diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index d7b76af..ef8356a 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -76,7 +76,7 @@ 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(0.425, 0.0005, 13, 0.05, 0, 1.0);
+        public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
         
         public static final double ENCODER_TICKS_PER_REV = 2048;
     }
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 7c90fb3..169e36f 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -25,7 +25,7 @@ public class Shooter extends SubsystemBase {
 
   double velP;
   /**
-   * Creates a new Shooter.
+   * Creates a new Shooter subsystem.
    */
   public Shooter() {
     m_shooterFalcon.configFactoryDefault();
@@ -80,10 +80,10 @@ public class Shooter extends SubsystemBase {
     //if (runSpeed > targetVel) {runSpeed = targetVel;}
     SmartDashboard.putNumber("shoot", actualVel);
     runSpeed = runSpeed/targetVel; //Convert to percent
-    if (actualVel < targetVel - 1000){
+    if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
       m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
     }
-    else{
+    else{ //PID Based on targetVel
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }