diff --git a/src/main/java/frc/team2412/robot/Controls.java b/src/main/java/frc/team2412/robot/Controls.java
index 35517330..c059ab74 100644
--- a/src/main/java/frc/team2412/robot/Controls.java
+++ b/src/main/java/frc/team2412/robot/Controls.java
@@ -145,12 +145,12 @@ public void bindShooterControls() {
         BooleanSupplier b = driveController.getDPadButton(Direction.UP)::get;
 
         driveController.getDPadButton(Direction.DOWN).whenPressed(
-                new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 1400, 35).withInterrupt(b)
-                        .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(-90))));
+                new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2030, 6.3).withInterrupt(b)
+                        .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(90))));
 
         driveController.getDPadButton(Direction.LEFT).whenPressed(
-                new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2400, 9.3).withInterrupt(b)
-                        .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(-90))));
+                new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 2075, 18.7).withInterrupt(b)
+                        .alongWith(new InstantCommand(() -> subsystems.shooterSubsystem.setTurretAngle(90))));
 
         driveController.getDPadButton(Direction.RIGHT).whenPressed(
                 new ShooterHoodRPMCommand(subsystems.shooterSubsystem, 0, 0).withInterrupt(b)
diff --git a/src/main/java/frc/team2412/robot/Hardware.java b/src/main/java/frc/team2412/robot/Hardware.java
index 6407f5cf..0c03b745 100644
--- a/src/main/java/frc/team2412/robot/Hardware.java
+++ b/src/main/java/frc/team2412/robot/Hardware.java
@@ -13,10 +13,10 @@ public class Hardware {
             DRIVETRAIN_BACK_LEFT_ANGLE_MOTOR = 8, DRIVETRAIN_BACK_RIGHT_ANGLE_MOTOR = 11;
     public static final int DRIVETRAIN_FRONT_LEFT_ENCODER_PORT = 3, DRIVETRAIN_FRONT_RIGHT_ENCODER_PORT = 6,
             DRIVETRAIN_BACK_LEFT_ENCODER_PORT = 9, DRIVETRAIN_BACK_RIGHT_ENCODER_PORT = 12;
-    public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.852);
+    public static final double DRIVETRAIN_FRONT_LEFT_ENCODER_OFFSET = -Math.toRadians(67.85156);
     public static final double DRIVETRAIN_FRONT_RIGHT_ENCODER_OFFSET = -Math.toRadians(221.924);
-    public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.980);
-    public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.398);
+    public static final double DRIVETRAIN_BACK_LEFT_ENCODER_OFFSET = -Math.toRadians(214.892578);
+    public static final double DRIVETRAIN_BACK_RIGHT_ENCODER_OFFSET = -Math.toRadians(168.310547 + 90);
     public static final String DRIVETRAIN_INTAKE_CAN_BUS_NAME = "DrivebaseIntake";
 
     // Changes swerve modules & disables subsystems missing from the swerve test bot
@@ -24,6 +24,7 @@ public class Hardware {
 
     static {
         GEAR_RATIO = Robot.getInstance().isCompetition()
+
                 ? Mk4SwerveModuleHelper.GearRatio.L2
                 : Mk4SwerveModuleHelper.GearRatio.L1;
     }