diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 6521b27..831163e 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -212,7 +212,7 @@ public final class Constants {
     
     public static final class VisionConstants {
         public static final double FOV = 29.8; //Field of view of limelight
-        public static final double TARGET_HEIGHT = 71.5;
+        public static final double TARGET_HEIGHT = 67.5;
         public static final double LIME_ANGLE = 24.7;
         public static final double TURN_P_VALUE = 0.8;
         public static final double X_ANGLE_ERROR = 1.3;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 925e2a4..f129ce7 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -236,12 +236,14 @@ public class RobotContainer {
 
         // extends or retracts the extender
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
-            .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
+            //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
+            //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
+            .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.5), m_robotShooterHood));
             
         new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
-            .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
+            //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
+            //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
+            .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.5), m_robotShooterHood));
 
         // safety for climber and leveler
         new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
index 3f46e9f..05d652d 100644
--- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
@@ -69,7 +69,7 @@ public class TrackTarget extends CommandBase {
     yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
 
     // Finding Distance
-    distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
+    distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
     realDistance = (1.09 * distance) - 12.8;