diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
index 5d6cc60..1008adf 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
@@ -227,6 +227,7 @@ public class Auto12Ball_Back_Sorted extends LinearOpMode {
                 }
                 break;
             case OPENGATE:
+                robot.setIntakePower(0);
                 if (currentTime - timeStamp > openGateTime){
                     follower.followPath(openGate_shoot1, true);
                     pathState = PathState.DRIVE_SHOOT1;
@@ -275,7 +276,7 @@ public class Auto12Ball_Back_Sorted extends LinearOpMode {
                 break;
             case DRIVE_PICKUP3:
                 if (!follower.isBusy()){
-                    shooter.setFlywheelVelocity(2200);
+                    shooter.setFlywheelVelocity(2250);
                     robot.setHoodPos(0.75);
                     follower.followPath(drivePickup3_pickup3, intakePower, false);
                     pathState = PathState.PICKUP3;
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 76638a3..41a9a5a 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
@@ -8,6 +8,7 @@ import com.pedropathing.geometry.Pose;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
+import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
 import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.constants.ServoPositions;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
@@ -254,9 +255,9 @@ public class TeleopV4 extends LinearOpMode {
             }
 
             if (gamepad2.dpadUpWasPressed()){
-                hoodOffset+=0.02;
-            } else if (gamepad2.dpadDownWasPressed()){
                 hoodOffset-=0.02;
+            } else if (gamepad2.dpadDownWasPressed()){
+                hoodOffset+=0.02;
             }
 
             if (gamepad2.dpadRightWasPressed()){
@@ -284,6 +285,16 @@ public class TeleopV4 extends LinearOpMode {
             TELE.addData("Velocity 2", flywheel.getVelo2());
             TELE.addData("Flywheel Offset", flywheelOffset);
             TELE.addData("Hood Offset", hoodOffset);
+
+            TELE.addData("FR Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
+            TELE.addData("FL Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
+            TELE.addData("BL Drive", robot.backLeft.getCurrent(CurrentUnit.AMPS));
+            TELE.addData("BR Drive", robot.backRight.getCurrent(CurrentUnit.AMPS));
+
+            TELE.addData("Flywheel 1", robot.shooter1.getCurrent(CurrentUnit.AMPS));
+            TELE.addData("Flywheel 2", robot.shooter2.getCurrent(CurrentUnit.AMPS));
+            TELE.addData("Transfer", robot.transfer.getCurrent(CurrentUnit.AMPS));
+            TELE.addData("Intake", robot.intake.getCurrent(CurrentUnit.AMPS));
 //
 //            TELE.addData("Current Position", currentPose);
 //
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
index 6a3c35f..8936737 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
@@ -138,8 +138,8 @@ public class Shooter {
                 );
 
                 flywheelVelocity = commander.getPredictedRPM();
-
-                robot.setHoodPos(commander.getHoodPredicted() + TeleopV4.hoodOffset);
+                double hood1 = Math.max(0.35, Math.min(0.88, commander.getHoodPredicted() + TeleopV4.hoodOffset));
+                robot.setHoodPos(hood1);
                 fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset);
                 fly.setF(voltage);
                 break;
@@ -181,7 +181,8 @@ public class Shooter {
                 );
 
                 flywheelVelocity = commander.getPredictedRPM();
-                robot.setHoodPos(commander.getHoodPredicted() + TeleopV4.hoodOffset);
+                double hood2 = Math.max(0.35, Math.min(0.88, commander.getHoodPredicted() + TeleopV4.hoodOffset));
+                robot.setHoodPos(hood2);
                 fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset);
                 break;
 
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 4526bbc..b868ea9 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
@@ -53,7 +53,7 @@ public class SpindexerTransferIntake {
     }
 
     int[] shootOrder = {0, 1, 2};
-    public static final double sensorDistanceThreshold = 4.75;//4.85//5.35
+    public static final double sensorDistanceThreshold = 6.0;//4.85//5.35
     final long pulseTime = 70; // ms
 
     private DesiredPattern desiredPattern = DesiredPattern.GPP;
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 241e079..340a649 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
@@ -17,8 +17,8 @@ public class Turret {
 
     private final double servoTicksPer180 = 0.58;
     public static double neutralPosition = 0.51;
-    private final double turretMin = 0.08;
-    private final double turretMax = 0.91;
+    private final double turretMin = 0.13;
+    private final double turretMax = 0.87;
     public static boolean limelightUsed = true;
     public static double B_PID_P = 0.0001, B_PID_I = 0.0, B_PID_D = 0.000005;
     LLResult result;