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 bc81e2f..df2fc6d 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
@@ -120,7 +120,7 @@ public class TeleopV3 extends LinearOpMode {
     private double transferStamp = 0.0;
     private int tickerA = 1;
     private boolean transferIn = false;
-    boolean turretInterpolate = true;
+    boolean turretInterpolate = false;
 
     public static double velPrediction(double distance) {
         if (distance < 30) {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
index d802ba2..d9850a5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
@@ -97,8 +97,8 @@ public class Targeting {
         robotInchesY = rotatedY * unitConversionFactor;
 
         // Find approximate location in the grid
-        robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
-        robotGridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
         //clamp
         robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));