diff --git a/build.gradle b/build.gradle
index df2f92a4..a38de3bf 100644
--- a/build.gradle
+++ b/build.gradle
@@ -54,6 +54,8 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
diff --git a/limelight/Intake blue.vpr b/limelight/Intake blue.vpr
new file mode 100644
index 00000000..f595568b
--- /dev/null
+++ b/limelight/Intake blue.vpr	
@@ -0,0 +1,68 @@
+area_max:100
+area_min:7.311616000000002
+area_similarity:0
+aspect_max:3.794947199999998
+aspect_min:0.3001249999999999
+black_level:0
+blue_balance:2500
+calibration_type:0
+contour_grouping:0
+contour_sort_final:0
+convexity_max:100
+convexity_min:77.2
+corner_approx:5.000000
+crop_x_max:1
+crop_x_min:-1
+crop_y_max:0.13
+crop_y_min:-1
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:1
+exposure:1200
+force_convex:1
+hue_max:129
+hue_min:99
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:7
+multigroup_min:1
+multigroup_rejector:0
+pipeline_led_enabled:0
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:1988
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:107
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:43
+x_outlier_miqr:1.5
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.5
diff --git a/limelight/Intake red.vpr b/limelight/Intake red.vpr
new file mode 100644
index 00000000..f5540c46
--- /dev/null
+++ b/limelight/Intake red.vpr	
@@ -0,0 +1,68 @@
+area_max:100
+area_min:7.311616000000002
+area_similarity:0
+aspect_max:3.794947199999998
+aspect_min:0.3001249999999999
+black_level:0
+blue_balance:2500
+calibration_type:0
+contour_grouping:0
+contour_sort_final:0
+convexity_max:100
+convexity_min:77.2
+corner_approx:5.000000
+crop_x_max:1
+crop_x_min:-1
+crop_y_max:0.13
+crop_y_min:-1
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:1200
+force_convex:1
+hue_max:175
+hue_min:154
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:7
+multigroup_min:1
+multigroup_rejector:0
+pipeline_led_enabled:0
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:1646
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:202
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:132
+x_outlier_miqr:1.5
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.5
diff --git a/limelight/Shooter.vpr b/limelight/Shooter.vpr
new file mode 100644
index 00000000..8c796f7a
--- /dev/null
+++ b/limelight/Shooter.vpr
@@ -0,0 +1,68 @@
+area_max:100
+area_min:0.0017850625000000004
+area_similarity:15
+aspect_max:20.000000
+aspect_min:0.000000
+black_level:5
+blue_balance:1331
+calibration_type:0
+contour_grouping:3
+contour_sort_final:0
+convexity_max:100
+convexity_min:10
+corner_approx:5.000000
+crop_x_max:1.000000
+crop_x_min:-1.000000
+crop_y_max:1.000000
+crop_y_min:-1.000000
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:2
+force_convex:1
+hue_max:89
+hue_min:55
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:5
+multigroup_min:3
+multigroup_rejector:1
+pipeline_led_enabled:0
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:1599
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:81
+send_corners:1
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:85
+x_outlier_miqr:0.7
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.6
diff --git a/src/main/deploy/autos/blue/5ball.json b/src/main/deploy/autos/blue/5ball.json
index 0b3e67af..c9be3e67 100644
--- a/src/main/deploy/autos/blue/5ball.json
+++ b/src/main/deploy/autos/blue/5ball.json
@@ -212,7 +212,7 @@
     "constraints" : [ ]
   }, {
     "type" : "script",
-    "script" : "# Shoot the first 2 balls\n#Intake.setWantedIntakeState OFF\nVisionManager.shootBalls 7",
+    "script" : "# Shoot the first 2 balls\n#Intake.setWantedIntakeState OFF\nVisionManager.shootBalls 5",
     "closed" : false,
     "valid" : true,
     "sendableScript" : {
@@ -220,7 +220,7 @@
       "delay" : 0.0,
       "commands" : [ {
         "methodName" : "frc.subsystem.VisionManager.shootBalls",
-        "args" : [ "7" ],
+        "args" : [ "5" ],
         "argTypes" : [ "double" ],
         "reflection" : true
       } ]
@@ -257,445 +257,459 @@
           "y" : -3.196845054626465
         },
         "rotation" : {
-          "radians" : 2.70041390445855
+          "radians" : -3.128825218368557
         }
       },
-      "curvature" : -0.0
+      "curvature" : 0.0
     }, {
-      "time" : 0.23664586321986603,
-      "velocity" : 0.9465834528794639,
+      "time" : 0.18070546442899316,
+      "velocity" : 0.7228218577159725,
       "acceleration" : 4.000000000000001,
       "pose" : {
         "translation" : {
-          "x" : 7.52540296068446,
-          "y" : -3.1488323883245357
+          "x" : 7.561287415918969,
+          "y" : -3.1975411300314462
         },
         "rotation" : {
-          "radians" : 2.6953045863269516
+          "radians" : -3.1350447706508953
         }
       },
-      "curvature" : -0.07577684722310894
+      "curvature" : -0.18371794738756367
     }, {
-      "time" : 0.34030220571431735,
-      "velocity" : 1.3612088228572694,
-      "acceleration" : 4.0000000000000036,
+      "time" : 0.2560291531859158,
+      "velocity" : 1.0241166127436632,
+      "acceleration" : 4.000000000000002,
       "pose" : {
         "translation" : {
-          "x" : 7.417757449569763,
-          "y" : -3.0966914842865663
+          "x" : 7.495494536036858,
+          "y" : -3.197464238592829
         },
         "rotation" : {
-          "radians" : 2.6858123918336316
+          "radians" : 3.1311609020207034
         }
       },
-      "curvature" : -0.07326544503040545
+      "curvature" : -0.3247341642611955
     }, {
-      "time" : 0.384629630154288,
-      "velocity" : 1.5385185206171523,
-      "acceleration" : 4.0000000000000036,
+      "time" : 0.31447963957810243,
+      "velocity" : 1.2579185583124097,
+      "acceleration" : 3.999999999999992,
       "pose" : {
         "translation" : {
-          "x" : 7.360111402026817,
-          "y" : -3.0682766663898775
+          "x" : 7.428818325054408,
+          "y" : -3.195966399958145
         },
         "rotation" : {
-          "radians" : 2.6816220169257763
+          "radians" : 3.106029813407485
         }
       },
-      "curvature" : -0.056343210130415364
+      "curvature" : -0.4213902848253676
     }, {
-      "time" : 0.42640049414944053,
-      "velocity" : 1.7056019765977626,
+      "time" : 0.3645154779554353,
+      "velocity" : 1.4580619118217408,
       "acceleration" : 4.0,
       "pose" : {
         "translation" : {
-          "x" : 7.299449204304892,
-          "y" : -3.0380968957629193
+          "x" : 7.360957192140631,
+          "y" : -3.192528116363974
         },
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-          "radians" : 2.6784957933752187
+          "radians" : 3.0752789658716972
         }
       },
-      "curvature" : -0.035816849566663374
+      "curvature" : -0.47718431116456617
     }, {
-      "time" : 0.4664026360786243,
-      "velocity" : 1.8656105443144977,
-      "acceleration" : 3.9999999999999942,
+      "time" : 0.409416754303078,
+      "velocity" : 1.6376670172123116,
+      "acceleration" : 4.0,
       "pose" : {
         "translation" : {
-          "x" : 7.235577081185269,
-          "y" : -3.0061231284680474
+          "x" : 7.2916967297335304,
+          "y" : -3.1867497196945394
         },
         "rotation" : {
-          "radians" : 2.6767024131530928
+          "radians" : 3.041183989047963
         }
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-      "curvature" : -0.014633323030462457
+      "curvature" : -0.498764188481344
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+      "time" : 0.45085224980311017,
+      "velocity" : 1.8034089992124402,
       "acceleration" : 4.0,
       "pose" : {
         "translation" : {
-          "x" : 7.168413784820586,
-          "y" : -2.972412885632366
+          "x" : 7.22090281623241,
+          "y" : -3.178342718540307
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-          "radians" : 2.676381564257267
+          "radians" : 3.005659202130603
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-      "curvature" : 0.005723704793670682
+      "curvature" : -0.49412155680179287
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-      "time" : 0.5426791778444782,
-      "velocity" : 2.170716711377913,
-      "acceleration" : 3.9999999999999947,
+      "time" : 0.48978986213967873,
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+      "acceleration" : 4.0,
       "pose" : {
         "translation" : {
-          "x" : 7.097979906595825,
-          "y" : -2.9371007325542138
+          "x" : 7.148514718690194,
+          "y" : -3.16712114525658
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-          "radians" : 2.6775963537201526
+          "radians" : 2.970217325515413
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-      "acceleration" : 4.0,
+      "time" : 0.5268309899893706,
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       "pose" : {
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+          "x" : 7.074538195505738,
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-          "y" : -2.8625370523589453
+          "x" : 6.9990385991161475,
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-          "radians" : 2.684720287316673
+          "radians" : 2.903728300477056
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       "pose" : {
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-          "x" : 6.868563832176733,
-          "y" : -2.8238541886530584
+          "x" : 6.922133978689089,
+          "y" : -3.116065460884556
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-          "radians" : 2.690658352810391
+          "radians" : 2.873957256024724
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       "pose" : {
         "translation" : {
-          "x" : 6.786916240142844,
-          "y" : -2.7846876997401324
+          "x" : 6.84398818281511,
+          "y" : -3.0934735449835173
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-          "radians" : 2.6982158314592457
+          "radians" : 2.846951576467614
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+      "curvature" : -0.31088845012056077
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+      "time" : 0.6619472398665499,
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+      "acceleration" : 4.000000000000005,
       "pose" : {
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-          "x" : 6.703254526793444,
-          "y" : -2.7454145583719765
+          "x" : 6.764803962199949,
+          "y" : -3.068372222252947
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-          "radians" : 2.7074416804830337
+          "radians" : 2.822842297620444
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+      "time" : 0.6931403571893224,
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+      "acceleration" : -1.9238540319304083,
+      "pose" : {
+        "translation" : {
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+          "y" : -3.041008955867703
+        },
+        "rotation" : {
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+        }
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+    }, {
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       "pose" : {
         "translation" : {
-          "x" : 6.617985867988281,
-          "y" : -2.706431656110553
+          "x" : 6.604284376298892,
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-          "radians" : 2.7184067558532385
+          "radians" : 2.7833674081938065
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-      "curvature" : 0.12588795042125855
+      "curvature" : -0.1956924881544235
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+      "time" : 0.7570834198223945,
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       "pose" : {
         "translation" : {
-          "x" : 6.531544461846352,
-          "y" : -2.6681462824344635
+          "x" : 6.523486947231277,
+          "y" : -2.980687557766295
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         "rotation" : {
-          "radians" : 2.7312047381163698
+          "radians" : 2.7679026528198674
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-      "curvature" : 0.14513907009747126
+      "curvature" : -0.1621334305896103
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+      "time" : 0.7917065419550845,
+      "velocity" : 2.4431803180242664,
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       "pose" : {
         "translation" : {
-          "x" : 6.4443808406068825,
-          "y" : -2.6309666038454367
+          "x" : 6.442713171243668,
+          "y" : -2.948399506509304
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         "rotation" : {
-          "radians" : 2.7459513677847163
+          "radians" : 2.7551856068980616
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-      "curvature" : 0.16649109492446312
+      "curvature" : -0.13055898031005425
     }, {
-      "time" : 0.867316787787211,
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       "pose" : {
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+          "x" : 6.362256850002495,
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-          "radians" : 2.7627816958449616
+          "radians" : 2.745138312714669
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+      "curvature" : -0.10048447677557701
     }, {
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-      "velocity" : 2.0382027654105648,
-      "acceleration" : -3.999999999999993,
+      "time" : 0.867530257770865,
+      "velocity" : 2.1398854547611443,
+      "acceleration" : -4.000000000000008,
       "pose" : {
         "translation" : {
-          "x" : 6.2697066235593155,
-          "y" : -2.561504257690032
+          "x" : 6.2824093034432735,
+          "y" : -2.8813768377738143
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-          "radians" : 2.781844534128218
+          "radians" : 2.7376914272087047
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       },
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+      "curvature" : -0.07137524263218635
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+      "time" : 0.9093359695581078,
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+      "acceleration" : -4.0,
       "pose" : {
         "translation" : {
-          "x" : 6.18308256957971,
-          "y" : -2.529956620201119
+          "x" : 6.203452472462914,
+          "y" : -2.847382308035101
         },
         "rotation" : {
-          "radians" : 2.803292700021926
+          "radians" : 2.7327875500302903
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diff --git a/src/main/deploy/autos/blue/buddyautoleftsteal.json b/src/main/deploy/autos/blue/buddyautoleftsteal.json
new file mode 100644
index 00000000..5264679f
--- /dev/null
+++ b/src/main/deploy/autos/blue/buddyautoleftsteal.json
@@ -0,0 +1,3806 @@
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diff --git a/src/main/deploy/autos/blue/hidecargo.json b/src/main/deploy/autos/blue/hidecargo.json
new file mode 100644
index 00000000..16cbc83b
--- /dev/null
+++ b/src/main/deploy/autos/blue/hidecargo.json
@@ -0,0 +1,3175 @@
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+    "reversed" : false,
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+    "closed" : false,
+    "velocityStart" : 0.0,
+    "velocityEnd" : 0.0,
+    "constraints" : [ ]
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+}
\ No newline at end of file
diff --git a/src/main/deploy/autos/blue/movecargotohanger.json b/src/main/deploy/autos/blue/movecargotohanger.json
new file mode 100644
index 00000000..7607216c
--- /dev/null
+++ b/src/main/deploy/autos/blue/movecargotohanger.json
@@ -0,0 +1,3505 @@
+{
+  "autonomousSteps" : [ {
+    "type" : "script",
+    "script" : "Intake.setIntakeSolState OPEN\nIntake.setWantedIntakeState INTAKE\nHopper.setHopperState ON",
+    "closed" : false,
+    "valid" : true,
+    "sendableScript" : {
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+      "delay" : 0.0,
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+    "sendableScript" : {
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+      "delay" : 0.01,
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+    "sendableScript" : {
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+  }, {
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+}
\ No newline at end of file
diff --git a/src/main/deploy/autos/red/5ball.json b/src/main/deploy/autos/red/5ball.json
index de3ff4dc..5d82b260 100644
--- a/src/main/deploy/autos/red/5ball.json
+++ b/src/main/deploy/autos/red/5ball.json
@@ -212,7 +212,7 @@
     "constraints" : [ ]
   }, {
     "type" : "script",
-    "script" : "# Shoot the first 2 balls\n#Intake.setWantedIntakeState OFF\nVisionManager.shootBalls 7",
+    "script" : "# Shoot the first 2 balls\n#Intake.setWantedIntakeState OFF\nVisionManager.shootBalls 5",
     "closed" : false,
     "valid" : true,
     "sendableScript" : {
@@ -220,7 +220,7 @@
       "delay" : 0.0,
       "commands" : [ {
         "methodName" : "frc.subsystem.VisionManager.shootBalls",
-        "args" : [ "7" ],
+        "args" : [ "5" ],
         "argTypes" : [ "double" ],
         "reflection" : true
       } ]
@@ -250,452 +250,466 @@
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diff --git a/src/main/deploy/autos/red/buddyautoleftsteal.json b/src/main/deploy/autos/red/buddyautoleftsteal.json
new file mode 100644
index 00000000..5264679f
--- /dev/null
+++ b/src/main/deploy/autos/red/buddyautoleftsteal.json
@@ -0,0 +1,3806 @@
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\ No newline at end of file
diff --git a/src/main/deploy/autos/red/hidecargo.json b/src/main/deploy/autos/red/hidecargo.json
new file mode 100644
index 00000000..16cbc83b
--- /dev/null
+++ b/src/main/deploy/autos/red/hidecargo.json
@@ -0,0 +1,3175 @@
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diff --git a/src/main/deploy/autos/red/movecargotohanger.json b/src/main/deploy/autos/red/movecargotohanger.json
new file mode 100644
index 00000000..7607216c
--- /dev/null
+++ b/src/main/deploy/autos/red/movecargotohanger.json
@@ -0,0 +1,3505 @@
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+          "y" : 2.677400863588673
+        },
+        "rotation" : {
+          "radians" : 0.09396342350209999
+        }
+      },
+      "curvature" : 0.2540441775959243
+    }, {
+      "time" : 3.583307920417398,
+      "velocity" : 2.6507794830294023,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 4.998532040779537,
+          "y" : 2.689914865659375
+        },
+        "rotation" : {
+          "radians" : 0.12355864176280444
+        }
+      },
+      "curvature" : 0.25210444079517663
+    }, {
+      "time" : 3.630910520336883,
+      "velocity" : 2.460369083351462,
+      "acceleration" : -3.999999999999993,
+      "pose" : {
+        "translation" : {
+          "x" : 5.119023237352621,
+          "y" : 2.706680181850743
+        },
+        "rotation" : {
+          "radians" : 0.1521781406035511
+        }
+      },
+      "curvature" : 0.21456009552095912
+    }, {
+      "time" : 3.6575544532910382,
+      "velocity" : 2.3537933515348413,
+      "acceleration" : -3.9999999999999933,
+      "pose" : {
+        "translation" : {
+          "x" : 5.182350507669064,
+          "y" : 2.7168212357026604
+        },
+        "rotation" : {
+          "radians" : 0.16512628632297052
+        }
+      },
+      "curvature" : 0.18899817754880754
+    }, {
+      "time" : 3.6866111335997718,
+      "velocity" : 2.237566630299908,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.2480809891130775,
+          "y" : 2.728180788224563
+        },
+        "rotation" : {
+          "radians" : 0.1768351792035555
+        }
+      },
+      "curvature" : 0.16220610323939916
+    }, {
+      "time" : 3.718563991190063,
+      "velocity" : 2.109755199938744,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.3163865477339485,
+          "y" : 2.740762636728995
+        },
+        "rotation" : {
+          "radians" : 0.1871757577997712
+        }
+      },
+      "curvature" : 0.13593088502288128
+    }, {
+      "time" : 3.754021980661885,
+      "velocity" : 1.967923242051456,
+      "acceleration" : -4.000000000000003,
+      "pose" : {
+        "translation" : {
+          "x" : 5.387354258449022,
+          "y" : 2.7545424071852267
+        },
+        "rotation" : {
+          "radians" : 0.19609326514864456
+        }
+      },
+      "curvature" : 0.11126066622925063
+    }, {
+      "time" : 3.7938015783178165,
+      "velocity" : 1.8088048514277302,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.460975549954718,
+          "y" : 2.7694646639744107
+        },
+        "rotation" : {
+          "radians" : 0.20358486920868646
+        }
+      },
+      "curvature" : 0.08871019500715766
+    }, {
+      "time" : 3.8390908801882153,
+      "velocity" : 1.627647643946134,
+      "acceleration" : -3.9999999999999973,
+      "pose" : {
+        "translation" : {
+          "x" : 5.537135349637538,
+          "y" : 2.7854400196447386
+        },
+        "rotation" : {
+          "radians" : 0.20967774359389213
+        }
+      },
+      "curvature" : 0.06834921616165193
+    }, {
+      "time" : 3.8918213921686315,
+      "velocity" : 1.4167255960244693,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.615601228485083,
+          "y" : 2.8023422446665975
+        },
+        "rotation" : {
+          "radians" : 0.21440925415138234
+        }
+      },
+      "curvature" : 0.049921154171936793
+    }, {
+      "time" : 3.955692162693215,
+      "velocity" : 1.1612425139261353,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.696012545997064,
+          "y" : 2.8200053771877265
+        },
+        "rotation" : {
+          "radians" : 0.21780924678420455
+        }
+      },
+      "curvature" : 0.03292187698251918
+    }, {
+      "time" : 4.040210129462593,
+      "velocity" : 0.8231706468486228,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.777869595096313,
+          "y" : 2.838220832788373
+        },
+        "rotation" : {
+          "radians" : 0.21988311898862645
+        }
+      },
+      "curvature" : 0.016620346183280694
+    }, {
+      "time" : 4.246002791174749,
+      "velocity" : 0.0,
+      "acceleration" : -4.0,
+      "pose" : {
+        "translation" : {
+          "x" : 5.860522747039795,
+          "y" : 2.85673451423645
+        },
+        "rotation" : {
+          "radians" : 0.22059308726779464
+        }
+      },
+      "curvature" : 0.0
+    } ],
+    "pointList" : [ {
+      "x" : [ 4.100522994995117, -3.486077070236206, 0.0 ],
+      "y" : [ -0.7109201550483704, 2.165250778198242, 0.0 ]
+    }, {
+      "x" : [ 1.8818800449371338, -0.19111382961273193, 0.0 ],
+      "y" : [ 1.2418794631958008, 1.7965017557144165, 0.0 ]
+    }, {
+      "x" : [ 3.6274187564849854, 2.828535318374634, 0.0 ],
+      "y" : [ 2.617924213409424, 0.1528944969177246, 0.0 ]
+    }, {
+      "x" : [ 5.860522747039795, 2.649440288543701, 0.0 ],
+      "y" : [ 2.85673451423645, 0.5941164493560791, 0.0 ]
+    } ],
+    "rotations" : [ {
+      "time" : 0.0,
+      "rotation" : {
+        "radians" : 2.584307420515759
+      }
+    }, {
+      "time" : 1.699999962002039,
+      "rotation" : {
+        "radians" : 2.7676508674151563
+      }
+    }, {
+      "time" : 3.1199999302625656,
+      "rotation" : {
+        "radians" : 0.4494112193892231
+      }
+    }, {
+      "time" : 4.159999907016754,
+      "rotation" : {
+        "radians" : 0.46364803834258117
+      }
+    } ],
+    "reversed" : false,
+    "color" : 286.3529,
+    "closed" : false,
+    "velocityStart" : 0.0,
+    "velocityEnd" : 0.0,
+    "constraints" : [ ]
+  } ]
+}
\ No newline at end of file
diff --git a/src/main/deploy/shooter/shooterconfig.json b/src/main/deploy/shooter/shooterconfig.json
index c1d58560..69ec53f0 100644
--- a/src/main/deploy/shooter/shooterconfig.json
+++ b/src/main/deploy/shooter/shooterconfig.json
@@ -1,28 +1,32 @@
 {
   "shooterConfigs" : [ {
-    "hoodEjectAngle" : 68.0,
-    "flywheelSpeed" : 1700.0,
-    "distance" : 40.0
+    "hoodEjectAngle" : 70.0,
+    "flywheelSpeed" : 1800.0,
+    "distance" : 45.0
   }, {
     "hoodEjectAngle" : 62.0,
     "flywheelSpeed" : 1700.0,
-    "distance" : 60.0
+    "distance" : 62.0
   }, {
     "hoodEjectAngle" : 56.0,
     "flywheelSpeed" : 1700.0,
-    "distance" : 82.0
+    "distance" : 81.0
   }, {
     "hoodEjectAngle" : 56.0,
-    "flywheelSpeed" : 1800.0,
-    "distance" : 106.0
+    "flywheelSpeed" : 1900.0,
+    "distance" : 101.0
   }, {
     "hoodEjectAngle" : 53.0,
-    "flywheelSpeed" : 1800.0,
-    "distance" : 115.0
+    "flywheelSpeed" : 1900.0,
+    "distance" : 109.0
   }, {
     "hoodEjectAngle" : 51.0,
     "flywheelSpeed" : 1900.0,
-    "distance" : 120.0
+    "distance" : 113.0
+  }, {
+    "hoodEjectAngle" : 51.0,
+    "flywheelSpeed" : 1900.0,
+    "distance" : 124.0
   }, {
     "hoodEjectAngle" : 51.0,
     "flywheelSpeed" : 2000.0,
@@ -34,38 +38,38 @@
   }, {
     "hoodEjectAngle" : 51.0,
     "flywheelSpeed" : 2200.0,
-    "distance" : 157.0
+    "distance" : 160.0
   }, {
     "hoodEjectAngle" : 51.0,
-    "flywheelSpeed" : 2200.0,
-    "distance" : 175.0
+    "flywheelSpeed" : 2300.0,
+    "distance" : 173.0
   }, {
     "hoodEjectAngle" : 51.0,
-    "flywheelSpeed" : 2300.0,
-    "distance" : 190.0
+    "flywheelSpeed" : 2400.0,
+    "distance" : 181.0
   }, {
     "hoodEjectAngle" : 51.0,
     "flywheelSpeed" : 2400.0,
-    "distance" : 200.0
+    "distance" : 190.0
   }, {
     "hoodEjectAngle" : 51.0,
-    "flywheelSpeed" : 2500.0,
-    "distance" : 210.0
+    "flywheelSpeed" : 2450.0,
+    "distance" : 202.0
   }, {
     "hoodEjectAngle" : 51.0,
-    "flywheelSpeed" : 2600.0,
-    "distance" : 225.0
+    "flywheelSpeed" : 2550.0,
+    "distance" : 224.0
   }, {
     "hoodEjectAngle" : 51.0,
     "flywheelSpeed" : 2700.0,
-    "distance" : 250.0
+    "distance" : 241.0
   }, {
     "hoodEjectAngle" : 51.0,
-    "flywheelSpeed" : 2800.0,
-    "distance" : 270.0
+    "flywheelSpeed" : 3000.0,
+    "distance" : 265.0
   }, {
     "hoodEjectAngle" : 51.0,
-    "flywheelSpeed" : 2900.0,
-    "distance" : 299.0
+    "flywheelSpeed" : 3200.0,
+    "distance" : 300.0
   } ]
 }
\ No newline at end of file
diff --git a/src/main/java/frc/auton/BuddyAutoLeftHideBlue.java b/src/main/java/frc/auton/BuddyAutoLeftHideBlue.java
new file mode 100644
index 00000000..ef29bba4
--- /dev/null
+++ b/src/main/java/frc/auton/BuddyAutoLeftHideBlue.java
@@ -0,0 +1,12 @@
+package frc.auton;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.auton.guiauto.AbstractGuiAuto;
+
+import java.io.File;
+
+public class BuddyAutoLeftHideBlue extends AbstractGuiAuto {
+    public BuddyAutoLeftHideBlue() {
+        super(new File(Filesystem.getDeployDirectory().getPath() + "/autos/blue/buddyautoleftsteal.json"));
+    }
+}
diff --git a/src/main/java/frc/auton/BuddyAutoLeftHideRed.java b/src/main/java/frc/auton/BuddyAutoLeftHideRed.java
new file mode 100644
index 00000000..b39f57e0
--- /dev/null
+++ b/src/main/java/frc/auton/BuddyAutoLeftHideRed.java
@@ -0,0 +1,12 @@
+package frc.auton;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.auton.guiauto.AbstractGuiAuto;
+
+import java.io.File;
+
+public class BuddyAutoLeftHideRed extends AbstractGuiAuto {
+    public BuddyAutoLeftHideRed() {
+        super(new File(Filesystem.getDeployDirectory().getPath() + "/autos/red/buddyautoleftsteal.json"));
+    }
+}
diff --git a/src/main/java/frc/auton/HangerCargoBlue.java b/src/main/java/frc/auton/HangerCargoBlue.java
new file mode 100644
index 00000000..45c62df2
--- /dev/null
+++ b/src/main/java/frc/auton/HangerCargoBlue.java
@@ -0,0 +1,12 @@
+package frc.auton;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.auton.guiauto.AbstractGuiAuto;
+
+import java.io.File;
+
+public class HangerCargoBlue extends AbstractGuiAuto {
+    public HangerCargoBlue() {
+        super(new File(Filesystem.getDeployDirectory().getPath() + "/autos/blue/movecargotohanger.json"));
+    }
+}
diff --git a/src/main/java/frc/auton/HangerCargoRed.java b/src/main/java/frc/auton/HangerCargoRed.java
new file mode 100644
index 00000000..fee9b47f
--- /dev/null
+++ b/src/main/java/frc/auton/HangerCargoRed.java
@@ -0,0 +1,12 @@
+package frc.auton;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.auton.guiauto.AbstractGuiAuto;
+
+import java.io.File;
+
+public class HangerCargoRed extends AbstractGuiAuto {
+    public HangerCargoRed() {
+        super(new File(Filesystem.getDeployDirectory().getPath() + "/autos/red/movecargotohanger.json"));
+    }
+}
diff --git a/src/main/java/frc/auton/HideCargoBlue.java b/src/main/java/frc/auton/HideCargoBlue.java
new file mode 100644
index 00000000..56f9a93b
--- /dev/null
+++ b/src/main/java/frc/auton/HideCargoBlue.java
@@ -0,0 +1,12 @@
+package frc.auton;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.auton.guiauto.AbstractGuiAuto;
+
+import java.io.File;
+
+public class HideCargoBlue extends AbstractGuiAuto {
+    public HideCargoBlue() {
+        super(new File(Filesystem.getDeployDirectory().getPath() + "/autos/blue/hidecargo.json"));
+    }
+}
diff --git a/src/main/java/frc/auton/HideCargoRed.java b/src/main/java/frc/auton/HideCargoRed.java
new file mode 100644
index 00000000..07a69620
--- /dev/null
+++ b/src/main/java/frc/auton/HideCargoRed.java
@@ -0,0 +1,12 @@
+package frc.auton;
+
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.auton.guiauto.AbstractGuiAuto;
+
+import java.io.File;
+
+public class HideCargoRed extends AbstractGuiAuto {
+    public HideCargoRed() {
+        super(new File(Filesystem.getDeployDirectory().getPath() + "/autos/red/hidecargo.json"));
+    }
+}
diff --git a/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java b/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
index 30419729..8984d0ef 100644
--- a/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
+++ b/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
@@ -2,14 +2,13 @@
 
 import edu.wpi.first.wpilibj.Filesystem;
 import frc.utility.Serializer;
+import org.jetbrains.annotations.Nullable;
 
 import java.io.File;
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 
-import org.jetbrains.annotations.Nullable;
-
 import static frc.auton.guiauto.serialization.reflection.ReflectionUtils.findClasses;
 public final class ClassInformationSender {
     public ClassInformationSender() {
@@ -23,10 +22,10 @@ public static void updateReflectionInformation(@Nullable File file) {
             for (Class<?> aClass : classes) {
                 reflectionClassData.add(new ReflectionClassData(aClass));
             }
-            System.out.println(Serializer.serializeToString(reflectionClassData));
-
+            //System.out.println(Serializer.serializeToString(reflectionClassData));
+            System.out.println("Successfully updated reflection information");
 
-            if(file != null) {
+            if (file != null) {
                 file.getParentFile().mkdir();
                 Serializer.serializeToFile(reflectionClassData, file);
             }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 511631b9..c1a3c762 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -42,7 +42,7 @@ public final class Constants {
      * Relative position of the limelight from the center of the robot.
      */
     public static final Translation2d LIMELIGHT_CENTER_OFFSET = new Translation2d(-0.684, 0); //TODO: CHANGE
-    public static final double VISION_MANAGER_DISTANCE_THRESHOLD_SQUARED = Math.pow(1.5, 2); //TODO: CHANGE
+    public static final double VISION_MANAGER_DISTANCE_THRESHOLD_SQUARED = Math.pow(2, 2); //TODO: CHANGE
     // This is in inches
     public static final double VISION_DISTANCE_BEFORE_ERROR_TIGHTENING = 200;
 
@@ -164,9 +164,9 @@ public final class Constants {
 
     // TurnPID
 
-    public static final double DEFAULT_TURN_P = 8.0;
-    public static final double DEFAULT_TURN_I = 0.0;
-    public static final double DEFAULT_TURN_D = 0.0;
+    public static final double DEFAULT_TURN_P = 12.0;
+    public static final double DEFAULT_TURN_I = 15.0;
+    public static final double DEFAULT_TURN_D = 0.4;
     public static final double DEFAULT_TURN_MAX_VELOCITY = 10.0;
     public static final double DEFAULT_TURN_MAX_ACCELERATION = 10.0;
 
@@ -207,7 +207,7 @@ public final class Constants {
      */
     public static final double MAX_SHOOT_SPEED_SQUARED = Math.pow(MAX_SHOOT_SPEED, 2);
 
-   /**
+    /**
      * This GOAL RADIUS is used to calculate the turn error
      */
     public static final double GOAL_RADIUS_TURN_ERROR_M = GOAL_RADIUS * 3;
@@ -228,11 +228,38 @@ public final class Constants {
 
 
     //Hopper Constants
-    public static final int HOPPER_PERIOD = 200;
-    public static final double HOPPER_SPEED = 1;
+    public static final int HOPPER_PERIOD = 10;
+    public static final double HOPPER_SPEED = 1.0;
     public static final int HOPPER_MOTOR_ID = 30;
     public static final int HOPPER_CURRENT_LIMIT = 35;
+    public static final String INTAKE_LIMELIGHT_NAME = "limelight-intake";
+
+    // Outtake Constants
+    public static final int OUTTAKE_CAN_ID = 60;
+    public static final double OUTTAKE_REDUCTION = (3.0 / 1.0);
+    public static final int OUTTAKE_CURRENT_LIMIT = 20;
+    public static final int OUTTAKE_MEASUREMENT_PERIOD_MS = 200;
+    public static final double OUTTAKE_VERTICAL_OFFSET_THRESHOLD = 0;
 
+    /**
+     * Outtake's speed when automatically ejecting balls
+     */
+    public static final double OUTTAKE_AUTO_EJECTION_SPEED = .5;
+
+    /**
+     * Outtake's speed when manually ejecting balls
+     */
+    public static final double OUTTAKE_MANUAL_EJECTION_SPEED = 1;
+
+    /**
+     * Outtake's speed when intaking balls
+     */
+    public static final double OUTTAKE_SPEED = -.5;
+
+    /**
+     * Outtake will run for this time (Sec) after color sensor trigger
+     */
+    public static final double OUTTAKE_RUN_PERIOD = 50 / 1000d;
 
     // Shooter Constants
 
@@ -262,6 +289,9 @@ public final class Constants {
      */
     public static final double ALLOWED_SHOOTER_SPEED_ERROR_RPM = 150;
 
+    public static final int SHOOTER_EJECT_SPEED = 750;
+    public static final double HOOD_EJECT_ANGLE = 53;
+
     /**
      * Conversion from Falcon Sensor Units / 100ms to RPM 2048 is Sensor Units Per Revolution 600 Converts From Time of 100ms to 1
      * minute
@@ -478,7 +508,7 @@ public final class Constants {
     /**
      * Length to grab on high and traversal bars
      */
-    public static final double CLIMBER_GRAB_ON_NEXT_BAR_EXTENSION = (27.2 - 4.5) * CLIMBER_ENCODER_TICKS_PER_INCH;
+    public static final double CLIMBER_GRAB_ON_NEXT_BAR_EXTENSION = (27.2 - 3.5) * CLIMBER_ENCODER_TICKS_PER_INCH;
 
     /**
      * How long only one of the sensor switches can be closed for before the climb will pause
@@ -492,9 +522,19 @@ public final class Constants {
     public static final int INTAKE_PERIOD = 50;
     public static final int INTAKE_SOLENOID_CHANNEL = 3;
     public static final int INTAKE_MOTOR_DEVICE_ID = 40;
-    public static final double INTAKE_MOTOR_SPEED = -1;
     public static final double INTAKE_OPEN_TIME = 0.0;
 
+    /**
+     * Intake Speed when intaking balls
+     */
+    public static final double INTAKE_SPEED = -1;
+
+    /**
+     * Intake speed when ejecting balls
+     */
+    public static final double INTAKE_EJECTION_SPEED = -.5;
+
     public static final int WEB_DASHBOARD_PORT = 5802;
+
     public static final int WEB_DASHBOARD_SEND_PERIOD_MS = 50;
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index a7f0d95d..d47d44a3 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -27,12 +27,14 @@
 import frc.utility.Limelight.StreamingMode;
 import frc.utility.shooter.visionlookup.ShooterConfig;
 import frc.utility.shooter.visionlookup.ShooterPreset;
+import frc.utility.shooter.visionlookup.VisionLookUpTable;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 
 import java.io.File;
 import java.io.IOException;
 import java.lang.Thread.State;
+import java.nio.file.Files;
 import java.util.Collections;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ExecutorService;
@@ -52,6 +54,8 @@ public class Robot extends TimedRobot {
 
     public boolean useFieldRelative = false;
 
+    public static final boolean IS_PRACTICE = Files.exists(new File("/home/lvuser/practice").toPath());
+
     //GUI
     final @NotNull NetworkTableInstance instance = NetworkTableInstance.getDefault();
     final @NotNull NetworkTable autoDataTable = instance.getTable("autodata");
@@ -122,6 +126,31 @@ public class Robot extends TimedRobot {
     @NotNull
     private BuddyAutoRight buddyAutoRight;
 
