diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
index 64ae441..70f8f78 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
@@ -114,7 +114,6 @@ public class TeleopV4 extends LinearOpMode {
             if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
                 shooter.setFlywheelVelocity(2500);
                 robot.setHoodPos(0.6);
-                robot.setTransferPower(-0.8);
             }
 
             shooter.update(robot.voltage.getVoltage());
@@ -144,6 +143,7 @@ public class TeleopV4 extends LinearOpMode {
 
             if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
                 robot.setIntakePower(1);
+                robot.setTransferPower(-0.7);
             }
 
             if (gamepad2.leftBumperWasPressed()){
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
index bce8280..b35ef9d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
@@ -32,7 +32,7 @@ public class NewShooterTest extends LinearOpMode {
     public static int flywheelVelo = 0;
     public static double hoodPos = 0.5;
     public static double transferPower = -0.8;
-//    public static double turretPos = 0.51;
+    public static boolean overrideTransferPower = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -84,15 +84,14 @@ public class NewShooterTest extends LinearOpMode {
                     gamepad1.left_stick_x
             );
 
-            if (gamepad1.crossWasPressed()){
-                if (Color.redAlliance){
-                    TeleopV4.relocalizePose = new Pose(56, 11, 0);
-                } else {
-                    TeleopV4.relocalizePose = new Pose(-56, 11, 180);
-                }
-                follower.setPose(TeleopV4.relocalizePose);
-                gamepad1.rumble(100);
+            if (Color.redAlliance){
+                TeleopV4.relocalizePose = new Pose(57.5, 5, 0);
+            } else {
+                TeleopV4.relocalizePose = new Pose(-57.5, 5, Math.toRadians(180));
             }
+            follower.setPose(TeleopV4.relocalizePose);
+            sleep(500);
+            gamepad1.rumble(100);
 
             follower.update();
 
@@ -107,7 +106,6 @@ public class NewShooterTest extends LinearOpMode {
             if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
                 shooter.setFlywheelVelocity(flywheelVelo);
                 robot.setHoodPos(hoodPos);
-                robot.setTransferPower(transferPower);
             }
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
index 129dd2d..4b4445d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
@@ -366,9 +366,10 @@ public class SpindexerTransferIntake {
                     case HOLD_BALLS:
 
                         if (robot.insideBeam.isPressed()
-                                && robot.outsideBeam.isPressed() && holdBallsTicker > 5) {
+                                && robot.outsideBeam.isPressed() && holdBallsTicker > 10) {
 
                             robot.setIntakePower(0.1);
+                            robot.setTransferPower(0);
 
                         } else {
                             holdBallsTicker++;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
index 40197ee..c00914c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
@@ -20,12 +20,12 @@ public class Turret {
     private final double turretMin = 0.05;
     private final double turretMax = 0.95;
     public static boolean limelightUsed = true;
-    public static double B_PID_P = 0.0003, B_PID_I = 0.0, B_PID_D = 0.00003;
+    public static double B_PID_P = 0.00015, B_PID_I = 0.0, B_PID_D = 0.00001;
     LLResult result;
     PIDController bearingPID;
     boolean bearingAligned = false;
     public int LL_COAST_TICKS = 5;
-    public static double TARGET_POSITION_TOLERANCE = 0.5;
+    public static double TARGET_POSITION_TOLERANCE = 0.65;
     public static double alphaTX = 0.5;
     private double targetTx = 0;
     private double currentTrackOffset = 0;