diff --git a/src/main/deploy/pathplanner/autos/center depot.auto b/src/main/deploy/pathplanner/autos/center depot.auto
new file mode 100644
index 0000000..f1604d7
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/center depot.auto	
@@ -0,0 +1,56 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "backup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoShoot"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "depot pickup"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "autoIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "depot to hub "
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoShoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
index bbd9194..660ca52 100644
--- a/src/main/deploy/pathplanner/navgrid.json
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -1,7 +1,7 @@
 {
   "field_size": {
-    "x": 17.548,
-    "y": 8.052
+    "x": 16.54,
+    "y": 8.07
   },
   "nodeSizeMeters": 0.3,
   "grid": [
@@ -61,9 +61,6 @@
       true,
       true,
       true,
-      true,
-      true,
-      true,
       true
     ],
     [
@@ -122,15 +119,9 @@
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-      true,
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       true
     ],
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       true,
       false,
@@ -182,40 +173,15 @@
       false,
       false,
       false,
-      true,
-      true,
-      true,
+      false,
+      false,
+      false,
       true,
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     ],
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-      false,
-      false,
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@@ -226,6 +192,13 @@
       false,
       false,
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+      true,
+      true,
+      true,
+      true,
+      true,
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@@ -247,9 +220,6 @@
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       true,
-      true
-    ],
-    [
       true,
       true,
       true,
@@ -264,6 +234,12 @@
       false,
       false,
       false,
+      true,
+      true
+    ],
+    [
+      true,
+      true,
       false,
       false,
       false,
@@ -274,6 +250,13 @@
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+      true,
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+      true,
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       false,
@@ -292,10 +275,12 @@
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       false,
       false,
-      false,
-      false,
-      false,
-      false,
+      true,
+      true,
+      true,
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@@ -323,6 +308,13 @@
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@@ -341,6 +333,12 @@
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@@ -350,24 +348,8 @@
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-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
+      true,
+      true,
       true,
       true
     ],
@@ -424,11 +406,8 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
-      false,
-      false,
+      true,
+      true,
       true,
       true
     ],
@@ -485,11 +464,8 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
-      false,
-      false,
+      true,
+      true,
       true,
       true
     ],
@@ -508,8 +484,6 @@
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@@ -536,9 +510,6 @@
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@@ -552,14 +523,16 @@
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+      true,
+      true,
       true
     ],
     [
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-      false,
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@@ -573,11 +546,7 @@
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       true,
-      false,
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@@ -601,6 +570,7 @@
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@@ -611,17 +581,17 @@
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+      true,
       true,
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     ],
     [
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-      false,
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+      true,
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@@ -635,11 +605,7 @@
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@@ -663,6 +629,7 @@
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@@ -679,9 +646,10 @@
     [
       true,
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-      false,
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@@ -696,7 +664,6 @@
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@@ -705,9 +672,6 @@
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@@ -724,9 +688,6 @@
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@@ -735,9 +696,16 @@
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+      true,
+      true,
+      true,
       true
     ],
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+      true,
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@@ -745,10 +713,6 @@
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@@ -765,11 +729,8 @@
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@@ -785,10 +746,6 @@
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@@ -796,9 +753,17 @@
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       true,
+      true,
+      true,
+      true,
+      true,
       true
     ],
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+      true,
+      true,
+      true,
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@@ -806,10 +771,6 @@
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@@ -826,11 +787,8 @@
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       false,
-      true,
-      true,
-      true,
-      true,
-      true,
+      false,
+      false,
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@@ -846,10 +804,6 @@
       true,
       true,
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-      false,
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       false,
@@ -857,9 +811,17 @@
       false,
       false,
       true,
+      true,
+      true,
+      true,
+      true,
       true
     ],
     [
+      true,
+      true,
+      true,
+      true,
       true,
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@@ -867,10 +829,6 @@
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       false,
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@@ -887,11 +845,8 @@
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-      true,
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@@ -907,10 +862,6 @@
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@@ -918,9 +869,16 @@
       false,
       false,
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+      true,
+      true,
+      true,
+      true,
       true
     ],
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+      true,
+      true,
+      true,
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@@ -929,9 +887,6 @@
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@@ -949,9 +904,6 @@
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@@ -968,10 +920,6 @@
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-      false,
       false,
       false,
       false,
@@ -979,6 +927,10 @@
       false,
       false,
       true,
+      true,
+      true,
+      true,
+      true,
       true
     ],
     [
@@ -1001,11 +953,7 @@
       true,
       true,
       true,
-      false,
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-      false,
-      false,
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+      true,
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@@ -1029,16 +977,17 @@
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       true,
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+      true,
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       false,
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       false,
-      false,
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+      true,
+      true,
+      true,
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       true,
       true
     ],
@@ -1061,11 +1010,7 @@
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       true,
       true,
-      false,
-      false,
-      false,
-      false,
-      false,
+      true,
       false,
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@@ -1089,6 +1034,7 @@
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       true,
       true,
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@@ -1097,13 +1043,14 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
+      true,
+      true,
+      true,
       true,
       true
     ],
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+      true,
       true,
       true,
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@@ -1118,8 +1065,6 @@
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@@ -1146,9 +1091,7 @@
       false,
       false,
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-      true,
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-      true,
+      false,
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       false,
@@ -1167,10 +1110,7 @@
     [
       true,
       true,
-      false,
-      false,
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+      true,
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       false,
       false,
@@ -1228,10 +1168,7 @@
     [
       true,
       true,
-      false,
-      false,
-      false,
-      false,
+      true,
       false,
       false,
       false,
@@ -1287,6 +1224,7 @@
       true
     ],
     [
+      true,
       true,
       true,
       false,
@@ -1298,6 +1236,13 @@
       false,
       false,
       false,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
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       false,
       false,
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@@ -1316,23 +1261,12 @@
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+      true,
+      true,
+      true,
+      true,
+      true,
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       false,
       false,
       false,
@@ -1350,32 +1284,6 @@
     [
       true,
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@@ -1386,6 +1294,13 @@
       false,
       false,
       false,
+      true,
+      true,
+      true,
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@@ -1406,9 +1321,6 @@
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-    [
       true,
       true,
       true,
@@ -1424,6 +1336,12 @@
       false,
       false,
       false,
+      true,
+      true
+    ],
+    [
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@@ -1434,6 +1352,13 @@
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       false,
       false,
@@ -1452,6 +1377,12 @@
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       false,
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+      true,
+      true,
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@@ -1463,16 +1394,10 @@
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       true,
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@@ -1524,9 +1449,9 @@
       false,
       false,
       false,
-      true,
-      true,
-      true,
+      false,
+      false,
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       true,
       true
     ],
@@ -1586,9 +1511,6 @@
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       true,
       true,
-      true,
-      true,
-      true,
       true
     ],
     [
@@ -1647,9 +1569,6 @@
       true,
       true,
       true,
-      true,
-      true,
-      true,
       true
     ]
   ]
diff --git a/src/main/deploy/pathplanner/paths/L1.path b/src/main/deploy/pathplanner/paths/L1.path
index 6677534..1592c24 100644
--- a/src/main/deploy/pathplanner/paths/L1.path
+++ b/src/main/deploy/pathplanner/paths/L1.path
@@ -20,7 +20,7 @@
         "y": 5.969204819277109
       },
       "prevControl": {
-        "x": 2.1223114027842978,
+        "x": 2.1223114027842973,
         "y": 6.161557495159928
       },
       "nextControl": null,
diff --git a/src/main/deploy/pathplanner/paths/backup.path b/src/main/deploy/pathplanner/paths/backup.path
new file mode 100644
index 0000000..b72b78a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/backup.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5732667617689007,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.8864779222010686,
+        "y": 3.997861470378837
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.35,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.099960946645023,
+        "y": 4.002578483029655
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/depot pickup.path b/src/main/deploy/pathplanner/paths/depot pickup.path
new file mode 100644
index 0000000..86c83cc
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/depot pickup.path	
@@ -0,0 +1,84 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.35,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.316458321124934,
+        "y": 4.308092752867749
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5936519258202564,
+        "y": 5.98
+      },
+      "prevControl": {
+        "x": 2.0949953132832406,
+        "y": 5.98
+      },
+      "nextControl": {
+        "x": 1.101803135206326,
+        "y": 5.98
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7,
+        "y": 5.98
+      },
+      "prevControl": {
+        "x": 0.9915949012429583,
+        "y": 5.98
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.669243511871901,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/depot to hub .path b/src/main/deploy/pathplanner/paths/depot to hub .path
new file mode 100644
index 0000000..354aff0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/depot to hub .path	
@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7,
+        "y": 5.98
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.7,
+        "y": 5.98
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.7,
+        "y": 5.98
+      },
+      "prevControl": {
+        "x": 1.3347588374301795,
+        "y": 5.98
+      },
+      "nextControl": {
+        "x": 2.06524116256982,
+        "y": 5.98
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6416833095577745,
+        "y": 4.520199714693296
+      },
+      "prevControl": {
+        "x": 1.6416833095577745,
+        "y": 4.520199714693296
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..5f82a70
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.889,
+  "robotLength": 0.889,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.276,
+  "flModuleY": 0.276,
+  "frModuleX": 0.276,
+  "frModuleY": -0.276,
+  "blModuleX": -0.276,
+  "blModuleY": 0.276,
+  "brModuleX": -0.276,
+  "brModuleY": -0.276,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}
diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java
index 30ae940..0210d36 100644
--- a/src/main/java/org/team2342/frc/Constants.java
+++ b/src/main/java/org/team2342/frc/Constants.java
@@ -139,7 +139,7 @@ public static final class ConductorConstants {
   }
 