+    @SuppressWarnings("NotNullFieldNotInitialized")
+    @NotNull
+    private HideCargoBlue hideCargoBlue;
+
+    @SuppressWarnings("NotNullFieldNotInitialized")
+    @NotNull
+    private HideCargoRed hideCargoRed;
+
+    @SuppressWarnings("NotNullFieldNotInitialized")
+    @NotNull
+    private BuddyAutoLeftHideBlue buddyAutoLeftHideBlue;
+
+    @SuppressWarnings("NotNullFieldNotInitialized")
+    @NotNull
+    private BuddyAutoLeftHideRed buddyAutoLeftHideRed;
+
+    @SuppressWarnings("NotNullFieldNotInitialized")
+    @NotNull
+    private HangerCargoBlue hangerCargoBlue;
+
+    @SuppressWarnings("NotNullFieldNotInitialized")
+    @NotNull
+    private HangerCargoRed hangerCargoRed;
+
+
     @NotNull private static final String SHOOT_AND_MOVE_LEFT = "Shoot and Move Left";
     @NotNull private static final String SHOOT_AND_MOVE_MID = "Shoot and Move Mid";
     @NotNull private static final String SHOOT_AND_MOVE_RIGHT = "Shoot and Move Right";
@@ -133,27 +162,19 @@ public class Robot extends TimedRobot {
     @NotNull private static final String SHOOT_ONLY_RIGHT = "Shoot Only Right";
     @NotNull private static final String SHOOT_ONLY_MID = "Shoot Only Mid";
     @NotNull private static final String SHOOT_ONLY_LEFT = "Shoot Only Left";
+    @NotNull private static final String HIDE_CARGO = "Hide Cargo";
+    @NotNull private static final String BUDDY_AUTO_LEFT_HIDE = "Buddy Auto Left Hide";
+    @NotNull private static final String HANGER_CARGO = "Hanger Cargo";
+
 
     private static final String RESET_POSE = "Reset Pose";
 
     private final SendableChooser<String> autoChooser = new SendableChooser<>();
 
+    @NotNull public static final String RED = "RED";
+    @NotNull public static final String BLUE = "BLUE";
 
-    @NotNull private static final String RED = "RED";
-    @NotNull private static final String BLUE = "BLUE";
-
-    private final SendableChooser<String> sideChooser = new SendableChooser<>();
-
-    //Subsystems
-    private final RobotTracker robotTracker = RobotTracker.getInstance();
-    private final Drive drive = Drive.getInstance();
-    private final BlinkinLED blinkinLED = BlinkinLED.getInstance();
-    private final Limelight limelight = Limelight.getInstance();
-    private final Hopper hopper = Hopper.getInstance();
-    private final Intake intake = Intake.getInstance();
-    private final Shooter shooter = Shooter.getInstance();
-    private final Climber climber = Climber.getInstance();
-    private final VisionManager visionManager = VisionManager.getInstance();
+    public static final SendableChooser<String> sideChooser = new SendableChooser<>();
 
     //Inputs
     private final static Controller xbox = new Controller(0);
@@ -205,7 +226,7 @@ public static void setRumble(RumbleType type, double value) {
                             ShooterConfig shooterConfig = (ShooterConfig) Serializer.deserialize(shooterConfigEntry.getString(null),
                                     ShooterConfig.class);
                             Collections.sort(shooterConfig.getShooterConfigs());
-                            visionManager.setShooterConfig(shooterConfig);
+                            VisionManager.getInstance().setShooterConfig(shooterConfig);
                             System.out.println(shooterConfig.getShooterConfigs());
                         } catch (IOException e) {
                             //Should never happen. The gui should never upload invalid data.
@@ -224,6 +245,10 @@ public static void setRumble(RumbleType type, double value) {
      */
     @Override
     public void robotInit() {
+        final RobotTracker robotTracker = RobotTracker.getInstance();
+        final Limelight limelight = Limelight.getInstance();
+        final Limelight intakeLimelight = Limelight.getInstance(Constants.INTAKE_LIMELIGHT_NAME);
+
 
         if (autoPath.getString(null) != null) {
             autoPathListener.accept(new EntryNotification(NetworkTableInstance.getDefault(), 1, 1, "", null, 12));
@@ -251,6 +276,13 @@ public void robotInit() {
         CompletableFuture.runAsync(() -> fiveBallRed = new FiveBallRed()).thenRun(this::incrementLoadedAutos);
         CompletableFuture.runAsync(() -> sixBallRed = new SixBallRed()).thenRun(this::incrementLoadedAutos);
         CompletableFuture.runAsync(() -> buddyAutoLeft = new BuddyAutoLeft()).thenRun(this::incrementLoadedAutos);
+        CompletableFuture.runAsync(() -> hideCargoBlue = new HideCargoBlue()).thenRun(this::incrementLoadedAutos);
+        CompletableFuture.runAsync(() -> hideCargoRed = new HideCargoRed()).thenRun(this::incrementLoadedAutos);
+        CompletableFuture.runAsync(() -> buddyAutoLeftHideBlue = new BuddyAutoLeftHideBlue()).thenRun(this::incrementLoadedAutos);
+        CompletableFuture.runAsync(() -> buddyAutoLeftHideRed = new BuddyAutoLeftHideRed()).thenRun(this::incrementLoadedAutos);
+        CompletableFuture.runAsync(() -> hangerCargoBlue = new HangerCargoBlue()).thenRun(this::incrementLoadedAutos);
+        CompletableFuture.runAsync(() -> hangerCargoRed = new HangerCargoRed()).thenRun(this::incrementLoadedAutos);
+
 
         SmartDashboard.putBoolean("Field Relative Enabled", useFieldRelative);
         autoChooser.setDefaultOption(SHOOT_AND_MOVE_LEFT, SHOOT_AND_MOVE_LEFT);
@@ -263,6 +295,9 @@ public void robotInit() {
         autoChooser.addOption(SHOOT_ONLY_LEFT, SHOOT_ONLY_LEFT);
         autoChooser.addOption(SHOOT_ONLY_MID, SHOOT_ONLY_MID);
         autoChooser.addOption(SHOOT_ONLY_RIGHT, SHOOT_ONLY_RIGHT);
+        autoChooser.addOption(HIDE_CARGO, HIDE_CARGO);
+        autoChooser.addOption(HANGER_CARGO, HANGER_CARGO);
+        autoChooser.addOption(BUDDY_AUTO_LEFT_HIDE, BUDDY_AUTO_LEFT_HIDE);
 
         sideChooser.setDefaultOption(BLUE, BLUE);
         sideChooser.addOption(RED, RED);
@@ -270,7 +305,6 @@ public void robotInit() {
         SmartDashboard.putData("Auto choices", autoChooser);
         SmartDashboard.putData("Red or Blue", sideChooser);
 
-        startSubsystems();
         robotTracker.resetGyro();
         OrangeUtility.sleep(50);
         robotTracker.resetPosition(new Pose2d());
@@ -284,7 +318,11 @@ public void robotInit() {
 
         NetworkTableInstance.getDefault().setUpdateRate(0.05);
         Limelight.getInstance().setStreamingMode(StreamingMode.PIP_SECONDARY);
+        startSubsystems();
         limelight.setLedMode(LedMode.OFF);
+        intakeLimelight.setLedMode(LedMode.OFF);
+
+        limelight.setStreamingMode(StreamingMode.STANDARD);
 //        shooter.homeHood();
 //        shooter.setHoodPositionMode(HoodPositionMode.RELATIVE_TO_HOME);
     }
@@ -294,7 +332,7 @@ public void robotInit() {
     volatile boolean loadingAutos = true;
 
     public void incrementLoadedAutos() {
-        if (loadedAutos.incrementAndGet() == 10) {
+        if (loadedAutos.incrementAndGet() == 16) {
             loadingAutos = false;
         }
     }
@@ -308,17 +346,32 @@ public void incrementLoadedAutos() {
      */
     @Override
     public void robotPeriodic() {
+        VisionManager visionManager = VisionManager.getInstance();
         SmartDashboard.putNumber("Match Timestamp", DriverStation.getMatchTime());
+        if (!DriverStation.isEnabled()) {
+            xbox.update();
+            stick.update();
+            buttonPanel.update();
+        }
+
+        if (stick.getRawButton(4)) {
+            visionManager.forceVisionOn(resettingPoseVisionOn);
+            visionManager.forceUpdatePose();
+        } else {
+            visionManager.unForceVisionOn(resettingPoseVisionOn);
+        }
     }
 
 
     @Override
     public void autonomousInit() {
+        final Drive drive = Drive.getInstance();
+        final Climber climber = Climber.getInstance();
+
         startSubsystems();
         climber.configBrake();
         enabled.setBoolean(true);
         drive.configBrake();
-        drive.resetAuto();
 
         networkAutoLock.lock();
         try {
@@ -357,6 +410,15 @@ public void autonomousInit() {
                         case BUDDY_AUTO_LEFT:
                             selectedAuto = buddyAutoLeft;
                             break;
+                        case HIDE_CARGO:
+                            selectedAuto = hideCargoBlue;
+                            break;
+                        case BUDDY_AUTO_LEFT_HIDE:
+                            selectedAuto = buddyAutoLeftHideBlue;
+                            break;
+                        case HANGER_CARGO:
+                            selectedAuto = hangerCargoBlue;
+                            break;
                         default:
                             selectedAuto = shootAndMoveRight;
                             break;
@@ -393,6 +455,15 @@ public void autonomousInit() {
                         case BUDDY_AUTO_LEFT:
                             selectedAuto = buddyAutoLeft;
                             break;
+                        case HIDE_CARGO:
+                            selectedAuto = hideCargoRed;
+                            break;
+                        case BUDDY_AUTO_LEFT_HIDE:
+                            selectedAuto = buddyAutoLeftHideRed;
+                            break;
+                        case HANGER_CARGO:
+                            selectedAuto = hangerCargoRed;
+                            break;
                         default:
                             selectedAuto = shootAndMoveRight;
                             break;
@@ -427,6 +498,10 @@ public void autonomousPeriodic() {
      */
     @Override
     public void teleopInit() {
+        final Drive drive = Drive.getInstance();
+        final Hopper hopper = Hopper.getInstance();
+        final Climber climber = Climber.getInstance();
+
         startSubsystems();
         climber.configBrake();
         enabled.setBoolean(true);
@@ -434,6 +509,7 @@ public void teleopInit() {
         SmartDashboard.putBoolean("Field Relative Enabled", true);
         drive.useFieldRelative = true;
         SmartDashboard.putBoolean("Drive Field Relative Allowed", true);
+        hopper.setEjectOverride(false);
         drive.configBrake();
     }
 
@@ -445,11 +521,26 @@ public void teleopInit() {
      */
     @Override
     public void teleopPeriodic() {
+        final RobotTracker robotTracker = RobotTracker.getInstance();
+        final Drive drive = Drive.getInstance();
+        final Hopper hopper = Hopper.getInstance();
+        final Intake intake = Intake.getInstance();
+        final Shooter shooter = Shooter.getInstance();
+        final Climber climber = Climber.getInstance();
+
+        VisionManager visionManager = VisionManager.getInstance();
         xbox.update();
         stick.update();
         buttonPanel.update();
 
-        if (xbox.getRawAxis(2) > 0.1) {
+        // Hood Eject
+        if (buttonPanel.getRawButton(6)) {
+            shooter.setFeederChecksDisabled(true);
+            shooter.setSpeed(Constants.SHOOTER_EJECT_SPEED);
+            shooter.setHoodPosition(Constants.HOOD_EJECT_ANGLE);
+            shooter.setFiring(true);
+        } else if (xbox.getRawAxis(2) > 0.1) {
+            shooter.setFeederChecksDisabled(false);
             if (isTryingToRunShooterFromButtonPanel()) { //If vision is off
                 shooter.setHoodPosition(shooterPreset.getHoodEjectAngle());
                 shooter.setSpeed(shooterPreset.getFlywheelSpeed());
@@ -462,6 +553,7 @@ public void teleopPeriodic() {
                 visionManager.shootAndMove(getControllerDriveInputs(), useFieldRelative);
             }
         } else {
+            shooter.setFeederChecksDisabled(false);
             shooter.setFiring(false);
             shooter.setSpeed(0);
             visionManager.unForceVisionOn(driverForcingVisionOn);
@@ -508,19 +600,17 @@ public void teleopPeriodic() {
             robotTracker.resetPosition(new Pose2d(robotTracker.getLastEstimatedPoseMeters().getTranslation(), new Rotation2d(0)));
         }
 
-        if (xbox.getRisingEdge(Controller.XboxButtons.START)) {
+        // Override outtake to always intake
+        if (buttonPanel.getRisingEdge(5)) {
+            hopper.toggleEjectOverride();
+        }
+
+        if (xbox.getRisingEdge(XboxButtons.LEFT_CLICK) || xbox.getRisingEdge(Controller.XboxButtons.START)) {
             useFieldRelative = !useFieldRelative;
             System.out.println("Field relative: " + useFieldRelative);
             SmartDashboard.putBoolean("Field Relative Enabled", useFieldRelative);
         }
 
-        if (stick.getRawButton(4)) {
-            visionManager.forceVisionOn(resettingPoseVisionOn);
-            visionManager.forceUpdatePose();
-        } else {
-            visionManager.unForceVisionOn(resettingPoseVisionOn);
-        }
-
 //        if (xbox.getRisingEdge(XboxButtons.LEFT_BUMPER)) {
 //            visionManager.adjustShooterHoodBias(-0.5);
 //        } else if (xbox.getRisingEdge(XboxButtons.RIGHT_BUMPER)) {
@@ -545,7 +635,7 @@ public void teleopPeriodic() {
             climber.setClimberMotor(0);
         }
 
-        if (buttonPanel.getRisingEdge(12)) {
+        if (buttonPanel.getRisingEdge(12) && buttonPanel.getRawButton(9)) {
             climber.forceAdvanceStep();
         }
 
@@ -590,6 +680,7 @@ public void teleopPeriodic() {
     }
 
     private void runShooter() {
+        VisionManager visionManager = VisionManager.getInstance();
         if (buttonPanel.getRisingEdge(1)) {
             shooterPreset = visionManager.visionLookUpTable.getShooterPreset(299);
         } else if (buttonPanel.getRisingEdge(2)) {
@@ -600,15 +691,16 @@ private void runShooter() {
     }
 
     private boolean isTryingToRunShooterFromButtonPanel() {
-        return buttonPanel.getRawButton(1) || buttonPanel.getRawButton(2) || buttonPanel.getRawButton(3);
+        return buttonPanel.getRawButton(1) || buttonPanel.getRawButton(2) || buttonPanel.getRawButton(
+                3) || buttonPanel.getRawButton(6);
     }
 
     private static final ControllerDriveInputs NO_MOTION_CONTROLLER_INPUTS = new ControllerDriveInputs(0, 0, 0);
 
     private void doNormalDriving() {
-        ControllerDriveInputs controllerDriveInputs = getControllerDriveInputs();
-
+        final Drive drive = Drive.getInstance();
 
+        ControllerDriveInputs controllerDriveInputs = getControllerDriveInputs();
         if (controllerDriveInputs.getX() == 0 && controllerDriveInputs.getY() == 0 && controllerDriveInputs.getRotation() == 0
                 && drive.getSpeedSquared() < 0.1) {
             if (xbox.getRawButton(XboxButtons.Y)) {
@@ -626,12 +718,22 @@ private void doNormalDriving() {
     }
 
     private ControllerDriveInputs getControllerDriveInputs() {
-        if (xbox.getRawButton(Controller.XboxButtons.X)) {
-            return new ControllerDriveInputs(-xbox.getRawAxis(1), -xbox.getRawAxis(0),
-                    -xbox.getRawAxis(4)).applyDeadZone(0.2, 0.2, 0.2, 0.2).squareInputs();
+        if (useFieldRelative) {
+            if (xbox.getRawButton(Controller.XboxButtons.X)) {
+                return new ControllerDriveInputs(-xbox.getRawAxis(1), -xbox.getRawAxis(0),
+                        -xbox.getRawAxis(4)).applyDeadZone(0.2, 0.2, 0.2, 0.2).squareInputs();
+            } else {
+                return new ControllerDriveInputs(-xbox.getRawAxis(1), -xbox.getRawAxis(0),
+                        -xbox.getRawAxis(4)).applyDeadZone(0.05, 0.05, 0.2, 0.2).squareInputs();
+            }
         } else {
-            return new ControllerDriveInputs(-xbox.getRawAxis(1), -xbox.getRawAxis(0),
-                    -xbox.getRawAxis(4)).applyDeadZone(0.05, 0.05, 0.2, 0.2).squareInputs();
+            if (xbox.getRawButton(Controller.XboxButtons.X)) {
+                return new ControllerDriveInputs(-xbox.getRawAxis(1), -xbox.getRawAxis(0),
+                        -xbox.getRawAxis(4)).applyDeadZone(0.2, 0.2, 0.2, 0.2).squareInputs();
+            } else {
+                return new ControllerDriveInputs(-xbox.getRawAxis(1), -xbox.getRawAxis(0),
+                        -xbox.getRawAxis(4)).applyDeadZone(0.05, 0.05, 0.2, 0.2).squareInputs();
+            }
         }
     }
 
@@ -641,7 +743,7 @@ private ControllerDriveInputs getControllerDriveInputs() {
     @Override
     public void disabledInit() {
         killAuto();
-        drive.configCoast();
+        Drive.getInstance().configCoast();
         enabled.setBoolean(false);
     }
 
@@ -657,7 +759,7 @@ public void disabledPeriodic() {
      */
     @Override
     public void testInit() {
-        drive.configCoast();
+        Drive.getInstance().configCoast();
     }
 
     /**
@@ -669,6 +771,12 @@ public void testPeriodic() {
         stick.update();
         buttonPanel.update();
 
