diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index c5de68c..469fcb8 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -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(0.13, 0.0, 0.0, 0.053, 0, 1.0);
+        public static final Gains SHOOTER_GAINS = new Gains(0.425, 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/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9c5eb38..8831be9 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -91,7 +91,7 @@ public class RobotContainer {
             .whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
 
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
-            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 8200));
+            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
 
         /*new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(null, m_robotDrive));*/
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 3c937b2..2e42c11 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -35,6 +35,8 @@ public class Shooter extends SubsystemBase {
     m_shooterFalcon.setInverted(true);
     
     setShooterGains();
+
+    m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
     
     m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
     
@@ -73,16 +75,16 @@ public class Shooter extends SubsystemBase {
    * @param targetVel Target velocity to run motor at
    */
   public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
-    velP = actualVel/targetVel;
-    double runSpeed = actualVel + (12000*velP);
-    if (runSpeed > targetVel) {runSpeed = targetVel;}
+    velP = actualVel/targetVel; //Percent of target
+    double runSpeed = actualVel + (12000*velP); //Ramp up equation
+    //if (runSpeed > targetVel) {runSpeed = targetVel;}
     SmartDashboard.putNumber("shoot", actualVel);
-    
-    if (actualVel < targetVel - 7000){
-      m_shooterFalcon.set(TalonFXControlMode.Velocity, runSpeed);
+    runSpeed = runSpeed/targetVel; //Convert to percent
+    if (actualVel < targetVel - 1000){
+      m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
     }
     else{
-      m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel);
+      m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
 }
\ No newline at end of file