   public static final class IndexerConstants {
-    public static final double RUN_VOLTAGE = 6;
+    public static final double RUN_VOLTAGE = 5;
     public static final double RUN_CURRENT = 30.0;
 
     public static final MotorConfig INDEXER_MOTOR_CONFIG =
@@ -147,7 +147,7 @@ public static final class IndexerConstants {
             .withMotorInverted(true)
             .withSupplyCurrentLimit(40.0)
             .withStatorCurrentLimit(70.0)
-            .withIdleMode(MotorConfig.IdleMode.BRAKE);
+            .withIdleMode(MotorConfig.IdleMode.COAST);
 
     public static final DCMotor INDEXER_SIM_MOTOR = DCMotor.getKrakenX60(1);
     public static final DCMotorSim INDEXER_SIM =
@@ -187,7 +187,7 @@ public static final class IntakeConstants {
             .withSupplyCurrentLimit(40.0)
             .withFeedbackConfig(
                 FeedbackConfig.fused(
-                    CANConstants.INTAKE_PIVOT_ENCODER_ID, PIVOT_GEAR_RATIO, 0.173, true))
+                    CANConstants.INTAKE_PIVOT_ENCODER_ID, PIVOT_GEAR_RATIO, 0.681, true))
             .withProfileConstraintsRad(
                 new TrapezoidProfile.Constraints(
                     Units.degreesToRadians(1800), Units.degreesToRadians(540)));
@@ -213,8 +213,8 @@ public static final class ShooterConstants {
             .withControlType(ControlType.VELOCITY)
             .withGearRatio(FLYWHEEL_GEAR_RATIO)
             .withMotorInverted(true)
-            .withSupplyCurrentLimit(40)
-            .withStatorCurrentLimit(70)
+            .withSupplyCurrentLimit(50)
+            .withStatorCurrentLimit(80)
             .withProfileConstraintsRad(new TrapezoidProfile.Constraints(1000, 1000));
     public static final DCMotor FLYWHEEL_SIM_MOTOR = DCMotor.getKrakenX60(1);
     public static final DCMotorSim FLYWHEEL_SIM =
@@ -235,7 +235,7 @@ public static final class KickerConstants {
         new MotorConfig()
             .withMotorInverted(true)
             .withSupplyCurrentLimit(30.0)
-            .withStatorCurrentLimit(40.0)
+            .withStatorCurrentLimit(60.0)
             .withIdleMode(MotorConfig.IdleMode.BRAKE);
   }
 
diff --git a/src/main/java/org/team2342/frc/Robot.java b/src/main/java/org/team2342/frc/Robot.java
index 6d9845e..3c542eb 100644
--- a/src/main/java/org/team2342/frc/Robot.java
+++ b/src/main/java/org/team2342/frc/Robot.java
@@ -13,6 +13,7 @@
 import edu.wpi.first.math.MathShared;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobotBase;
 import edu.wpi.first.wpilibj.RobotController;
@@ -160,7 +161,17 @@ public void robotPeriodic() {
     ExecutionLogger.log("Commands");
 
     Logger.recordOutput("ShiftUtil/Official", HubShiftUtil.getOfficialShiftInfo());
+
+    Logger.recordOutput(
+        "ShiftUtil/Dashboard/CurrentShift", HubShiftUtil.getShiftedShiftInfo().currentShift());
+    Logger.recordOutput(
+        "ShiftUtil/Dashboard/RemainingTime", HubShiftUtil.getShiftedShiftInfo().remainingTime());
+    Logger.recordOutput("ShiftUtil/Dashboard/Active", HubShiftUtil.getShiftedShiftInfo().active());
+
     Logger.recordOutput("ShiftUtil/Shifted", HubShiftUtil.getShiftedShiftInfo());
+    Logger.recordOutput("TurretManual", Units.radiansToDegrees(robotContainer.getTurretManual()));
+    Logger.recordOutput("FlywheelManual", robotContainer.getFlywheelManual());
+    Logger.recordOutput("Vision/HasTags", robotContainer.getVision().hasTags());
 
     robotContainer.updateAlerts();
     FiringSolver.getInstance().clearCachedSolution();
diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java
index 838c377..c100872 100644
--- a/src/main/java/org/team2342/frc/RobotContainer.java
+++ b/src/main/java/org/team2342/frc/RobotContainer.java
@@ -10,6 +10,7 @@
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
@@ -102,6 +103,8 @@ public class RobotContainer {
   private final Trigger shiftAboutToEnd;
   private final Trigger activeOrPassing;
 
