,5 +77,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
index 66d82d6..488bf73 100644
--- a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+++ b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
@@ -73,7 +73,7 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 770.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
@@ -87,5 +87,5 @@
     "velocity": 0,
     "rotation": -90.0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
index 25e6ec3..de02591 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
@@ -2,6 +2,7 @@ package frc4388.robot.subsystems.shooter;
 
 import static edu.wpi.first.units.Units.Amps;
 import static edu.wpi.first.units.Units.Rotation;
+import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
 import org.littletonrobotics.junction.AutoLogOutput;
@@ -56,7 +57,7 @@ public class Shooter extends SubsystemBase {
     
     public enum ShooterMode {
         Shooting,
-        Feeding,
+        ManualShoot,
         Idle
     }
 
@@ -68,7 +69,7 @@ public class Shooter extends SubsystemBase {
     }
 
     public void spinUpFeeding() {
-        this.mode = ShooterMode.Feeding;
+        this.mode = ShooterMode.ManualShoot;
     }
     
     public void spinUpIdle() {
@@ -183,8 +184,8 @@ public class Shooter extends SubsystemBase {
                         break;
                 }
                 break;
-            case Feeding:
-                io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
+            case ManualShoot:
+                io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_OVERRIDE_VELOCITY.get()));
 
                 int bitmask2 = (
                     (shooterButtonReady ? 1 : 0) +
@@ -233,6 +234,8 @@ public class Shooter extends SubsystemBase {
                 io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
                 m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
                 break;
+            
+
             }
 
     }
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index 37214d4..a70b923 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -19,7 +19,8 @@ public class    ShooterConstants {
     public static final double INDEXER_GEAR_RATIO = 1.;
 
     public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
-    public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
+    public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -40.25);
+    // 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);