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 7228585..f5e77d5 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
@@ -635,11 +635,12 @@ public class TeleopV3 extends LinearOpMode {
                     if (shooterTicker == 0) {
                         shooterTicker++;
                         spindexer.prepareShootAll();
+                        TELE.addLine("starting to shoot");
                     } else if (!spindexer.shootAllComplete()) {
                         robot.transferServo.setPosition(transferServo_in);
                         shooterTicker++;
                         spindexer.shootAll();
-                        TELE.addLine("starting to shoot");
+                        TELE.addLine("shoot");
                     } else {
                         robot.transferServo.setPosition(transferServo_out);
                         //spindexPos = spindexer_intakePos1;
@@ -851,11 +852,11 @@ public class TeleopV3 extends LinearOpMode {
 //            TELE.addData("oddColor", oddBallColor);
 //
 //            // Spindexer Debug
-//            TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
-//            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
-//            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
-//            TELE.addData("spinTestCounter", spindexer.counter);
-//            TELE.addData("autoSpintake", autoSpintake);
+            TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
+            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
+            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
+            TELE.addData("spinTestCounter", spindexer.counter);
+            TELE.addData("autoSpintake", autoSpintake);
 //
 //            TELE.addData("shootall commanded", shootAll);
 //            // Targeting Debug
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 1975199..c167a43 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
@@ -258,11 +258,11 @@ public class Spindexer {
         double currentPos = servos.getSpinPos();
         if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
             if (currentPos > pos){
-                robot.spin1.setPosition(1);
-                robot.spin2.setPosition(0);
+                robot.spin1.setPosition(servos.getSpinPos() + 0.05);
+                robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
             } else {
-                robot.spin1.setPosition(0);
-                robot.spin2.setPosition(1);
+                robot.spin1.setPosition(servos.getSpinPos() - 0.05);
+                robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
             }
         }
         prevPos = currentPos;
@@ -307,7 +307,7 @@ public class Spindexer {
             case UNKNOWN_START:
                 // For now just set position ONE if UNKNOWN
                 commandedIntakePosition = 0;
-                servos.setSpinPos(intakePositions[0]);
+                moveSpindexerToPos(intakePositions[0]);
                 currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
                 break;
             case UNKNOWN_MOVE:
@@ -348,7 +348,6 @@ public class Spindexer {
                 if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
                 }
                 //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
@@ -356,14 +355,12 @@ public class Spindexer {
                 if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
                 }
                 //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
                 if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
@@ -422,17 +419,14 @@ public class Spindexer {
                 if (!ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
+                } else if (!ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
                     // Position 2
                     commandedIntakePosition = 1;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
+                } else if (!ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
                     // Position 3
                     commandedIntakePosition = 2;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
                 } else {
                     // Empty return to intake state
@@ -452,21 +446,21 @@ public class Spindexer {
                 break;
 
             case SHOOTWAIT:
-                // Stopping when we get to the new position]
+                // Stopping when we get to the new position
                 if (prevIntakeState != currentIntakeState) {
                     shootWaitCount = 0;
                 } else {
                     shootWaitCount++;
                 }
                 // wait 3 cycles
-                if ((shootWaitCount > 3) && (servos.spinEqual(intakePositions[commandedIntakePosition]))) {
+                if ((shootWaitCount > 15) && (servos.spinEqual(outakePositions[commandedIntakePosition]))) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
                     ballPositions[commandedIntakePosition].isEmpty = true;
                     //stopSpindexer();
                     //detectBalls(true, false);
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 }
                 break;