+        final Drive drive = Drive.getInstance();
+        final Hopper hopper = Hopper.getInstance();
+        final Intake intake = Intake.getInstance();
+        final Shooter shooter = Shooter.getInstance();
+        final Climber climber = Climber.getInstance();
+
         // Climber Test Controls
         if (stick.getRisingEdge(9)) {
             climber.toggleClaw();
@@ -736,17 +844,20 @@ public void testPeriodic() {
 
     private void startSubsystems() {
         System.out.println("Starting Subsystems");
-        robotTracker.start();
-        drive.start();
-        intake.start();
-        hopper.start();
-        shooter.start();
-        climber.start();
-        visionManager.start();
+        RobotTracker.getInstance().start();
+        Drive.getInstance().start();
+        Intake.getInstance().start();
+        Hopper.getInstance().start();
+        Shooter.getInstance().start();
+        Climber.getInstance().start();
+        VisionManager.getInstance().start();
+        DashboardHandler.getInstance().start();
     }
 
     public void killAuto() {
         System.out.println("Killing Auto");
+        final Drive drive = Drive.getInstance();
+
         if (selectedAuto != null) {
             assert autoThread != null;
             System.out.println("2");
@@ -780,5 +891,6 @@ public void killAuto() {
     public void simulationInit() {
         ClassInformationSender.updateReflectionInformation(
                 new File(OsUtil.getUserConfigDirectory("AutoBuilder") + "/robotCodeData.json"));
+        VisionLookUpTable.getInstance().printShooterConfig();
     }
 }
diff --git a/src/main/java/frc/subsystem/AbstractSubsystem.java b/src/main/java/frc/subsystem/AbstractSubsystem.java
index 43a8c1d1..c97d0532 100644
--- a/src/main/java/frc/subsystem/AbstractSubsystem.java
+++ b/src/main/java/frc/subsystem/AbstractSubsystem.java
@@ -68,6 +68,7 @@ public void update() {
     }
 
     int lastLength = 20;
+
     @Override
     @SuppressWarnings("BusyWait")
     public void run() {
diff --git a/src/main/java/frc/subsystem/Climber.java b/src/main/java/frc/subsystem/Climber.java
index cf651513..8ce23390 100644
--- a/src/main/java/frc/subsystem/Climber.java
+++ b/src/main/java/frc/subsystem/Climber.java
@@ -83,6 +83,7 @@ public static Climber getInstance() {
 
     private boolean isPaused = false;
     private double pausedClimberSetpoint;
+    private @NotNull BrakeState pausedBrakeState = BrakeState.BRAKING;
     private ControlMode pausedClimberMode;
 
     private boolean sensorClimb = true;
@@ -90,6 +91,7 @@ public static Climber getInstance() {
     private boolean advanceStep = false;
     private boolean skipChecks = false;
     private boolean ranEndAction = false;
+    private boolean startingClimb = true;
 
     public enum ClawState {
         LATCHED, UNLATCHED
@@ -158,15 +160,16 @@ public enum ClimbState {
                 new ClimbStep(
                         (cl) -> {},
                         (cl) -> {
+                            if (cl.startingClimb) return true;
                             AHRS gyro = RobotTracker.getInstance().getGyro();
-                            if (Math.abs(gyro.getRoll()) < 15 && Math.abs(RobotTracker.getInstance().getGyroRollVelocity()) < 2) {
+                            if (Math.abs(gyro.getRoll()) < 15 && Math.abs(RobotTracker.getInstance().getGyroRollVelocity()) < 5) {
                                 return true;
                             } else {
                                 return gyro.getRoll() > 20 && gyro.getRoll() < 40 &&
                                         RobotTracker.getInstance().getGyroRollVelocity() > 0;
                             }
                         },
-                        (cl) -> {},
+                        (cl) -> cl.startingClimb = false,
                         false
                 )
         ),
@@ -177,6 +180,7 @@ public enum ClimbState {
         LOWER_ELEVATOR_ARM_TILL_PIVOT_ARM_CONTACT(
                 new ClimbStep(
                         (cl) -> {
+                            cl.setBrakeState(BrakeState.FREE);
                             cl.climberMotor.set(ControlMode.PercentOutput, -Constants.CLIMBER_MOTOR_MAX_OUTPUT);
                             cl.setClawState(ClawState.UNLATCHED);
                         },
@@ -187,6 +191,7 @@ public enum ClimbState {
 
                 new ClimbStep(
                         (cl) -> {
+                            cl.setBrakeState(BrakeState.FREE);
                             cl.climberMotor.set(ControlMode.MotionMagic, Constants.CLIMBER_GRAB_ON_FIRST_BAR_EXTENSION);
                             cl.setClawState(ClawState.UNLATCHED);
                         },
@@ -401,11 +406,30 @@ public enum ClimbState {
                         },
                         (cl) -> cl.climberMotor.getSelectedSensorPosition() - (0.3 * CLIMBER_ENCODER_TICKS_PER_INCH) < CLIMBER_GRAB_ON_NEXT_BAR_EXTENSION,
                         // TODO: Determine if we want this
-                        (cl) -> {},
+                        (cl) -> {
+                            cl.stopClimberMotor();
+                            cl.setBrakeState(BrakeState.BRAKING);
+                        },
                         true
                 )
         ),
 
+        WAIT_FOR_BRAKE_TIME(
+                new ClimbStep(
+                        (cl) -> cl.data = Timer.getFPGATimestamp(),
+                        (cl) -> Timer.getFPGATimestamp() - cl.data > 0.25,
+                        (cl) -> cl.climberMotor.set(ControlMode.PercentOutput, 0),
+                        false
+                ),
+
+                new ClimbStep(
+                        (cl) -> cl.data = Timer.getFPGATimestamp(),
+                        (cl) -> Timer.getFPGATimestamp() - cl.data > 0.25,
+                        (cl) -> cl.climberMotor.set(ControlMode.PercentOutput, 0),
+                        false
+                )
+        ),
+
         /**
          * Unlatches the pivot arm so that the robot is supported by the elevator arm.
          */
@@ -566,6 +590,8 @@ private Climber() {
      * Starts the automated climb sequence and deactivates the brake.
      */
     public synchronized void startClimb() {
+        isPaused = false;
+        otherPivotingArmMustContactByTime = Double.MAX_VALUE;
         climbState = ClimbState.START_CLIMB;
         setBrakeState(BrakeState.FREE);
     }
@@ -595,6 +621,7 @@ public synchronized void pauseClimb() {
         } else {
             pausedClimberSetpoint = climberMotor.getClosedLoopTarget();
         }
+        pausedBrakeState = getBrakeState();
         climberMotor.set(ControlMode.PercentOutput, 0);
         setBrakeState(BrakeState.BRAKING);
     }
@@ -613,19 +640,21 @@ private synchronized void stopClimberMotor() {
      */
     public synchronized void resumeClimb() {
         isPaused = false;
-        setBrakeState(BrakeState.FREE);
-        climberMotor.set(pausedClimberMode, pausedClimberSetpoint);
         otherPivotingArmMustContactByTime = Double.MAX_VALUE;
+        setBrakeState(pausedBrakeState);
+        climberMotor.set(pausedClimberMode, pausedClimberSetpoint);
     }
 
     /**
      * Sets the climber in the correct state to initiate a climb and moves the elevator arm to the up above the high bar.
      */
     public synchronized void deployClimb() {
+        timesRun = 0;
         climberMotor.set(ControlMode.MotionMagic, Constants.CLIMBER_DEPLOY_HEIGHT);
         setBrakeState(BrakeState.FREE);
         setClawState(ClawState.UNLATCHED);
         setPivotState(PivotState.INLINE);
+        startingClimb = true;
     }
 
     /**
@@ -645,6 +674,7 @@ public synchronized void advanceStep() {
      * This method will also work regardless of whether the robot is in step-by-mode or not.
      */
     public synchronized void forceAdvanceStep() {
+        if (isPaused) resumeClimb();
         advanceStep = true;
         skipChecks = true;
     }
@@ -683,13 +713,13 @@ public synchronized void update() {
 
 
         if (!isPaused) {
-            if (climberMotor.getSelectedSensorPosition() < Constants.MIN_CLIMBER_ELEVATOR_HEIGHT
-                    && climberMotor.getSelectedSensorVelocity() < 0) {
-                stopClimb();
-            } else if (climberMotor.getSelectedSensorPosition() > Constants.MAX_CLIMBER_ELEVATOR_HEIGHT
-                    && climberMotor.getSelectedSensorVelocity() > 0) {
-                stopClimb();
-            }
+//            if (climberMotor.getSelectedSensorPosition() < Constants.MIN_CLIMBER_ELEVATOR_HEIGHT
+//                    && climberMotor.getSelectedSensorVelocity() < 0) {
+//                stopClimb();
+//            } else if (climberMotor.getSelectedSensorPosition() > Constants.MAX_CLIMBER_ELEVATOR_HEIGHT
+//                    && climberMotor.getSelectedSensorVelocity() > 0) {
+//                stopClimb();
+//            }
 
             if (currentClimbStep.waitCondition.apply(this)) {
                 currentClimbStep.endAction.accept(this);
diff --git a/src/main/java/frc/subsystem/DashboardHandler.java b/src/main/java/frc/subsystem/DashboardHandler.java
index c63e18cc..00707b31 100644
--- a/src/main/java/frc/subsystem/DashboardHandler.java
+++ b/src/main/java/frc/subsystem/DashboardHandler.java
@@ -3,19 +3,15 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.Constants;
-import frc.utility.Serializer;
 import frc.utility.Timer;
 import frc.utility.net.DashboardConnection;
 import frc.utility.net.PacketHandler;
-import frc.utility.net.SendableLog;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 
 import java.io.IOException;
 import java.net.*;
-import java.nio.charset.StandardCharsets;
 import java.util.HashMap;
-import java.util.Iterator;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.locks.ReadWriteLock;
@@ -69,13 +65,14 @@ public final class DashboardHandler extends AbstractSubsystem {
 
     private DashboardHandler(int period) {
         super(period);
-
-        try {
-            receivingSocket = new DatagramSocket(WEB_DASHBOARD_PORT);
-            receivingSocket.setSoTimeout(5);
-        } catch (SocketException e) {
-            DriverStation.reportError("Could not create socket for listening for data from web dashboard", false);
-        }
+        receivingSocket = null; //Disables networking code
+
+//        try {
+//            receivingSocket = new DatagramSocket(WEB_DASHBOARD_PORT);
+//            receivingSocket.setSoTimeout(5);
+//        } catch (SocketException e) {
+//            DriverStation.reportError("Could not create socket for listening for data from web dashboard", false);
+//        }
     }
 
     public void log(@NotNull String key, @NotNull Object value) {
@@ -99,73 +96,66 @@ public void log(@NotNull String key, @NotNull Object value, boolean logToNetwork
     }
 
     public void pushLog() {
+        String json;
+        LOG_DATA_MAP_LOCK.writeLock().lock(); // Ensure that no other writes happen while we're serializing
         try {
-            String json;
-            LOG_DATA_MAP_LOCK.writeLock().lock(); // Ensure that no other writes happen while we're serializing
-            try {
-                SendableLog log = new SendableLog(LOG_DATA_MAP);
-                json = 'd' + Serializer.serializeToString(log);
-
-                for (Map.Entry<String, Object> entry : LOG_DATA_MAP_OBJECTS.entrySet()) {
-                    //@formatter:off
-                    String key = entry.getKey();
-                    Class<?> cl = entry.getValue().getClass();
-                    Object value = entry.getValue();
-                    if (cl.equals(Integer.class)) SmartDashboard.putNumber(key, (int) value);
-                    else if (cl.equals(Double.class)) SmartDashboard.putNumber(key, (double) value);
-                    else if (cl.equals(Short.class)) SmartDashboard.putNumber(key, (short) value);
-                    else if (cl.equals(Long.class)) SmartDashboard.putNumber(key, (long) value);
-                    else if (cl.equals(Float.class)) SmartDashboard.putNumber(key, (float) value);
-                    else if (cl.equals(Byte.class)) SmartDashboard.putNumber(key, (byte) value);
-                    else if (cl.equals(Boolean.class)) SmartDashboard.putBoolean(key, (boolean) value);
-                    else if (cl.equals(String.class)) SmartDashboard.putString(key, (String) value);
-                    else if (cl.equals(Double[].class)) SmartDashboard.putNumberArray(key, (Double[]) value);
-                    else if (cl.equals(Boolean[].class)) SmartDashboard.putBooleanArray(key, (Boolean[]) value);
-                    else if (cl.equals(String[].class)) SmartDashboard.putStringArray(key, (String[]) value);
-                    else SmartDashboard.putString(key, value.toString());
-                    //@formatter:on
-                }
-            } finally {
-                LOG_DATA_MAP_LOCK.writeLock().unlock();
-            }
-
-            synchronized (dashboardConnections) {
-                Iterator<DashboardConnection> iterator = dashboardConnections.values().iterator();
-                while (iterator.hasNext()) {
-                    DashboardConnection entry = iterator.next();
-                    if (Timer.getFPGATimestamp() > entry.timeoutTime) {
-                        // If we haven't received a keepalive in a while, remove the connection
-                        entry.close();
-                        iterator.remove();
-                        System.out.println("closing packet: " + entry.datagramSocket.getInetAddress() + " timed out");
-                    } else {
-                        byte[] bytes = json.getBytes(StandardCharsets.ISO_8859_1);
-                        try {
-                            DatagramPacket packet = new DatagramPacket(bytes, bytes.length);
-
-                            entry.datagramSocket.send(packet);
-                            System.out.println(
-                                    "sending packet of " + packet.getLength() + " length to " + entry.datagramSocket.getInetAddress());
-                        } catch (PortUnreachableException e) {
-                            System.out.println("closing packet: " + entry.datagramSocket.getInetAddress() + " got an error");
-                            entry.close();
-                            iterator.remove(); // Remove the connection if it's unreachable
-                        }
-                    }
-                }
-            }
-        } catch (IOException e) {
-            if (Timer.getFPGATimestamp() > nextAllowedErrorTime) { // Don't spam the driver station
-                DriverStation.reportError("Could not send data to web dashboard", false);
-                nextAllowedErrorTime = Timer.getFPGATimestamp() + 5;
+            //SendableLog log = new SendableLog(LOG_DATA_MAP);
+            //json = 'd' + Serializer.serializeToString(log);
+
+            for (Map.Entry<String, Object> entry : LOG_DATA_MAP_OBJECTS.entrySet()) {
+                //@formatter:off
+                String key = entry.getKey();
+                Class<?> cl = entry.getValue().getClass();
+                Object value = entry.getValue();
+                if (cl.equals(Integer.class)) SmartDashboard.putNumber(key, (int) value);
+                else if (cl.equals(Double.class)) SmartDashboard.putNumber(key, (double) value);
+                else if (cl.equals(Short.class)) SmartDashboard.putNumber(key, (short) value);
+                else if (cl.equals(Long.class)) SmartDashboard.putNumber(key, (long) value);
+                else if (cl.equals(Float.class)) SmartDashboard.putNumber(key, (float) value);
+                else if (cl.equals(Byte.class)) SmartDashboard.putNumber(key, (byte) value);
+                else if (cl.equals(Boolean.class)) SmartDashboard.putBoolean(key, (boolean) value);
+                else if (cl.equals(String.class)) SmartDashboard.putString(key, (String) value);
+                else if (cl.equals(Double[].class)) SmartDashboard.putNumberArray(key, (Double[]) value);
+                else if (cl.equals(Boolean[].class)) SmartDashboard.putBooleanArray(key, (Boolean[]) value);
+                else if (cl.equals(String[].class)) SmartDashboard.putStringArray(key, (String[]) value);
+                else SmartDashboard.putString(key, value.toString());
+                //@formatter:on
             }
+        } finally {
+            LOG_DATA_MAP_LOCK.writeLock().unlock();
         }
+
+//            synchronized (dashboardConnections) {
+//                Iterator<DashboardConnection> iterator = dashboardConnections.values().iterator();
+//                while (iterator.hasNext()) {
+//                    DashboardConnection entry = iterator.next();
+//                    if (Timer.getFPGATimestamp() > entry.timeoutTime) {
+//                        // If we haven't received a keepalive in a while, remove the connection
+//                        entry.close();
+//                        iterator.remove();
+//                        System.out.println("closing packet: " + entry.datagramSocket.getInetAddress() + " timed out");
+//                    } else {
+//                        byte[] bytes = json.getBytes(StandardCharsets.ISO_8859_1);
+//                        try {
+//                            DatagramPacket packet = new DatagramPacket(bytes, bytes.length);
+//
+//                            entry.datagramSocket.send(packet);
+//                            System.out.println(
+//                                    "sending packet of " + packet.getLength() + " length to " + entry.datagramSocket.getInetAddress());
+//                        } catch (PortUnreachableException e) {
+//                            System.out.println("closing packet: " + entry.datagramSocket.getInetAddress() + " got an error");
+//                            entry.close();
+//                            iterator.remove(); // Remove the connection if it's unreachable
+//                        }
+//                    }
+//                }
+//            }
     }
 
     byte[] receivedBytes = new byte[65535];
 
     private void handleDashboardPackets() {
-        if (receivingSocket == null) return;
+        if (receivingSocket == null || true) return;
 
         for (int i = 0; i < 100; i++) { // Receive up to 100 packets at a time
             try {
@@ -212,4 +202,4 @@ public void logData() {
     public void close() throws Exception {
 
     }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/subsystem/Drive.java b/src/main/java/frc/subsystem/Drive.java
index 159b81e8..abad448f 100644
--- a/src/main/java/frc/subsystem/Drive.java
+++ b/src/main/java/frc/subsystem/Drive.java
@@ -34,6 +34,7 @@
 import frc.utility.wpimodified.HolonomicDriveController;
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
 
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
@@ -53,16 +54,21 @@ public final class Drive extends AbstractSubsystem {
     final @NotNull NetworkTableEntry turnMaxAcceleration = SmartDashboard.getEntry("TurnMaxAcceleration");
 
     public void resetAuto() {
-        ProfiledPIDController autoTurnPIDController
-                = new ProfiledPIDController(8, 0, 0.01, new TrapezoidProfile.Constraints(4, 4));
-        autoTurnPIDController.enableContinuousInput(-Math.PI, Math.PI);
-        autoTurnPIDController.setTolerance(Math.toRadians(10));
-        
-        swerveAutoController.setTolerance(new Pose2d(0.5, 0.5, Rotation2d.fromDegrees(10))); //TODO: Tune
-        swerveAutoController = new HolonomicDriveController(
-                new PIDController(3, 0, 0),
-                new PIDController(3, 0, 0),
-                autoTurnPIDController);
+        swerveAutoControllerLock.lock();
+        try {
+            ProfiledPIDController autoTurnPIDController
+                    = new ProfiledPIDController(8, 0, 0.01, new TrapezoidProfile.Constraints(4, 4));
+            autoTurnPIDController.enableContinuousInput(-Math.PI, Math.PI);
+            autoTurnPIDController.setTolerance(Math.toRadians(10));
+
+            swerveAutoController = new HolonomicDriveController(
+                    new PIDController(3, 0, 0),
+                    new PIDController(3, 0, 0),
+                    autoTurnPIDController);
+            swerveAutoController.setTolerance(new Pose2d(0.5, 0.5, Rotation2d.fromDegrees(10))); //TODO: Tune
+        } finally {
+            swerveAutoControllerLock.unlock();
+        }
     }
 
     public enum DriveState {
@@ -77,11 +83,10 @@ public enum DriveState {
         return INSTANCE;
     }
 
