diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
index 9652da6..3fa4906 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.00; //0.13;
+    public static double spindexer_intakePos1 = 0.05; //0.13;
 
-    public static double spindexer_intakePos2 = 0.19; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.38; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.65; //0.65; //0.24;
+    public static double spindexer_outtakeBall3 = 0.70; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.46; //0.46; //0.6;
-    public static double spindexer_outtakeBall1 = 0.27; //0.27; //0.4;
+    public static double spindexer_outtakeBall2 = 0.51; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.32; //0.27; //0.4;
     public static double spinStartPos = spindexer_outtakeBall3 - 0.1;
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
index f5e77d5..567cf73 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
@@ -633,25 +633,25 @@ public class TeleopV3 extends LinearOpMode {
 //                            TELE.addLine("shooting");
 //                        }
                     if (shooterTicker == 0) {
-                        shooterTicker++;
                         spindexer.prepareShootAll();
+                        TELE.addLine("preparing to shoot");
+                    } else if (shooterTicker == 2) {
+                        robot.transferServo.setPosition(transferServo_in);
+                        spindexer.shootAll();
                         TELE.addLine("starting to shoot");
                     } else if (!spindexer.shootAllComplete()) {
                         robot.transferServo.setPosition(transferServo_in);
-                        shooterTicker++;
-                        spindexer.shootAll();
                         TELE.addLine("shoot");
                     } else {
                         robot.transferServo.setPosition(transferServo_out);
                         //spindexPos = spindexer_intakePos1;
-
                         shootAll = false;
-
                         spindexer.resetSpindexer();
                         //spindexer.processIntake();
                         TELE.addLine("stop shooting");
                     }
-                    spindexer.processIntake();
+                    shooterTicker++;
+                    //spindexer.processIntake();
                 }
 
                 if (gamepad1.left_stick_button){
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
index 488c0e2..79dcab3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
@@ -343,21 +343,21 @@ public class Spindexer {
                 // Find Next Open Position and start movement
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
-                //double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
                 //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
                 if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
                     currentIntakeState = Spindexer.IntakeState.MOVING;
                 }
-                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
                 //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
                 if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
                     currentIntakeState = Spindexer.IntakeState.MOVING;
                 }
-                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
                 if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
@@ -416,18 +416,18 @@ public class Spindexer {
 
             case SHOOTNEXT:
                 // Find Next Open Position and start movement
-                if (!ballPositions[0].isEmpty) {
+                if (!ballPositions[1].isEmpty) {
                     // Position 1
-                    commandedIntakePosition = 0;
-                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (!ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
-                    // Position 2
                     commandedIntakePosition = 1;
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (!ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
-                    // Position 3
+                } else if (!ballPositions[2].isEmpty) {
+                    // Position 2
                     commandedIntakePosition = 2;
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else if (!ballPositions[0].isEmpty) {
+                    // Position 3
+                    commandedIntakePosition = 0;
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
                 } else {
                     // Empty return to intake state
                     currentIntakeState = IntakeState.FINDNEXT;
@@ -452,16 +452,16 @@ public class Spindexer {
                 } else {
                     shootWaitCount++;
                 }
-                // wait 3 cycles
-                if ((shootWaitCount > 15) && (servos.spinEqual(outakePositions[commandedIntakePosition]))) {
+                // wait 10 cycles
+                if (shootWaitCount > 2) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
                     ballPositions[commandedIntakePosition].isEmpty = true;
+                    shootWaitCount = 0;
                     //stopSpindexer();
                     //detectBalls(true, false);
-                } else {
-                    // Keep moving the spindexer
-                    moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 }
+                // Keep moving the spindexer
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]+(shootWaitCount*0.01));
                 break;
 
             default: