diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 9dbda6a..835dff1 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -46,7 +46,7 @@ public final class Constants {
         public static final int ELEVATOR_SLOT_IDX = 0;
         public static final int ELEVATOR_PID_LOOP_IDX = 1;
         public static final int ELEVATOR_TIMEOUT_MS = 30;
-        public static final Gains ELEVATOR_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
+        public static final Gains ELEVATOR_GAINS = new Gains(0.1, 0.0, 0.0, 0.2, 0, 1.0);
         
         public static final double ENCODER_TICKS_PER_REV = 2048;
     }
@@ -58,7 +58,7 @@ public final class Constants {
         public static final int SHOOTER_SLOT_IDX = 0;
         public static final int SHOOTER_PID_LOOP_IDX = 1;
         public static final int SHOOTER_TIMEOUT_MS = 30;
-        public static final Gains SHOOTER_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
+        public static final Gains SHOOTER_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
         
         public static final double ENCODER_TICKS_PER_REV = 2048;
     }
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9c45f3e..99b7d52 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -101,7 +101,7 @@ public class RobotContainer {
             .whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
 
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(2300), m_robotShooter));
+            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 2300));
 
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
             .whenPressed(new DistanceElevatorPID(m_robotElevator, 20000));
diff --git a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
index 520e501..4c7b058 100644
--- a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+++ b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
@@ -31,7 +31,11 @@ public class ShooterVelocityControlPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_shooter.runDrumShooterVelocityPID(m_targetVel);
+    if (m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000){
+      m_shooter.runDrumShooter(0.5);
+    } else {
+      m_shooter.runDrumShooterVelocityPID(m_targetVel);
+    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 24b7461..9452170 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -43,13 +43,14 @@ public class Shooter extends SubsystemBase {
     m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
     m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
 
-    SmartDashboard.putNumber("Shooter Velocity", m_targetVel);
+    SmartDashboard.putNumber("Shooter Velocity Target", m_targetVel);
   }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    m_targetVel = SmartDashboard.getNumber("Shooter Velocity", m_targetVel);
+    m_targetVel = SmartDashboard.getNumber("Shooter Velocity Target", m_targetVel);
+    SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
   }
 
   /**