-    private final @NotNull ProfiledPIDController turnPID;
+    private final @NotNull PIDController turnPID;
 
     {
-        turnPID = new ProfiledPIDController(DEFAULT_TURN_P, DEFAULT_TURN_I, DEFAULT_TURN_D,
-                new TrapezoidProfile.Constraints(DEFAULT_TURN_MAX_VELOCITY, DEFAULT_TURN_MAX_ACCELERATION)); //P=1.0
+        turnPID = new PIDController(DEFAULT_TURN_P, DEFAULT_TURN_I, DEFAULT_TURN_D); //P=1.0
         // OR 0.8
         turnPID.enableContinuousInput(-Math.PI, Math.PI);
     }
@@ -98,7 +103,7 @@ public enum DriveState {
 
     private boolean isAiming = false;
 
-    private @NotNull final SwerveDriveKinematics swerveKinematics = new SwerveDriveKinematics(
+    private @NotNull static final SwerveDriveKinematics SWERVE_DRIVE_KINEMATICS = new SwerveDriveKinematics(
             Constants.SWERVE_LEFT_FRONT_LOCATION,
             Constants.SWERVE_LEFT_BACK_LOCATION,
             Constants.SWERVE_RIGHT_FRONT_LOCATION,
@@ -209,16 +214,16 @@ private Drive() {
         turnD.addListener(event -> turnPID.setD(event.getEntry().getDouble(Constants.DEFAULT_TURN_D)),
                 EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
 
-        turnMaxVelocity.addListener(event -> turnPID.setConstraints(
-                        new TrapezoidProfile.Constraints(turnMaxVelocity.getDouble(DEFAULT_TURN_MAX_VELOCITY),
-                                turnMaxAcceleration.getDouble(6))),
-                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
-
-        turnMaxAcceleration.addListener(
-                event -> turnPID.setConstraints(
-                        new TrapezoidProfile.Constraints(turnMaxVelocity.getDouble(DEFAULT_TURN_MAX_ACCELERATION),
-                                turnMaxAcceleration.getDouble(6))),
-                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+//        turnMaxVelocity.addListener(event -> turnPID.setConstraints(
+//                        new TrapezoidProfile.Constraints(turnMaxVelocity.getDouble(DEFAULT_TURN_MAX_VELOCITY),
+//                                turnMaxAcceleration.getDouble(6))),
+//                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+//
+//        turnMaxAcceleration.addListener(
+//                event -> turnPID.setConstraints(
+//                        new TrapezoidProfile.Constraints(turnMaxVelocity.getDouble(DEFAULT_TURN_MAX_ACCELERATION),
+//                                turnMaxAcceleration.getDouble(6))),
+//                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
 
 
         useFieldRelative = true;
@@ -278,8 +283,8 @@ private double getSwerveDriveVelocity(int motorNum) {
         return swerveDriveMotors[motorNum].getSelectedSensorVelocity() * Constants.FALCON_ENCODER_TICKS_PER_100_MS_TO_RPM * Constants.SWERVE_DRIVE_MOTOR_REDUCTION;
     }
 
-    public @NotNull SwerveDriveKinematics getSwerveDriveKinematics() {
-        return swerveKinematics;
+    public static @NotNull SwerveDriveKinematics getSwerveDriveKinematics() {
+        return SWERVE_DRIVE_KINEMATICS;
     }
 
     public synchronized void setDriveState(@NotNull DriveState driveState) {
@@ -290,7 +295,7 @@ public void setTeleop() {
         setDriveState(DriveState.TELEOP);
     }
 
-    synchronized public SwerveModuleState @NotNull [] getSwerveModuleStates() {
+    public @NotNull SwerveModuleState[] getSwerveModuleStates() {
         SwerveModuleState[] swerveModuleState = new SwerveModuleState[4];
         for (int i = 0; i < 4; i++) {
             SwerveModuleState moduleState = new SwerveModuleState(
@@ -351,7 +356,7 @@ public void swerveDrive(ChassisSpeeds chassisSpeeds) {
         SmartDashboard.putNumber("Drive Command Y Velocity", chassisSpeeds.vyMetersPerSecond);
         SmartDashboard.putNumber("Drive Command Rotation", chassisSpeeds.omegaRadiansPerSecond);
 
-        SwerveModuleState[] moduleStates = swerveKinematics.toSwerveModuleStates(chassisSpeeds);
+        SwerveModuleState[] moduleStates = SWERVE_DRIVE_KINEMATICS.toSwerveModuleStates(chassisSpeeds);
 
         boolean rotate = chassisSpeeds.vxMetersPerSecond != 0 ||
                 chassisSpeeds.vyMetersPerSecond != 0 ||
@@ -424,7 +429,7 @@ public double getAngleDiff(double targetAngle, double currentAngle) {
     @Contract(mutates = "param")
     @NotNull ChassisSpeeds limitAcceleration(@NotNull ChassisSpeeds commandedVelocity) {
         double dt;
-        if ((Timer.getFPGATimestamp() - lastLoopTime) > ((double) Constants.DRIVE_PERIOD / 1000) * 4) {
+        if ((Timer.getFPGATimestamp() - lastLoopTime) > ((double) Constants.DRIVE_PERIOD / 1000) * 20) {
             // If the dt is a lot greater than our nominal dt reset the acceleration limiting
             // (ex. we've been disabled for a while)
             lastRequestedVelocity = RobotTracker.getInstance().getLatencyCompedChassisSpeeds();
@@ -520,7 +525,8 @@ public double getSpeedSquared() {
 
     double autoStartTime;
 
-    private @NotNull HolonomicDriveController swerveAutoController;
+    private final ReentrantLock swerveAutoControllerLock = new ReentrantLock();
+    private @Nullable HolonomicDriveController swerveAutoController;
 
     public void setAutoPath(Trajectory trajectory) {
         currentAutoTrajectoryLock.lock();
@@ -549,6 +555,7 @@ public void setAutoAiming(boolean autoAiming) {
     }
 
 
+    double nextAllowedPrintError = 0;
     private void updateRamsete() {
         currentAutoTrajectoryLock.lock();
         try {
@@ -559,15 +566,23 @@ private void updateRamsete() {
                 targetHeading = VisionManager.getInstance().getAngleToTarget();
             }
 
-            ChassisSpeeds adjustedSpeeds = swerveAutoController.calculate(
-                    RobotTracker.getInstance().getLastEstimatedPoseMeters(),
-                    goal,
-                    targetHeading);
-
-            swerveDrive(adjustedSpeeds);
-            if (swerveAutoController.atReference() && (Timer.getFPGATimestamp() - autoStartTime) >= currentAutoTrajectory.getTotalTimeSeconds()) {
-                setDriveState(DriveState.DONE);
-                stopMovement();
+            if (swerveAutoController == null) resetAuto();
+            if (swerveAutoController == null) return;
+            try {
+                ChassisSpeeds adjustedSpeeds = swerveAutoController.calculate(
+                        RobotTracker.getInstance().getLastEstimatedPoseMeters(),
+                        goal,
+                        targetHeading);
+                swerveDrive(adjustedSpeeds);
+                if (swerveAutoController.atReference() && (Timer.getFPGATimestamp() - autoStartTime) >= currentAutoTrajectory.getTotalTimeSeconds()) {
+                    setDriveState(DriveState.DONE);
+                    stopMovement();
+                }
+            } catch (NullPointerException exception) {
+                if (Timer.getFPGATimestamp() > nextAllowedPrintError) {
+                    exception.printStackTrace();
+                    nextAllowedPrintError = Timer.getFPGATimestamp() + 2;
+                }
             }
         } finally {
             currentAutoTrajectoryLock.unlock();
@@ -636,7 +651,12 @@ public void centerOntoBall(ControllerDriveInputs inputs, boolean fieldRelativeEn
     }
 
     public void setAutoRotation(@NotNull Rotation2d rotation) {
-        autoTargetHeading = rotation;
+        currentAutoTrajectoryLock.lock();
+        try {
+            autoTargetHeading = rotation;
+        } finally {
+            currentAutoTrajectoryLock.unlock();
+        }
         System.out.println("new rotation" + rotation.getDegrees());
     }
 
@@ -686,21 +706,24 @@ synchronized public boolean isAiming() {
         return isAiming;
     }
 
-    public synchronized void setRotation(Rotation2d angle) {
+    public void setRotation(Rotation2d angle) {
         wantedHeading = angle;
         driveState = DriveState.TURN;
         rotateAuto = true;
         isAiming = !isTurningDone();
     }
 
-    public synchronized void setRotation(double angle) {
+    public void setRotation(double angle) {
         setRotation(Rotation2d.fromDegrees(angle));
     }
 
 
-    public synchronized boolean isTurningDone() {
-        double error = wantedHeading.minus(RobotTracker.getInstance().getGyroAngle()).getDegrees();
-        return (Math.abs(error) < Constants.MAX_TURN_ERROR);
+    public boolean isTurningDone() {
+        Rotation2d currentHeading = RobotTracker.getInstance().getGyroAngle();
+        synchronized (this) {
+            double error = wantedHeading.minus(currentHeading).getDegrees();
+            return (Math.abs(error) < Constants.MAX_TURN_ERROR);
+        }
     }
 
     double turnMinSpeed = 0;
@@ -746,14 +769,14 @@ public void updateTurn(ControllerDriveInputs controllerDriveInputs, State goal,
             if (driveState != DriveState.TURN) setDriveState(DriveState.TELEOP);
         }
 
-        if (Timer.getFPGATimestamp() - 0.2 > lastTurnUpdate) {
-            turnPID.reset(RobotTracker.getInstance().getGyroAngle().getRadians(),
-                    RobotTracker.getInstance().getLatencyCompedChassisSpeeds().omegaRadiansPerSecond);
-        }
 
+        turnPID.setSetpoint(goal.position);
 
+        if (Timer.getFPGATimestamp() - 0.2 > lastTurnUpdate || turnPID.getPositionError() > Math.toRadians(7)) {
+            turnPID.reset();
+        }
         lastTurnUpdate = Timer.getFPGATimestamp();
-        double pidDeltaSpeed = turnPID.calculate(RobotTracker.getInstance().getGyroAngle().getRadians(), goal);
+        double pidDeltaSpeed = turnPID.calculate(RobotTracker.getInstance().getGyroAngle().getRadians()) + goal.velocity;
 
 //        System.out.println(
 //                "turn error: " + Math.toDegrees(turnPID.getPositionError()) + " delta speed: " + Math.toDegrees(pidDeltaSpeed));
@@ -918,7 +941,7 @@ public void turnToAngle(double degrees) throws InterruptedException {
         System.out.println("Turning to " + degrees);
         setRotation(degrees);
         while (!isTurningDone()) {
-            Thread.onSpinWait();
+            Thread.sleep(20);
         }
     }
 
diff --git a/src/main/java/frc/subsystem/Hopper.java b/src/main/java/frc/subsystem/Hopper.java
index b40198bc..242eec89 100644
--- a/src/main/java/frc/subsystem/Hopper.java
+++ b/src/main/java/frc/subsystem/Hopper.java
@@ -1,42 +1,31 @@
 package frc.subsystem;
 
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
-import com.revrobotics.ColorMatch;
-import com.revrobotics.ColorSensorV3;
-import edu.wpi.first.wpilibj.I2C;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.util.Color;
+import com.revrobotics.RelativeEncoder;
 import frc.robot.Constants;
+import frc.robot.Robot;
+import frc.subsystem.Intake.IntakeSolState;
+import frc.utility.Limelight;
 import frc.utility.OrangeUtility;
+import frc.utility.Timer;
 import frc.utility.controllers.LazyCANSparkMax;
+import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
 
 import static frc.robot.Constants.HOPPER_CURRENT_LIMIT;
 
 public final class Hopper extends AbstractSubsystem {
-    public static @NotNull Hopper INSTANCE = new Hopper();
-    private final @NotNull LazyCANSparkMax hopperMotor;
-    private final @NotNull ColorSensorV3 topBall;
-    //private final ColorSensorV3 bottomBall = new ColorSensorV3(Port.kMXP);
-
-    private boolean topBallDetected = false;
-    private boolean bottomBallDetected = false;
-
 
-    /**
-     * A Rev Color Match object is used to register and detect known colors. This can be calibrated ahead of time or during
-     * operation.
-     * <p>
-     * This object uses a simple euclidian distance to estimate the closest match with given confidence range.
-     */
-    private final ColorMatch colorMatcher = new ColorMatch();
-
-    /**
-     * Note: Any example colors should be calibrated as the user needs, these are here as a basic example.
-     */
-    private final Color blueTarget = new Color(0.184, 0.427, 0.39);
-    private final Color redTarget = new Color(0.38, 0.41, 0.2);
+    private static @NotNull Hopper INSTANCE = new Hopper();
+    private final @NotNull LazyCANSparkMax hopperMotor;
+    private RelativeEncoder outtakeWheelsQuadrature;
+    private LazyCANSparkMax outtakeWheels;
+    private double lastDetectionTime;
+    private boolean disableEject = false;
+    private final Limelight intakeLimelight = Limelight.getInstance(Constants.INTAKE_LIMELIGHT_NAME);
 
     public static Hopper getInstance() {
         return INSTANCE;
@@ -48,6 +37,27 @@ public enum HopperState {
 
     HopperState wantedHopperState = HopperState.OFF;
 
+    /**
+     * Outtake can either be OFF or INTAKE, or AUTO_EJECT
+     */
+    public enum OuttakeState {
+        OFF,
+        INTAKE,
+        AUTO_EJECT,
+        MANUAL_EJECT
+    }
+
+    private OuttakeState outtakeState = OuttakeState.OFF;
+
+    public enum BallColor {
+        RED,
+        BLUE,
+        NO_BALL
+    }
+
+    BallColor opposingAllianceColor = BallColor.BLUE;
+    BallColor friendlyAllianceColor = BallColor.RED;
+
     private Hopper() {
         super(Constants.HOPPER_PERIOD, 5);
         hopperMotor = new LazyCANSparkMax(Constants.HOPPER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
@@ -58,60 +68,135 @@ private Hopper() {
         hopperMotor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, 500);
         hopperMotor.setControlFramePeriodMs(25);
 
-        colorMatcher.addColorMatch(blueTarget);
-        colorMatcher.addColorMatch(redTarget);
-        topBall = new ColorSensorV3(I2C.Port.kMXP);
+        outtakeWheels = new LazyCANSparkMax(Constants.OUTTAKE_CAN_ID, MotorType.kBrushless);
+        outtakeWheels.setIdleMode(IdleMode.kCoast);
+        outtakeWheels.setInverted(true);
+        outtakeWheels.setSmartCurrentLimit(Constants.OUTTAKE_CURRENT_LIMIT);
+        outtakeWheels.setPeriodicFramePeriod(PeriodicFrame.kStatus0, 100);
+        outtakeWheels.setPeriodicFramePeriod(PeriodicFrame.kStatus1, 200);
+        outtakeWheels.setPeriodicFramePeriod(PeriodicFrame.kStatus2, 25);
+        outtakeWheels.setControlFramePeriodMs(25);
+
+        outtakeWheelsQuadrature = outtakeWheels.getEncoder();
+        outtakeWheelsQuadrature.setPositionConversionFactor(Constants.OUTTAKE_REDUCTION);
+        outtakeWheelsQuadrature.setMeasurementPeriod(Constants.OUTTAKE_MEASUREMENT_PERIOD_MS);
+
+        outtakeWheels.disableVoltageCompensation();
+        outtakeWheels.burnFlash();
     }
 
-    public void checkBallColor() {
-        Color detectedColorTop = topBall.getColor();
-        //Color detectedColorBottom = bottomBall.getColor();
+    /**
+     * Uses Sendable Chooser to decide Alliance Color
+     */
+    private void updateAllianceColor() {
+        if (Robot.sideChooser.getSelected().equals(Robot.BLUE)) {
+            opposingAllianceColor = BallColor.RED;
+            friendlyAllianceColor = BallColor.BLUE;
 
-        logData("Top Ball Red", detectedColorTop.red);
-        logData("Top Ball Green", detectedColorTop.green);
-        logData("Top Ball Blue", detectedColorTop.blue);
-        logData("Top Confidence", colorMatcher.matchClosestColor(detectedColorTop).confidence);
+            // Will detect opposite color balls and outtake when it sees them
+            intakeLimelight.setPipeline(1);
+        } else {
+            opposingAllianceColor = BallColor.BLUE;
+            friendlyAllianceColor = BallColor.RED;
 
-//        logData("Bottom Red", detectedColorBottom.red);
-//        logData("Bottom Green", detectedColorBottom.green);
-//        logData("Bottom Blue", detectedColorBottom.blue);
-//        logData("Bottom Confidence", colorMatcher.matchClosestColor(detectedColorBottom).confidence);
+            // Will detect same colored balls and intake when it sees them
+            intakeLimelight.setPipeline(0);
+        }
+    }
+
+    /**
+     * Toggles disableEject
+     */
+    public void toggleEjectOverride() {
+        disableEject = !disableEject;
+    }
+
+    /**
+     * Toggles disableEject
+     */
+    public void setEjectOverride(boolean ejectOverride) {
+        disableEject = ejectOverride;
+    }
+
+    /**
+     * Updates state of outtake based on color sensor and intake direction
+     */
+    private void updateOuttakeState() {
+        Intake intake = Intake.getInstance();
 
