diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java
index aeb0d7b..86dbb2a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java
@@ -73,6 +73,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.constants.Poses_V2;
@@ -84,6 +85,7 @@ import org.firstinspires.ftc.teamcode.utils.Spindexer;
 import org.firstinspires.ftc.teamcode.utils.Targeting;
 import org.firstinspires.ftc.teamcode.utils.Turret;
 
+@Disabled
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Close_12Ball extends LinearOpMode {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
index 1b38734..41c736f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
@@ -96,7 +96,7 @@ import java.util.Objects;
 public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
     public static double shoot0Vel = 2300, shoot0Hood = 0.93;
     public static double autoSpinStartPos = 0.2;
-    public static double shoot0SpinSpeedIncrease = 0.022;
+    public static double shoot0SpinSpeedIncrease = 0.015;
 
     public static double spindexerSpeedIncrease = 0.03;
 
@@ -106,12 +106,12 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
     public static double normalIntakeTime = 3.0;
     public static double shoot1Turr = 0.57;
     public static double shoot0XTolerance = 1.0;
-    public static double turretShootPos = 0.53;
+    public static double turretShootPos = 0.52;
     public static double shootAllTime = 1.8;
     public static double shoot0Time = 1.6;
     public static double intake1Time = 3.0;
     public static double flywheel0Time = 3.5;
-    public static double pickup1Speed = 17;
+    public static double pickup1Speed = 19;
     // ---- SECOND SHOT / PICKUP ----
     public static double shoot1Vel = 2300;
     public static double shoot1Hood = 0.93;
@@ -128,12 +128,12 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
     public static double obelisk1YTolerance = 2.0;
     public static double shoot1ToleranceX = 2.0;
     public static double shoot1ToleranceY = 2.0;
-    public static double shoot1Time = 2.5;
-    public static double shoot2Time = 2.5;
-    public static double shoot3Time = 2.5;
-    public static double colorSenseTime = 0.8;
+    public static double shoot1Time = 2;
+    public static double shoot2Time = 2;
+    public static double shoot3Time = 2;
+    public static double colorSenseTime = 1.2;
 
-    public static double firstShootTime = 0.5;
+    public static double firstShootTime = 0.3;
     public int motif = 0;
 
     Robot robot;
@@ -488,8 +488,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 }
 
                 ticker++;
-
+                robot.limelight.pipelineSwitch(1);
                 motif = turret.detectObelisk();
+                if (redAlliance){
+                    robot.limelight.pipelineSwitch(4);
+                } else {
+                    robot.limelight.pipelineSwitch(2);
+                }
 
                 robot.turr1.setPosition(turrPos);
                 robot.turr2.setPosition(1 - turrPos);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
index 458e63b..d8c2bbd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
@@ -23,8 +23,8 @@ public class Poses {
     public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
     public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
 
-    public static double rx4a = 72, ry4a = 65, rh4a = Math.toRadians(145);
-    public static double rx4b = 37, ry4b = 85, rh4b = Math.toRadians(145.1);
+    public static double rx4a = 72, ry4a = 50, rh4a = Math.toRadians(145);
+    public static double rx4b = 42, ry4b = 80, rh4b = Math.toRadians(145.1);
 
     public static double bx1 = 40, by1 = 7, bh1 = 0;
     public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);