diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
index f20214c..a9b171d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
@@ -99,40 +99,40 @@ public class Red extends LinearOpMode {
 
 
 
-        TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                 .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
 
 
-        TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+        TrajectoryActionBuilder intake1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
                 .turnTo(Math.toRadians(135))
                 .strafeToLinearHeading(new Vector2d(x2, y2), h2 );
 
 
-        TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, y2, h2))
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
                 .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
 
-        TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+        TrajectoryActionBuilder intake2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
 
                 .strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b )
 
                 .strafeToLinearHeading(new Vector2d(x3, y3), h3 );
 
 
-        TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, y3, h3))
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
                 .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
 
 
-        TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
                 .strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
 
         while(opModeInInit()) {
 
             if (gamepad2.dpadUpWasPressed()){
-                hoodDefault -= 0.02;
+                hoodDefault -= 0.01;
             }
 
             if (gamepad2.dpadDownWasPressed()){
-                hoodDefault += 0.02;
+                hoodDefault += 0.01;
             }
 
             robot.hood.setPosition(hoodDefault);
@@ -165,7 +165,7 @@ public class Red extends LinearOpMode {
 
             Actions.runBlocking(
                     new ParallelAction(
-                            traj1.build()
+                            shoot0.build()
                     )
             );
 
@@ -185,7 +185,7 @@ public class Red extends LinearOpMode {
 
 
 
-                shooter.moveTurret(0.31);
+                shooter.moveTurret(turretDefault);
 
                 double time = getRuntime()-stamp;
 
@@ -245,12 +245,12 @@ public class Red extends LinearOpMode {
             robot.intake.setPower(1);
 
             Actions.runBlocking(
-                    traj2.build()
+                    intake1.build()
             );
 
 
             Actions.runBlocking(
-                    traj3.build()
+                    shoot1.build()
             );
 
             shooter.setManualPower(1);
@@ -329,12 +329,12 @@ public class Red extends LinearOpMode {
             robot.intake.setPower(1);
 
             Actions.runBlocking(
-                    traj4.build()
+                    intake2.build()
             );
 
 
             Actions.runBlocking(
-                    traj5.build()
+                    shoot2.build()
             );
 
             shooter.setManualPower(1);
@@ -411,7 +411,7 @@ public class Red extends LinearOpMode {
             spindexer.outtake3();
 
             Actions.runBlocking(
-                    traj6.build()
+                    park.build()
             );
 
             drive.updatePoseEstimate();
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 6cc3514..1f3cedb 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
@@ -15,12 +15,12 @@ public class Poses {
 
     public static double x1 = 50, y1 = 0, h1 = 0;
 
-    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(135);
+    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
 
-    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(135);
+    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
 
 
-    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(135);
+    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
 
     public static Pose2d teleStart = new Pose2d(x1,-10,0);
 
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 beb7514..3fc763b 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
@@ -19,5 +19,11 @@ public class ServoPositions {
 
     public static double hoodDefault = 0.35;
 
+    public static double turretDefault = 0.3;
+
+    public static double turretBlueOffset = -0.01;
+
+    public static double turretRedOffset = 0.01;
+
 
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Rejecter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Rejecter.java
deleted file mode 100644
index 450d18c..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Rejecter.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystems;
-
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.hardware.Servo;
-
-import org.firstinspires.ftc.teamcode.utils.Robot;
-
-public class Rejecter implements Subsystem{
-
-    private final Servo servo;
-
-    public double rpos = 0.5;
-
-    public Rejecter(Robot robot){
-        this.servo = robot.rejecter;
-    }
-
-    public void rejecterPos(double pos){
-        this.rpos = pos;
-    }
-
-    @Override
-    public void update() {
-        this.servo.setPosition(rpos);
-    }
-}