-        if (colorMatcher.matchClosestColor(detectedColorTop).color == redTarget) {
-            logData("Top Ball Color", "Red");
-            topBallDetected = true;
-        } else if (colorMatcher.matchClosestColor(detectedColorTop).color == blueTarget) {
-            logData("Top Ball Color", "Blue");
-            topBallDetected = true;
+        if (wantedHopperState == HopperState.REVERSE) {
+            outtakeState = intake.getIntakeSolState() == IntakeSolState.OPEN ? OuttakeState.MANUAL_EJECT : OuttakeState.OFF;
+            return;
+        }
+        if (wantedHopperState == HopperState.OFF) {
+            outtakeState = OuttakeState.OFF;
+            return;
+        }
+
+        if (getBallColor() == opposingAllianceColor
+                && intake.getIntakeSolState() == IntakeSolState.OPEN
+                && !disableEject) { // If disable eject is on, it will not outtake
+            lastDetectionTime = Timer.getFPGATimestamp();
+            outtakeState = OuttakeState.AUTO_EJECT;
+        } else if (Timer.getFPGATimestamp() - lastDetectionTime < Constants.OUTTAKE_RUN_PERIOD
+                && intake.getIntakeSolState() == IntakeSolState.OPEN) {
+            // Ensure that we keep outtaking for a minimum amount of time
+            outtakeState = OuttakeState.AUTO_EJECT;
         } else {
-            logData("Top Ball Color", "No Ball Detected");
-            topBallDetected = false;
+            outtakeState = OuttakeState.INTAKE;
         }
+    }
 
-//        if (colorMatcher.matchClosestColor(detectedColorBottom).color == redTarget) {
-//            logData("Bottom Ball Color", "Red");
-//            bottomBallDetected = true;
-//        } else if (colorMatcher.matchClosestColor(detectedColorBottom).color == blueTarget) {
-//            logData("Bottom Ball Color", "Blue");
-//            bottomBallDetected = true;
-//        } else {
-//            logData("Bottom Ball Color", "No Ball Detected");
-//            bottomBallDetected = false;
-//        }
-    }
-
-    public void numberOfBalls() {
-        if (topBallDetected && bottomBallDetected) {
-            logData("Number of Balls", 2);
-        } else if (bottomBallDetected || topBallDetected) {
-            logData("Number of Balls", 1);
+    /**
+     * Sets the percent outtake between 1 and -1
+     */
+    private void setOuttakePercentOutput(double percentOutput) {
+        outtakeWheels.set(percentOutput);
+        //outtakeWheels.getPIDController().setReference(9 * percentOutput, ControlType.kVoltage);
+    }
+
+    public OuttakeState getOuttakeState() {
+        return outtakeState;
+    }
+
+    @Contract(pure = true)
+    public BallColor getBallColor() {
+        @NotNull BallColor currentBallColor;
+
+        if (intakeLimelight.getVerticalOffset() < Constants.OUTTAKE_VERTICAL_OFFSET_THRESHOLD) {
+            currentBallColor = opposingAllianceColor;
         } else {
-            logData("Number of Balls", 0);
+            currentBallColor = BallColor.NO_BALL;
         }
+
+        return currentBallColor;
     }
 
-    public void setHopperState(HopperState hopperState) {
-        switch (hopperState) {
+    @Override
+    public void update() {
+        updateAllianceColor();
+        updateOuttakeState();
+
+        // Outtake motor control
+
+        switch (outtakeState) {
+            case OFF:
+                setOuttakePercentOutput(0);
+                break;
+            case AUTO_EJECT:
+                setOuttakePercentOutput(Constants.OUTTAKE_AUTO_EJECTION_SPEED);
+                break;
+            case INTAKE:
+                setOuttakePercentOutput(Constants.OUTTAKE_SPEED);
+                break;
+            case MANUAL_EJECT:
+                setOuttakePercentOutput(Constants.OUTTAKE_MANUAL_EJECTION_SPEED);
+                break;
+        }
+
+
+        // Hopper Motor Control
+        switch (wantedHopperState) {
             case ON:
                 hopperMotor.set(Constants.HOPPER_SPEED);
                 Shooter.getInstance().runFeederWheelReversed = true;
@@ -131,14 +216,7 @@ public void setHopperState(HopperState hopperState) {
         }
     }
 
-    @Override
-    public void update() {
-        setHopperState(wantedHopperState);
-        checkBallColor();
-        numberOfBalls();
-    }
-
-    public void setWantedHopperState(HopperState hopperState) {
+    public void setHopperState(HopperState hopperState) {
         wantedHopperState = hopperState;
     }
 
@@ -147,11 +225,30 @@ public void selfTest() {
         setHopperState(HopperState.ON);
         OrangeUtility.sleep(5000);
         setHopperState(HopperState.OFF);
+        OrangeUtility.sleep(5000);
+
+        setOuttakePercentOutput(-Constants.INTAKE_EJECTION_SPEED);
+        System.out.println("Ejecting");
+        OrangeUtility.sleep(Constants.TEST_TIME_MS);
+
+        setOuttakePercentOutput(Constants.INTAKE_EJECTION_SPEED);
+        System.out.println("Intaking");
+        OrangeUtility.sleep(Constants.TEST_TIME_MS);
+
+        System.out.println("Test Finished");
+        setOuttakePercentOutput(0);
     }
 
     @Override
     public void logData() {
-        SmartDashboard.putNumber("Hopper Motor Current", hopperMotor.getOutputCurrent());
+        logData("Hopper Motor Current", hopperMotor.getOutputCurrent());
+        logData("Outtake State", outtakeState);
+        logData("Outtake SetVoltage", outtakeWheels.getSetpoint());
+        logData("Outtake Velocity", outtakeWheelsQuadrature.getVelocity());
+        logData("Outtake Current", outtakeWheels.getOutputCurrent());
+        logData("Current Ball Color", getBallColor());
+        logData("Eject Disabled", disableEject);
+        logData("Hopper State", wantedHopperState);
     }
 
     @Override
diff --git a/src/main/java/frc/subsystem/Intake.java b/src/main/java/frc/subsystem/Intake.java
index cc91e51b..6b396cc8 100644
--- a/src/main/java/frc/subsystem/Intake.java
+++ b/src/main/java/frc/subsystem/Intake.java
@@ -5,6 +5,7 @@
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.Constants;
+import frc.subsystem.Hopper.OuttakeState;
 import frc.utility.OrangeUtility;
 import frc.utility.Timer;
 import frc.utility.controllers.LazyCANSparkMax;
@@ -50,6 +51,7 @@ public void logData() {
         SmartDashboard.putNumber("Intake Motor Speed: ", intakeMotor.get());
         SmartDashboard.putNumber("Intake Current", intakeMotor.getOutputCurrent());
         SmartDashboard.putBoolean("Intake Solenoid State: ", intakeSol.get());
+        logData("Wanted Intake State", wantedIntakeState);
     }
 
 
@@ -90,7 +92,7 @@ public enum IntakeState {
         INTAKE, EJECT, OFF
     }
 
-    IntakeState wantedIntakeState = IntakeState.OFF;
+    private IntakeState wantedIntakeState = IntakeState.OFF;
 
     public synchronized void setWantedIntakeState(IntakeState intakeState) {
         wantedIntakeState = intakeState;
@@ -99,11 +101,15 @@ public synchronized void setWantedIntakeState(IntakeState intakeState) {
     private void setIntakeState(IntakeState intakeState) {
         switch (intakeState) {
             case INTAKE:
-                intakeMotor.set(Constants.INTAKE_MOTOR_SPEED);
+                if (Hopper.getInstance().getOuttakeState() == OuttakeState.AUTO_EJECT) {
+                    intakeMotor.set(Constants.INTAKE_EJECTION_SPEED);
+                } else {
+                    intakeMotor.set(Constants.INTAKE_SPEED);
+                }
                 break;
 
             case EJECT:
-                intakeMotor.set(-Constants.INTAKE_MOTOR_SPEED);
+                intakeMotor.set(-Constants.INTAKE_SPEED);
                 break;
 
             case OFF:
diff --git a/src/main/java/frc/subsystem/RobotTracker.java b/src/main/java/frc/subsystem/RobotTracker.java
index 19909a21..866fe8d9 100644
--- a/src/main/java/frc/subsystem/RobotTracker.java
+++ b/src/main/java/frc/subsystem/RobotTracker.java
@@ -6,6 +6,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.util.WPIUtilJNI;
@@ -28,8 +29,6 @@ public final class RobotTracker extends AbstractSubsystem {
 
     private static @NotNull RobotTracker instance = new RobotTracker();
 
-    private final Drive drive = Drive.getInstance();
-
     public static @NotNull RobotTracker getInstance() {
         return RobotTracker.instance;
     }
@@ -37,7 +36,6 @@ public final class RobotTracker extends AbstractSubsystem {
     private @NotNull Pose2d latestEstimatedPose = new Pose2d();
     private @NotNull ChassisSpeeds latestChassisSpeeds = new ChassisSpeeds();
 
-    private @NotNull Pose2d latencyCompensatedPose = new Pose2d();
     private @NotNull ChassisSpeeds latencyCompensatedChassisSpeeds = new ChassisSpeeds();
 
     private final SwerveDriveOdometry swerveDriveOdometry;
@@ -51,6 +49,8 @@ public final class RobotTracker extends AbstractSubsystem {
     private double maxGyroRoll = 0;
     private double minGyroRoll = 0;
 
+    private final @NotNull SwerveDriveKinematics swerveDriveKinematics = Drive.getSwerveDriveKinematics();
+
     private final ReentrantReadWriteLock lock = new ReentrantReadWriteLock();
 
     private Translation2d acceleration = new Translation2d();
@@ -71,7 +71,7 @@ private RobotTracker() {
 //                (Constants.ROBOT_TRACKER_PERIOD * 2) / 1000.0d); //Only update every other tick
 
         swerveDriveOdometry = new SwerveDriveOdometry(
-                drive.getSwerveDriveKinematics(),
+                swerveDriveKinematics,
                 gyroSensor.getRotation2d(),
                 new Pose2d()
 
@@ -119,27 +119,6 @@ public synchronized Rotation2d getAngle() {
         return latestEstimatedPose.getRotation();
     }
 
-    /**
-     * Resets the position on the field to 0,0 with a rotation of 0 degrees
-     */
-    synchronized public void resetOdometry() {
-        lock.writeLock().lock();
-        try {
-            Rotation2d rawGyroSensor = gyroSensor.getRotation2d();
-            swerveDriveOdometry.resetPosition(new Pose2d(), rawGyroSensor);
-            gyroOffset = latestEstimatedPose.getRotation().minus(rawGyroSensor);
-            latencyCompensatedPose = latestEstimatedPose;
-
-            latestChassisSpeeds = getRotatedSpeeds(
-                    drive.getSwerveDriveKinematics().toChassisSpeeds(drive.getSwerveModuleStates()),
-                    getGyroAngle());
-
-            latencyCompensatedChassisSpeeds = latestChassisSpeeds;
-        } finally {
-            lock.writeLock().unlock();
-        }
-    }
-
     private final List<Map.Entry<Double, Rotation2d>> previousGyroRotations = new ArrayList<>(102); // 1s of data at 10ms per
 
     double currentOdometryTime = -1;
@@ -161,6 +140,7 @@ private void kalmanFilterFailed() {
      */
     @Override
     public void update() {
+        final Drive drive = Drive.getInstance();
         double time = WPIUtilJNI.now() * 1.0e-6; // seconds
 
         Rotation2d rawGyroSensor = gyroSensor.getRotation2d();
@@ -173,15 +153,15 @@ public void update() {
         }
 
         if (updateNextTick) {
-            updateOdometry(time, rawGyroSensor, drive.getSwerveModuleStates());
+            SwerveModuleState[] swerveModuleStates = drive.getSwerveModuleStates();
+            updateOdometry(time, rawGyroSensor, swerveModuleStates);
             lock.writeLock().lock();
             try {
                 latestEstimatedPose = swerveDriveOdometry.getPoseMeters();
                 //gyroOffset = latestEstimatedPose.getRotation().minus(rawGyroSensor);
-                latencyCompensatedPose = latestEstimatedPose;
 
                 latestChassisSpeeds = getRotatedSpeeds(
-                        drive.getSwerveDriveKinematics().toChassisSpeeds(drive.getSwerveModuleStates()),
+                        swerveDriveKinematics.toChassisSpeeds(swerveModuleStates),
                         getGyroAngle());
 
                 latencyCompensatedChassisSpeeds = latestChassisSpeeds;
@@ -374,25 +354,25 @@ private void updateOdometry(double currentTimeSeconds, Rotation2d gyroAngle, Swe
      * @param pose The position on the field that your robot is at.
      */
     public void resetPosition(Pose2d pose) {
-        resetPosition(pose, gyroSensor.getRotation2d(), true);
+        resetPosition(pose, gyroSensor.getRotation2d());
     }
 
     public void resetPosition(Translation2d pose) {
-        resetPosition(new Pose2d(pose, getGyroAngle()), gyroSensor.getRotation2d(), false);
+        resetPosition(new Pose2d(pose, getGyroAngle()), gyroSensor.getRotation2d());
     }
 
 
-    public void resetPosition(@NotNull Pose2d pose, @NotNull Rotation2d gyroAngle, boolean offsetGyro) {
+    public void resetPosition(@NotNull Pose2d pose, @NotNull Rotation2d gyroAngle) {
+        final Drive drive = Drive.getInstance();
         lock.writeLock().lock();
         try {
-            if (offsetGyro) {
-                gyroOffset = latestEstimatedPose.getRotation().minus(gyroAngle);
-            }
+
+            gyroOffset = pose.getRotation().minus(gyroAngle);
             swerveDriveOdometry.resetPosition(pose, gyroAngle);
-            latencyCompensatedPose = latestEstimatedPose;
+            latestEstimatedPose = pose;
 
             latestChassisSpeeds = getRotatedSpeeds(
-                    drive.getSwerveDriveKinematics().toChassisSpeeds(drive.getSwerveModuleStates()),
+                    Drive.getSwerveDriveKinematics().toChassisSpeeds(drive.getSwerveModuleStates()),
                     latestEstimatedPose.getRotation());
 
             latencyCompensatedChassisSpeeds = latestChassisSpeeds;
@@ -429,12 +409,7 @@ public void resetPosition(@NotNull Pose2d pose, @NotNull Rotation2d gyroAngle, b
      */
     @Contract(pure = true)
     public @NotNull Pose2d getLatencyCompedPoseMeters() {
-        lock.readLock().lock();
-        try {
-            return latencyCompensatedPose;
-        } finally {
-            lock.readLock().unlock();
-        }
+        return getLastEstimatedPoseMeters();
     }
 
     /**
@@ -485,6 +460,7 @@ public void logData() {
             logData("Last Estimated Robot Pose X", getLastEstimatedPoseMeters().getX());
             logData("Last Estimated Robot Pose Y", getLastEstimatedPoseMeters().getY());
             logData("Last Estimated Robot Pose Angle", getLastEstimatedPoseMeters().getRotation().getRadians());
+            logData("Gyro Robot Pose Angle", getGyroAngle().getRadians());
             logData("Last Estimated Robot Velocity X", getLastChassisSpeeds().vxMetersPerSecond);
             logData("Last Estimated Robot Velocity Y", getLastChassisSpeeds().vyMetersPerSecond);
             logData("Last Estimated Robot Velocity Theta", getLastChassisSpeeds().omegaRadiansPerSecond);
diff --git a/src/main/java/frc/subsystem/Shooter.java b/src/main/java/frc/subsystem/Shooter.java
index 7b09f405..177be052 100644
--- a/src/main/java/frc/subsystem/Shooter.java
+++ b/src/main/java/frc/subsystem/Shooter.java
@@ -12,7 +12,6 @@
 import com.revrobotics.SparkMaxPIDController;
 import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
@@ -26,6 +25,8 @@
 import frc.utility.shooter.visionlookup.ShooterPreset;
 import org.jetbrains.annotations.NotNull;
 
+import static frc.robot.Constants.*;
+
 /**
  * Shooter class controls the shooter flywheel, feeder wheel, and variable hood Has motor control wrappers for setting velocity
  * and position for respective parts.
@@ -37,9 +38,6 @@
 
 public final class Shooter extends AbstractSubsystem {
 
-    // PID TUNING
-    final @NotNull NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
-
     final @NotNull NetworkTableEntry shooterP = SmartDashboard.getEntry("ShooterPIDP");
     final @NotNull NetworkTableEntry shooterI = SmartDashboard.getEntry("ShooterPIDI");
     final @NotNull NetworkTableEntry shooterD = SmartDashboard.getEntry("ShooterPIDD");
@@ -55,7 +53,6 @@ public final class Shooter extends AbstractSubsystem {
 
     // Feeder
     private final LazyTalonFX feederWheel;
-    private double forceFeederOnTime;
 
     // Hood
     private final LazyCANSparkMax hoodMotor;
@@ -84,8 +81,7 @@ public final class Shooter extends AbstractSubsystem {
     public boolean isFiring() {
         return shooterState == ShooterState.ON &&
                 ((feederWheelState == FeederWheelState.FORWARD)
-                        && ((isHoodAtTargetAngle() && isShooterAtTargetSpeed()) || feederChecksDisabled)
-                        || Timer.getFPGATimestamp() < forceFeederOnTime);
+                        && ((isHoodAtTargetAngle() && isShooterAtTargetSpeed()) || feederChecksDisabled));
     }
 
     // Declarations of Modes and States
@@ -556,31 +552,6 @@ public void forceFeederForward() {
         feederWheel.set(ControlMode.PercentOutput, Constants.FEEDER_WHEEL_SPEED);
     }
 
-    private double feederLockPosition = 0;
-
-    public void lockFeederWheel() {
-
-        // Initializes feederLockPosition if it has not been set before
-        if (feederLockPosition == 0) {
-            feederLockPosition = feederWheel.getSelectedSensorPosition();
-        }
-
-//        // Will lock feeder to position when locking starts
-//        if (Math.abs(feederWheel.getSelectedSensorVelocity() * Constants.FALCON_ENCODER_TICKS_PER_100_MS_TO_RPM) <
-//                Constants.FEEDER_WHEEL_LOCK_SPEED_RPM) {
-//            feederWheel.set(ControlMode.Position, feederLockPosition);
-//        } else {
-//            // Resets the lockPosition when not locking
-//            feederLockPosition = feederWheel.getSelectedSensorPosition();
-//            feederWheel.set(ControlMode.PercentOutput, 0);
-//        }
-
-        feederWheel.set(ControlMode.Position, feederLockPosition);
-        logData("Feeder Lock Pos ", feederLockPosition);
-        logData("Feeder lock pos time ", Timer.getFPGATimestamp());
-        //feederWheel.set(ControlMode.PercentOutput, 0);
-    }
-
     public void setHoodZero() {
         System.out.println(" Setting Zero " + hoodAbsoluteEncoder.configGetMagnetOffset() + " -> 90");
         hoodAbsoluteEncoder.configAbsoluteSensorRange(AbsoluteSensorRange.Unsigned_0_to_360);
@@ -588,8 +559,11 @@ public void setHoodZero() {
                 -(-hoodAbsoluteEncoder.getAbsolutePosition() - hoodAbsoluteEncoder.configGetMagnetOffset()) - 90);
     }
 
-    private double nextAllowedShootTime = 0;
-    private double rumbleTime = 0;
+    public double getLastShotTime() {
+        return lastShotTime;
+    }
+
+    private volatile double lastShotTime = 0;
 
     /**
      * Update Method for Shooter.
@@ -623,7 +597,6 @@ public void update() {
 
                 if (feederWheelState == FeederWheelState.REVERSE) {
                     feederWheel.set(ControlMode.PercentOutput, -Constants.FEEDER_WHEEL_SPEED);
-                    feederLockPosition = feederWheel.getSelectedSensorPosition();
                 } else {
                     if (runFeederWheelReversed) {
                         feederWheel.set(ControlMode.PercentOutput, -0.3);
@@ -637,6 +610,7 @@ public void update() {
                 break;
 
             case ON:
+
                 shooterWheelMaster.set(ControlMode.Velocity,
                         desiredShooterSpeed * Constants.SET_SHOOTER_SPEED_CONVERSION_FACTOR); // Sets shooter motor to desired shooter
 
@@ -644,26 +618,25 @@ public void update() {
                     moveHoodMotor(); // Sets Motor to travel to desired hood angle
                 }
 
-                if (nextAllowedShootTime > Timer.getFPGATimestamp() + Constants.SECOND_BALL_SHOOT_DELAY + 0.2) {
+                if (lastShotTime > Timer.getFPGATimestamp()) {
                     //Check to make sure we don't accidentally do anything dumb and prevent us from shooting. It checks if the
                     //nextAllowedShootTime is greater than the current time plus the delay time which should never happen
-                    nextAllowedShootTime = Timer.getFPGATimestamp();
+                    lastShotTime = Timer.getFPGATimestamp();
                 }
 
-                if ((feederWheelState == FeederWheelState.FORWARD)
-                        && ((isHoodAtTargetAngle() && isShooterAtTargetSpeed())
-                        && (Timer.getFPGATimestamp() > nextAllowedShootTime)
-                        || feederChecksDisabled)
+                if (
+                        ((feederWheelState == FeederWheelState.FORWARD)
+                                && ((isHoodAtTargetAngle() && isShooterAtTargetSpeed())
+                                && (Timer.getFPGATimestamp() > (VisionManager.getInstance().getDistanceToTarget() < 80 ?
+                                0.5 : SECOND_BALL_SHOOT_DELAY) + lastShotTime)
+                                || feederChecksDisabled))
                 ) {
-                    feederWheel.set(ControlMode.PercentOutput, Constants.FEEDER_WHEEL_SPEED);
-                    feederLockPosition = feederWheel.getSelectedSensorPosition();
-                    forceFeederOnTime = Timer.getFPGATimestamp() + Constants.FEEDER_CHANGE_STATE_DELAY_SEC;
-                    nextAllowedShootTime = Timer.getFPGATimestamp() + Constants.SECOND_BALL_SHOOT_DELAY;
-                    rumbleTime = Timer.getFPGATimestamp() + Constants.RUMBLE_DELAY;
+                    feederWheel.set(ControlMode.PercentOutput, FEEDER_WHEEL_SPEED);
+                    lastShotTime = Timer.getFPGATimestamp();
                     Robot.setRumble(RumbleType.kLeftRumble, 0);
                 } else {
                     // Turn OFF Feeder Wheel if feederWheel has not been on in half a second
-                    if (Timer.getFPGATimestamp() > forceFeederOnTime) {
+                    if (Timer.getFPGATimestamp() > lastShotTime + FEEDER_CHANGE_STATE_DELAY_SEC) {
                         if (runFeederWheelReversed) {
                             feederWheel.set(ControlMode.PercentOutput, -0.3);
                         } else {
@@ -671,8 +644,9 @@ public void update() {
                         }
                     }
 
-                    if (Timer.getFPGATimestamp() > rumbleTime && rumbleTime < Timer.getFPGATimestamp() + Constants.RUMBLE_TIME) {
-                        Robot.setRumble(RumbleType.kLeftRumble, 1);
+                    if (Timer.getFPGATimestamp() > lastShotTime + RUMBLE_DELAY
+                            && Timer.getFPGATimestamp() < lastShotTime + RUMBLE_DELAY + RUMBLE_TIME) {
+                        Robot.setRumble(RumbleType.kLeftRumble, 0.25);
                     } else {
                         Robot.setRumble(RumbleType.kLeftRumble, 0);
                     }
diff --git a/src/main/java/frc/subsystem/VisionManager.java b/src/main/java/frc/subsystem/VisionManager.java
index 020d3035..d4c88be9 100644
--- a/src/main/java/frc/subsystem/VisionManager.java
+++ b/src/main/java/frc/subsystem/VisionManager.java
@@ -17,26 +17,28 @@
 import frc.utility.Limelight.LedMode;
 import frc.utility.MathUtil;
 import frc.utility.Timer;
+import frc.utility.geometry.MutableTranslation2d;
 import frc.utility.shooter.visionlookup.ShooterConfig;
 import frc.utility.shooter.visionlookup.VisionLookUpTable;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
 
 import java.util.HashSet;
+import java.util.Objects;
 import java.util.Optional;
 import java.util.Set;
+import java.util.concurrent.locks.ReentrantReadWriteLock;
 
+import static frc.robot.Constants.GOAL_POSITION;
 import static frc.robot.Constants.MAX_SHOOT_SPEED;
 import static frc.utility.geometry.GeometryUtils.angleOf;
 
 public final class VisionManager extends AbstractSubsystem {
-    private static final @NotNull VisionManager instance = new VisionManager();
+    private static final ReentrantReadWriteLock VISION_MANGER_INSTANCE_LOCK = new ReentrantReadWriteLock();
+    private static VisionManager instance;
 
-    private final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
     private final @NotNull Limelight limelight = Limelight.getInstance();
-    private final @NotNull Drive drive = Drive.getInstance();
-    private final @NotNull Shooter shooter = Shooter.getInstance();
-    private final @NotNull BlinkinLED blinkinLED = BlinkinLED.getInstance();
 
     public final VisionLookUpTable visionLookUpTable = VisionLookUpTable.getInstance();
 
@@ -45,11 +47,25 @@ public void setShooterConfig(ShooterConfig shooterConfig) {
     }
 
     private VisionManager() {
-        super(Constants.VISION_MANAGER_PERIOD, 2);
+        super(Constants.VISION_MANAGER_PERIOD, 4);
     }
 
     public static @NotNull VisionManager getInstance() {
-        return instance;
+        VISION_MANGER_INSTANCE_LOCK.readLock().lock();
+        try {
+            if (instance != null) {
+                return instance;
+            }
+        } finally {
+            VISION_MANGER_INSTANCE_LOCK.readLock().unlock();
+        }
+
+        VISION_MANGER_INSTANCE_LOCK.writeLock().lock();
+        try {
+            return Objects.requireNonNullElseGet(instance, () -> instance = new VisionManager());
+        } finally {
+            VISION_MANGER_INSTANCE_LOCK.writeLock().unlock();
+        }
     }
 
     @Override
@@ -59,15 +75,19 @@ public void selfTest() {
 
     @Override
     public void logData() {
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
+        final @NotNull Drive drive = Drive.getInstance();
+        final @NotNull Shooter shooter = Shooter.getInstance();
+
         logData("Distance to Target", Units.metersToInches(getDistanceToTarget()));
         logData("Rotation Target", getAngleToTarget().getDegrees());
-        logData("Allowed Turn Error", getAllowedTurnError());
+        logData("Old Distance ", limelight.getDistance() + Constants.GOAL_RADIUS_IN + 23);
+
+//        Vector2d newRelGoalPos = limelight.getCorrectGoalPos();
+//        logData("New Z", newRelGoalPos.x);
+//        logData("New X", newRelGoalPos.y);
 
         logData("Allow Shooting Robot Speed", drive.getSpeedSquared() < Constants.MAX_SHOOT_SPEED_SQUARED);
-        logData("Is Robot Allowed Shoot Aiming",
-                Math.abs((angleOf(getRelativeGoalTranslation())
-                        .minus(robotTracker.getGyroAngle())).getRadians())
-                        < getAllowedTurnError());
         logData("Is Robot Allowed Shoot Tilt",
                 Math.abs(robotTracker.getGyro().getRoll()) < 3 && Math.abs(robotTracker.getGyro().getPitch()) < 3);
 
@@ -79,22 +99,50 @@ public void logData() {
         logData("Vision Robot Velocity X", robotVelocity.getX());
         logData("Vision Robot Velocity Y", robotVelocity.getY());
 
-        Translation2d aimToPosition = getAdjustedTranslation(0.15);
+        double timeFromLastShoot = Timer.getFPGATimestamp() - shooter.getLastShotTime();
+        double shooterLookAheadTime = 0.15 - timeFromLastShoot;
+        if (shooterLookAheadTime < 0) {
+            shooterLookAheadTime = 0.15;
+        }
+
+        double turnDelay = 0.00;
+
+        Translation2d aimToPosition = getAdjustedTranslation(shooterLookAheadTime + turnDelay);
 
         Translation2d fieldCentricCords =
                 RobotTracker.getInstance().getLastEstimatedPoseMeters().getTranslation().minus(aimToPosition);
         logData("Calculated Target X", fieldCentricCords.getX());
         logData("Calculated Target Y", fieldCentricCords.getY());
+
+        double allowedTurnError = getAllowedTurnError(aimToPosition.getNorm());
+
+        logData("Allowed Turn Error", allowedTurnError);
+        logData("Is Robot Allowed Shoot Aiming",
+                Math.abs((angleOf(getRelativeGoalTranslation())
+                        .minus(robotTracker.getGyroAngle())).getRadians())
+                        < allowedTurnError);
+
+        logData("Acceleration", getAccel().getNorm());
     }
 
 
     public void shootAndMove(ControllerDriveInputs controllerDriveInputs, boolean useFieldRelative) {
-        Translation2d aimToPosition = getAdjustedTranslation(0.15);
+        final @NotNull Drive drive = Drive.getInstance();
+        final @NotNull Shooter shooter = Shooter.getInstance();
 
+        double timeFromLastShoot = Timer.getFPGATimestamp() - shooter.getLastShotTime();
+        double shooterLookAheadTime = 0.15 - timeFromLastShoot;
+        if (shooterLookAheadTime < 0) {
+            shooterLookAheadTime = 0.15;
+        }
+
+        double turnDelay = 0.0;
+
+        Translation2d aimToPosition = getAdjustedTranslation(shooterLookAheadTime + turnDelay);
         double targetAngle = angleOf(aimToPosition).getRadians();
 
         // Get the angle that will be used in the future to calculate the end velocity of the turn
-        Translation2d futureAimToPosition = getAdjustedTranslation(0.25);
+        Translation2d futureAimToPosition = getAdjustedTranslation(shooterLookAheadTime + turnDelay + 0.1);
         double futureTargetAngle = angleOf(futureAimToPosition).getRadians();
 
         drive.updateTurn(controllerDriveInputs,
@@ -102,33 +150,52 @@ public void shootAndMove(ControllerDriveInputs controllerDriveInputs, boolean us
                 useFieldRelative,
                 0);
 
-        updateShooterState(aimToPosition.getNorm());
 
-        tryToShoot(aimToPosition, (futureTargetAngle - targetAngle) * 10, false);
+        Translation2d aimChecksPosition = getAdjustedTranslation(shooterLookAheadTime);
+        updateShooterState(aimChecksPosition.getNorm());
+
+        tryToShoot(aimChecksPosition, (futureTargetAngle - targetAngle) * 10, false);
     }
 
 
     public void autoTurnRobotToTarget(ControllerDriveInputs controllerDriveInputs, boolean fieldRelative) {
-        drive.updateTurn(controllerDriveInputs, getAngleToTarget(), fieldRelative, getAllowedTurnError());
+        final @NotNull Drive drive = Drive.getInstance();
 
-        updateShooterState(getDistanceToTarget());
-        tryToShoot(getRelativeGoalTranslation(), 0, true);
+        Optional<Translation2d> visionTranslation = getVisionTranslation();
+        Translation2d relativeGoalPos;
+        if (visionTranslation.isPresent()) {
+            relativeGoalPos = visionTranslation.get().minus(GOAL_POSITION);
+        } else {
+            relativeGoalPos = getRelativeGoalTranslation();
+        }
+        drive.updateTurn(controllerDriveInputs, angleOf(relativeGoalPos), fieldRelative, getAllowedTurnError());
+        updateShooterState(relativeGoalPos.getNorm());
+        tryToShoot(relativeGoalPos, 0, true);
     }
 
     private void tryToShoot(Translation2d aimToPosition, double targetAngularSpeed, boolean doSpeedCheck) {
-        if (Math.abs((angleOf(aimToPosition).minus(robotTracker.getGyroAngle())).getRadians()) < getAllowedTurnError()
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
+        final @NotNull Drive drive = Drive.getInstance();
+        final @NotNull Shooter shooter = Shooter.getInstance();
+
+        //@formatter:off
+        if (Math.abs((angleOf(aimToPosition).minus(robotTracker.getGyroAngle())).getRadians())
+                    < getAllowedTurnError(aimToPosition.getNorm())
                 && Math.abs(robotTracker.getLatencyCompedChassisSpeeds().omegaRadiansPerSecond - targetAngularSpeed)
-                < Math.toRadians(8)
-                && (drive.getSpeedSquared() < Constants.MAX_SHOOT_SPEED_SQUARED || !doSpeedCheck) &&
-                Math.abs(robotTracker.getGyro().getRoll()) < 3 && Math.abs(robotTracker.getGyro().getPitch()) < 3) {
-            shooter.setFiring(limelight.isTargetVisible() || DriverStation.isAutonomous());
+                    < Math.toRadians(8)
+                && getAccel().getNorm() < 0.75
+                && (drive.getSpeedSquared() < Constants.MAX_SHOOT_SPEED_SQUARED || !doSpeedCheck)
+                && Math.abs(robotTracker.getGyro().getRoll()) < 3 && Math.abs(robotTracker.getGyro().getPitch()) < 3) {
+            //@formatter:on
+            shooter.setFiring(true);
             if (shooter.isFiring()) {
                 if (!checksPassedLastTime && lastPrintTime + 0.5 < Timer.getFPGATimestamp()) {
                     lastPrintTime = Timer.getFPGATimestamp();
                     checksPassedLastTime = true;
                     System.out.println(
-                            "Shooting at " + (150 - DriverStation.getMatchTime()) + " "
-                                    + visionLookUpTable.getShooterPreset(Units.metersToInches(getDistanceToTarget())));
+                            "Shooting at " + (150 - DriverStation.getMatchTime()) + " Distance:  "
+                                    + Units.metersToInches(aimToPosition.getNorm()) + " "
+                                    + "Accel: " + getAccel().getNorm());
                 }
             } else {
                 lastChecksFailedTime = Timer.getFPGATimestamp();
@@ -159,6 +226,8 @@ public void updateShooterState() {
      * @param distanceToTarget the distance to the target (in meters)
      */
     public void updateShooterState(double distanceToTarget) {
+        final @NotNull Shooter shooter = Shooter.getInstance();
+
         logData("Shooter Distance to Target", Units.metersToInches(distanceToTarget));
         shooter.set(visionLookUpTable.getShooterPreset(Units.metersToInches(distanceToTarget)));
     }
@@ -168,8 +237,11 @@ public void updateShooterState(double distanceToTarget) {
      */
     @Contract(pure = true)
     public Translation2d getRobotVel() {
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
+        final @NotNull Drive drive = Drive.getInstance();
+
         Rotation2d rotation2d = robotTracker.getGyroAngle();
-        ChassisSpeeds chassisSpeeds = drive.getSwerveDriveKinematics().toChassisSpeeds(drive.getSwerveModuleStates());
+        ChassisSpeeds chassisSpeeds = Drive.getSwerveDriveKinematics().toChassisSpeeds(drive.getSwerveModuleStates());
         return new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond).rotateBy(rotation2d);
     }
 
@@ -183,10 +255,15 @@ public Translation2d getRobotVel() {
 
         Rotation2d currentGyroAngle = getLatencyCompedLimelightRotation();
 
-        double distanceToTarget = limelight.getDistanceM() + Constants.GOAL_RADIUS + Units.inchesToMeters(23);
-        double angleToTarget = currentGyroAngle.getDegrees() - limelight.getHorizontalOffset();
-        return Optional.of(new Translation2d(distanceToTarget * Math.cos(Math.toRadians(angleToTarget)),
-                distanceToTarget * Math.sin(Math.toRadians(angleToTarget)))
+        Vector3D offsetVector = limelight.getCorrectTargetVector();
+        double angleOffset = Math.atan2(offsetVector.getX(), offsetVector.getZ());
+
+
+        double distanceToTarget = Units.inchesToMeters(Math.hypot(offsetVector.getX(), offsetVector.getZ()));
+
+        double angleToTarget = currentGyroAngle.getRadians() - angleOffset;
+        return Optional.of(new Translation2d(distanceToTarget * Math.cos(angleToTarget),
+                distanceToTarget * Math.sin(angleToTarget))
                 .plus(Constants.GOAL_POSITION));
     }
 
