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 fce535b..e234fcd 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
@@ -814,6 +814,8 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
             TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velo1", flywheel.velo1);
+            TELE.addData("Velo2", flywheel.velo2);
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
index f188686..39f1a50 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
@@ -18,17 +18,16 @@ import org.firstinspires.ftc.teamcode.utils.Spindexer;
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-
     public static int mode = 1;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
     public static double Velocity = 0.0;
-    public static double P = 40.0;
-    public static double I = 0.3;
-    public static double D = 7.0;
-    public static double F = 10.0;
+    public static double P = 255.0;
+    public static double I = 0.0;
+    public static double D = 0.0;
+    public static double F = 7.5;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
@@ -43,6 +42,9 @@ public class ShooterTest extends LinearOpMode {
 
     public double spinPow = 0.09;
 
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
     Spindexer spindexer ;
 
     @Override
@@ -73,7 +75,11 @@ public class ShooterTest extends LinearOpMode {
             }
 
             if (hoodPos != 0.501) {
-                robot.hood.setPosition(hoodPos);
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
+                    robot.hood.setPosition(hoodPos);
+                }
             }
 
             if (intake) {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
index d3af293..b03db69 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
@@ -9,8 +9,8 @@ public class Flywheel {
     Robot robot;
     public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
-    double velo1 = 0.0;
-    double velo2 = 0.0;
+    public double velo1 = 0.0;
+    public double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
@@ -58,10 +58,6 @@ public class Flywheel {
         targetVelocity = commandedVelocity;
 
         // Add code here to set PIDF based on desired RPM
-        //robot.shooterPIDF.p = P;
-        //robot.shooterPIDF.i = I;
-        //robot.shooterPIDF.d = D;
-        //robot.shooterPIDF.f = F;
 
         robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
         robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
index 347b850..f15d03b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
@@ -29,10 +29,10 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
-    public double shooterPIDF_I = 0.6;
-    public double shooterPIDF_D = 5.0;
-    public double shooterPIDF_F = 10.0;
+    public double shooterPIDF_P = 255.0;
+    public double shooterPIDF_I = 0.0;
+    public double shooterPIDF_D = 0.0;
+    public double shooterPIDF_F = 7.5;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
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 d9850a5..38ce24c 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
@@ -9,8 +9,8 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Targeting {
     MultipleTelemetry TELE;
 
-    double cancelOffsetX = 7.071067811;
-    double cancelOffsetY = 7.071067811;
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
     double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
@@ -37,33 +37,33 @@ public class Targeting {
     static {
         KNOWNTARGETING = new Settings[6][6];
         // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
-        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
-        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
-        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
-        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        KNOWNTARGETING[0][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
         // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
-        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
-        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
-        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
-        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
-        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
+        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
         // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
-        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
-        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
+        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
         // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
-        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
-        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
-        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
         // ROW 4
         KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
         KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
@@ -89,8 +89,8 @@ public class Targeting {
 
         double cos45 = Math.cos(Math.toRadians(-45));
         double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
-        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
+        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
 
         // Convert robot coordinates to inches
         robotInchesX = rotatedX * unitConversionFactor;
@@ -107,8 +107,8 @@ public class Targeting {
         // basic search
         if(!interpolate) {
             if ((robotGridY < 6) && (robotGridX <6)) {
-                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
             }
             return recommendedSettings;
         } else {