@@ -194,6 +271,7 @@ public Translation2d getRobotVel() {
      * @return current relative translation of the robot based on the robot tracker
      */
     private Translation2d getRelativeGoalTranslation() {
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
         return robotTracker.getLatencyCompedPoseMeters().getTranslation()
                 .plus(robotPositionOffset)
                 .minus(Constants.GOAL_POSITION);
@@ -205,11 +283,12 @@ private Translation2d getRelativeGoalTranslation() {
      * You need to call {@link #forceVisionOn(Object)} before calling this method.
      */
     public void forceUpdatePose() {
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
         Optional<Translation2d> visionTranslation = getVisionTranslation();
         visionTranslation.ifPresent(
-                mutableTranslation2d -> {
+                translation2d -> {
                     robotTracker.addVisionMeasurement(
-                            mutableTranslation2d,
+                            translation2d,
                             getLimelightTime());
                     robotPositionOffset = new Translation2d();
                 }
@@ -242,11 +321,21 @@ public double getDistanceToTarget() {
      * @return The allowed turn error in radians
      */
     private double getAllowedTurnError() {
-        return Math.tan((Constants.GOAL_RADIUS * 0.8) / getDistanceToTarget());
+        return getAllowedTurnError(getDistanceToTarget());
+    }
+
+    /**
+     * {@code Math.tan(Constants.GOAL_RADIUS / getDistanceToTarget())}
+     *
+     * @return The allowed turn error in radians
+     */
+    private double getAllowedTurnError(double distance) {
+        return Math.tan((Constants.GOAL_RADIUS * 0.5) / distance);
     }
 
     @Contract(pure = true)
     public @NotNull Rotation2d getLatencyCompedLimelightRotation() {
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
         return robotTracker.getGyroRotation(getLimelightTime());
     }
 
@@ -302,7 +391,10 @@ public boolean isVisionForcedOn() {
 
     @Override
     public void update() {
-        Pose2d robotTrackerPose = robotTracker.getLatencyCompedPoseMeters();
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
+        final @NotNull BlinkinLED blinkinLED = BlinkinLED.getInstance();
+
+        robotPositionOffset = new Translation2d();
         Translation2d relativeGoalPos = getRelativeGoalTranslation();
 
         double angleToTarget = Math.atan2(relativeGoalPos.getY(), relativeGoalPos.getX());
@@ -311,12 +403,14 @@ public void update() {
             blinkinLED.setStatus(limelightNotConnectedStatus);
         }
 
-        if (Math.abs(angleToTarget - robotTrackerPose.getRotation().getRadians()) < Math.toRadians(50)) {
+        if (Math.abs(new Rotation2d(angleToTarget).minus(robotTracker.getGyroAngle()).getRadians()) < Math.toRadians(50)) {
             forceVisionOn(updateLoopSource);
         } else {
             unForceVisionOn(updateLoopSource);
         }
 
+        logData("Angle To Target", angleToTarget);
+
 
         Optional<Translation2d> robotTranslationOptional = getVisionTranslation();
         if (robotTranslationOptional.isPresent()) {
@@ -328,17 +422,24 @@ public void update() {
             logData("Vision Pose Angle", visionPose.getRotation().getRadians());
             logData("Vision Pose Time", getLimelightTime());
 
-            if (MathUtil.dist2(robotTracker.getLatencyCompedPoseMeters().getTranslation().plus(robotPositionOffset),
-                    robotTranslation) < Constants.VISION_MANAGER_DISTANCE_THRESHOLD_SQUARED
-                    && !limelight.areCornersTouchingEdge()) {
-
-                robotTracker.addVisionMeasurement(robotTranslation,
-                        getLimelightTime());
-                robotPositionOffset = new Translation2d();
+            Translation2d trackerTranslation = robotTracker.getLatencyCompedPoseMeters().getTranslation();
 
+            logData("Tracker Translation X", trackerTranslation.getX());
+            logData("Tracker Translation Y", trackerTranslation.getY());
 
-                logData("Using Vision Info", "Using Vision Info");
-                blinkinLED.setStatus(limelightUsingVisionStatus);
+            if (MathUtil.dist2(robotTracker.getLatencyCompedPoseMeters().getTranslation(),
+                    robotTranslation) < Constants.VISION_MANAGER_DISTANCE_THRESHOLD_SQUARED) {
+                if (limelight.areCornersTouchingEdge()) {
+                    logData("Using Vision Info", "Corners touching edge");
+                } else {
+                    if (!DriverStation.isAutonomous()) {
+                        robotTracker.addVisionMeasurement(robotTranslation,
+                                getLimelightTime());
+                    }
+                    robotPositionOffset = new Translation2d();
+                    logData("Using Vision Info", "Using Vision Info");
+                    blinkinLED.setStatus(limelightUsingVisionStatus);
+                }
             } else {
                 logData("Using Vision Info", "Position is too far from expected");
                 blinkinLED.setStatus(limelightTooFarFromExpectedStatus);
@@ -357,6 +458,9 @@ public void update() {
      */
     @SuppressWarnings({"unused", "BusyWait"})
     public void shootBalls(double numBalls) throws InterruptedException {
+        final @NotNull Drive drive = Drive.getInstance();
+        final @NotNull Shooter shooter = Shooter.getInstance();
+
         forceVisionOn(this);
         if (drive.driveState == DriveState.RAMSETE) {
             drive.setAutoAiming(true);
@@ -425,14 +529,24 @@ private Translation2d predictFutureTranslation(double predictAheadTime, Translat
     @NotNull Translation2d getVelocityAdjustedRelativeTranslation(
             @NotNull Translation2d relativeGoalTranslation, @NotNull Translation2d robotVelocity) {
 
-        Translation2d fakeGoalPos = relativeGoalTranslation;
+        MutableTranslation2d fakeGoalPos = new MutableTranslation2d(relativeGoalTranslation);
+
+        double relGoalX = relativeGoalTranslation.getX();
+        double relGoalY = relativeGoalTranslation.getY();
+
+        double velX = robotVelocity.getX();
+        double velY = robotVelocity.getY();
 
         for (int i = 0; i < 40; i++) {
             //System.out.println("Iteration: " + i + " Fake Goal Pos: " + fakeGoalPos);
             double tof = getTimeOfFlight(fakeGoalPos);
-            fakeGoalPos = relativeGoalTranslation.plus(robotVelocity.times(tof));
+
+            fakeGoalPos.set(
+                    relGoalX + (velX * tof),
+                    relGoalY + (velY * tof)
+            );
         }
-        return fakeGoalPos;
+        return fakeGoalPos.getTranslation2d();
     }
 
     /**
@@ -443,14 +557,14 @@ private Translation2d predictFutureTranslation(double predictAheadTime, Translat
         double distance = Units.metersToInches(translation2d.getNorm());
 
         double timeOfFlightFrames;
-        if (distance < 120) {
-            timeOfFlightFrames = 28;
+        if (distance < 113) {
+            timeOfFlightFrames = ((0.02 / 30) * (distance - 113)) + (22.0 / 30);
         } else {
-            timeOfFlightFrames = (0.09 * (distance - 120)) + 28;
+            timeOfFlightFrames = ((0.071 / 30) * (distance - 113)) + (22.0 / 30);
         }
 
         //timeOfFlightFrames = 0.000227991 * (distance * distance) - 0.0255545 * (distance) + 31.9542;
-        return timeOfFlightFrames / 30;
+        return timeOfFlightFrames;
     }
 
     /**
@@ -469,6 +583,7 @@ private Translation2d getAdjustedTranslation(double predictAheadTime) {
 
 
     private Translation2d getAccel() {
+        final @NotNull RobotTracker robotTracker = RobotTracker.getInstance();
         return robotTracker.getAcceleration();
     }
 }
diff --git a/src/main/java/frc/utility/Limelight.java b/src/main/java/frc/utility/Limelight.java
index e285f88a..11945440 100644
--- a/src/main/java/frc/utility/Limelight.java
+++ b/src/main/java/frc/utility/Limelight.java
@@ -1,11 +1,22 @@
 package frc.utility;
 
+import edu.wpi.first.math.MatBuilder;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.Nat;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.Vector2d;
+import frc.subsystem.AbstractSubsystem;
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
 import org.jetbrains.annotations.NotNull;
 
 import java.util.HashMap;
@@ -14,7 +25,7 @@
 /**
  * This class is used to get data from the limelight network tables
  */
-public final class Limelight {
+public final class Limelight extends AbstractSubsystem {
     public static final double[] EMPTY_DOUBLE_ARRAY = new double[0];
     final @NotNull NetworkTable limelightTable;
     final @NotNull NetworkTable limelightGuiTable;
@@ -26,6 +37,14 @@ public final class Limelight {
         return getInstance("limelight");
     }
 
+
+    volatile Rotation cameraRotation = new Rotation(RotationOrder.XYZ, RotationConvention.VECTOR_OPERATOR, Math.toRadians(-38), 0,
+            0);
+
+    volatile double hOffset = 38;
+    volatile double depthOffset = 44;
+    volatile Vector3D centerOffset = new Vector3D(0, 0, 6.9);
+
     public static @NotNull Limelight getInstance(String name) {
         LIMELIGHT_MAP_LOCK.readLock().lock();
         try {
@@ -50,6 +69,21 @@ public final class Limelight {
         }
     }
 
+    @Override
+    public void selfTest() {
+
+    }
+
+    @Override
+    public void logData() {
+
+    }
+
+    @Override
+    public void close() throws Exception {
+
+    }
+
 
     /**
      * Limelight’s LED states
@@ -121,9 +155,33 @@ public enum StreamingMode {
     }
 
     private Limelight(String name) {
+        super(-1);
         limelightTable = NetworkTableInstance.getDefault().getTable(name);
         limelightGuiTable = NetworkTableInstance.getDefault().getTable(name + "gui");
 
+        NetworkTableEntry angleTable = limelightGuiTable.getEntry("angle");
+        angleTable.setDouble(cameraRotation.getAngles(RotationOrder.XYZ, RotationConvention.VECTOR_OPERATOR)[0]);
+        angleTable.addListener(event -> cameraRotation
+                        = new Rotation(RotationOrder.XYZ, RotationConvention.VECTOR_OPERATOR,
+                        Math.toRadians(event.getEntry().getDouble(0)), 0, 0),
+                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+
+        NetworkTableEntry hOffsetTable = limelightGuiTable.getEntry("hOffset");
+        hOffsetTable.setDouble(hOffset);
+        hOffsetTable.addListener(event -> hOffset = event.getEntry().getDouble(0),
+                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+
+        NetworkTableEntry depthOffsetTable = limelightGuiTable.getEntry("depthOffset");
+        depthOffsetTable.setDouble(depthOffset);
+        depthOffsetTable.addListener(event -> depthOffset = event.getEntry().getDouble(0),
+                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+
+        NetworkTableEntry centerOffsetTable = limelightGuiTable.getEntry("centerOffset");
+        centerOffsetTable.setDouble(centerOffset.getZ());
+        centerOffsetTable.addListener(event -> centerOffset = new Vector3D(0, 0, event.getEntry().getDouble(0)),
+                EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+
+
         limelightTable.getEntry("tl").addListener(event -> lastUpdate = Timer.getFPGATimestamp(),
                 EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
 
@@ -263,10 +321,57 @@ public double getDistance() {
         }
     }
 
+    public Vector2d getTargetPosInCameraPixels() {
+        return new Vector2d(
+                (getHorizontalOffset() / 29.8) * (320.0 / 2) + (320.0 / 2),
+                (getVerticalOffset() / 24.85) * (240.0 / 2) + (240.0 / 2)
+        );
+    }
+
+    private static final Matrix<N3, N3> CAMERA_MATRIX_INVERSE = new MatBuilder<>(Nat.N3(), Nat.N3()).fill(
+            0.00392173, 0, -0.6274771,
+            0, 0.00389782, -0.46773827,
+            0, 0, 1
+    );
+
+    private static final MatBuilder<N3, N1> THREE_BY_ONE_MAT_BUILDER = new MatBuilder<>(Nat.N3(), Nat.N1());
+
+    /**
+     * @return The Correct distance from the limelight to the target in IN. This correctly compensates for the angle of the camera
+     * to ensure a consistent distance as the robot rotates.
+     */
+    public Vector3D getCorrectTargetVector() {
+        if (isTargetVisible()) {
+
+            Vector2d targetPosInCameraPixels = getTargetPosInCameraPixels();
+
+            double py = targetPosInCameraPixels.y;
+            double px = targetPosInCameraPixels.x;
+
+            Matrix<N3, N1> cameraUnitVector = CAMERA_MATRIX_INVERSE.times(THREE_BY_ONE_MAT_BUILDER.fill(px, py, 1));
+
+            Vector3D vector3D = new Vector3D(
+                    cameraUnitVector.get(0, 0),
+                    cameraUnitVector.get(1, 0),
+                    cameraUnitVector.get(2, 0)
+            );
+
+            Vector3D goalDir = cameraRotation.applyTo(vector3D);
+            double angle = Math.atan2(goalDir.getX(), goalDir.getZ());
+
+            double k = hOffset / goalDir.getY();
+
+            return goalDir.scalarMultiply(k)
+                    .add(centerOffset) //5.875
+                    .add(new Vector3D(Math.sin(angle) * depthOffset, 0, Math.cos(angle) * depthOffset));
+        } else {
+            return Vector3D.ZERO;
+        }
+    }
 
     public Vector2d[] getCorners() {
-        Vector2d[] processedCorners = new Vector2d[4];
         double[] corners = limelightTable.getEntry("tcornxy").getDoubleArray(EMPTY_DOUBLE_ARRAY);
+        Vector2d[] processedCorners = new Vector2d[corners.length / 2];
         for (int i = 0; i < corners.length; i += 2) {
             if (i + 1 < corners.length) {
                 processedCorners[i / 2] = new Vector2d(corners[i], corners[i + 1]);
@@ -278,7 +383,8 @@ public Vector2d[] getCorners() {
     public boolean areCornersTouchingEdge() {
         Vector2d[] corners = getCorners();
         for (Vector2d corner : corners) {
-            if (corner.x < 2 || corner.x > 318 || corner.y < 2 || corner.y > 238) {
+            if (corner.x < 15 || corner.x > 320 - 15 || corner.y < 0 || corner.y > 240 - 15) {
+
                 return true;
             }
         }
diff --git a/src/main/java/frc/utility/shooter/visionlookup/ShooterConfig.java b/src/main/java/frc/utility/shooter/visionlookup/ShooterConfig.java
index 6f6f9d26..57a828f9 100644
--- a/src/main/java/frc/utility/shooter/visionlookup/ShooterConfig.java
+++ b/src/main/java/frc/utility/shooter/visionlookup/ShooterConfig.java
@@ -28,4 +28,14 @@ public String toString() {
                 "shooterConfigs=" + shooterConfigs +
                 '}';
     }
+
+    public void printCSV() {
+        StringBuilder sb = new StringBuilder();
+        for (ShooterPreset shooterPreset : shooterConfigs) {
+            sb.append(shooterPreset.getDistance()).append(",")
+                    .append(shooterPreset.getFlywheelSpeed()).append(",")
+                    .append(shooterPreset.getHoodEjectAngle()).append("\n");
+        }
+        System.out.println(sb);
+    }
 }
diff --git a/src/main/java/frc/utility/shooter/visionlookup/VisionLookUpTable.java b/src/main/java/frc/utility/shooter/visionlookup/VisionLookUpTable.java
index fb485ff7..a1bbd46d 100644
--- a/src/main/java/frc/utility/shooter/visionlookup/VisionLookUpTable.java
+++ b/src/main/java/frc/utility/shooter/visionlookup/VisionLookUpTable.java
@@ -110,5 +110,14 @@ public void setShooterConfig(ShooterConfig shooterConfig) {
             shooterConfigLock.unlock();
         }
     }
+
+    public void printShooterConfig() {
+        shooterConfigLock.lock();
+        try {
+            shooterConfig.printCSV();
+        } finally {
+            shooterConfigLock.unlock();
+        }
+    }
 }
 
diff --git a/src/test/java/frc/subsystem/IntakeTest.java b/src/test/java/frc/subsystem/IntakeTest.java
index 60fbe0b1..1e6f59e2 100644
--- a/src/test/java/frc/subsystem/IntakeTest.java
+++ b/src/test/java/frc/subsystem/IntakeTest.java
@@ -65,7 +65,7 @@ public void intakeDoesRunReversedWhenOpen() throws Exception {
         intakeMotorField.setAccessible(true);
         LazyCANSparkMax intakeMotor = (LazyCANSparkMax) intakeMotorField.get(intake);
 
-        assertEquals(-Constants.INTAKE_MOTOR_SPEED, intakeMotor.get(), DELTA);
+        assertEquals(-Constants.INTAKE_SPEED, intakeMotor.get(), DELTA);
     }
 
     @Test
@@ -81,6 +81,6 @@ public void intakeDoesRunWhenOpen() throws Exception {
         intakeMotorField.setAccessible(true);
         LazyCANSparkMax intakeMotor = (LazyCANSparkMax) intakeMotorField.get(intake);
 
-        assertEquals(Constants.INTAKE_MOTOR_SPEED, intakeMotor.get(), DELTA);
+        assertEquals(Constants.INTAKE_SPEED, intakeMotor.get(), DELTA);
     }
 }
\ No newline at end of file
diff --git a/src/test/java/frc/subsystem/RobotTrackerTest.java b/src/test/java/frc/subsystem/RobotTrackerTest.java
index ddc3d894..9a1005ae 100644
--- a/src/test/java/frc/subsystem/RobotTrackerTest.java
+++ b/src/test/java/frc/subsystem/RobotTrackerTest.java
@@ -49,7 +49,7 @@ void robotTrackerTest() throws NoSuchFieldException, IllegalAccessException, NoS
             double period = 0.05;
 
             Timer.setTime(0);
-            robotTracker.resetPosition(new Pose2d(x, y, new Rotation2d(theta)), new Rotation2d(0), true);
+            robotTracker.resetPosition(new Pose2d(x, y, new Rotation2d(theta)), new Rotation2d(0));
 
             double largeRandomX = random.nextDouble() * 10 - 5;
             double largeRandomY = random.nextDouble() * 10 - 5;
diff --git a/src/test/java/frc/subsystem/VisionManagerTest.java b/src/test/java/frc/subsystem/VisionManagerTest.java
index 9029975c..d005f8e7 100644
--- a/src/test/java/frc/subsystem/VisionManagerTest.java
+++ b/src/test/java/frc/subsystem/VisionManagerTest.java
@@ -13,7 +13,7 @@ class VisionManagerTest {
     void getVelocityAdjustedRelativeTranslation() {
 
         Random random = new Random(719479);
-        for (int i = 0; i < 1000; i++) {
+        for (int i = 0; i < 10000000; i++) {
             Translation2d goalPos = new Translation2d((random.nextDouble() * 20) - 10, (random.nextDouble() * 20) - 10);
             Translation2d robotVelocity = new Translation2d((random.nextDouble() * 10) - 5, (random.nextDouble() * 10) - 5);
             Translation2d fakeGoal = VisionManager.getInstance().getVelocityAdjustedRelativeTranslation(goalPos, robotVelocity);