+  @Getter private double turretManual, flywheelManual;
+
   public RobotContainer() {
     switch (Constants.CURRENT_MODE) {
       case REAL:
@@ -151,7 +154,14 @@ public RobotContainer() {
                     CANConstants.INTAKE_WHEEL_MOTOR_ID,
                     IntakeConstants.INTAKE_WHEELS_MOTOR_CONFIG));
 
-        conductor = new Conductor(flywheel, turret, drive::getPose, drive::getChassisSpeeds);
+        conductor =
+            new Conductor(
+                flywheel,
+                turret,
+                drive::getPose,
+                drive::getChassisSpeeds,
+                () -> turretManual,
+                () -> flywheelManual);
         leds =
             new LEDSubsystem(
                 new LedIOCANdle(CANConstants.CANDLE_ID, 32),
@@ -204,7 +214,14 @@ public RobotContainer() {
         turret = new Turret(new SmartMotorIO() {});
         pivot = new Pivot(new SmartMotorIO() {});
 
-        conductor = new Conductor(flywheel, turret, drive::getPose, drive::getChassisSpeeds);
+        conductor =
+            new Conductor(
+                flywheel,
+                turret,
+                drive::getPose,
+                drive::getChassisSpeeds,
+                () -> turretManual,
+                () -> flywheelManual);
         leds =
             new LEDSubsystem(new LedIO() {}, "CANdle", vision::hasTags, conductor::getCurrentState);
 
@@ -231,7 +248,14 @@ public RobotContainer() {
         turret = new Turret(new SmartMotorIO() {});
         kicker = new Kicker(new DumbMotorIO() {});
 
-        conductor = new Conductor(flywheel, turret, drive::getPose, drive::getChassisSpeeds);
+        conductor =
+            new Conductor(
+                flywheel,
+                turret,
+                drive::getPose,
+                drive::getChassisSpeeds,
+                () -> turretManual,
+                () -> flywheelManual);
         leds =
             new LEDSubsystem(new LedIO() {}, "CANdle", vision::hasTags, conductor::getCurrentState);
 
@@ -247,11 +271,13 @@ public RobotContainer() {
         conductor
             .runState(ConductorState.WARM_UP)
             .withTimeout(2.0)
-            .alongWith(pivot.holdAngle(0))
-            .alongWith(wheels.in())
-            .alongWith(indexer.in())
-            .alongWith(kicker.in()));
-
+            .andThen(
+                conductor
+                    .runState(ConductorState.TRACKED_FIRING)
+                    .alongWith(pivot.holdAngle(0))
+                    .alongWith(wheels.in())
+                    .alongWith(indexer.in())
+                    .alongWith(kicker.in())));
     if (Constants.TUNING) setupDevelopmentRoutines();
 
     SmartDashboard.putData(
@@ -284,17 +310,26 @@ private void configureNamedCommands() {
     NamedCommands.registerCommand(
         "autoShoot",
         conductor
-            .runState(ConductorState.TRACKED_FIRING)
-            .alongWith(indexer.in())
-            .alongWith(kicker.in())
-            .withTimeout(2.0)
-            .finallyDo(
-                () -> {
-                  indexer.stop();
-                  kicker.stop();
-                }));
+            .runState(ConductorState.WARM_UP)
+            .withTimeout(1.0)
+            .andThen(
+                conductor
+                    .runState(ConductorState.TRACKED_FIRING)
+                    .alongWith(pivot.agitate())
+                    .alongWith(wheels.in())
+                    .alongWith(indexer.in())
+                    .alongWith(kicker.in())
+                    .withTimeout(4.0)
+                    .finallyDo(
+                        () -> {
+                          wheels.stop().schedule();
+                          indexer.stop().schedule();
+                          kicker.stop().schedule();
+                        })));
 
-    NamedCommands.registerCommand("autoIntake", wheels.in().finallyDo(() -> wheels.stop()));
+    NamedCommands.registerCommand(
+        "autoIntake",
+        wheels.in().alongWith(pivot.holdAngle(0)).finallyDo(() -> wheels.stop().schedule()));
 
     NamedCommands.registerCommand(
         "stopAll",
@@ -357,7 +392,7 @@ private void configureBindings() {
         .onFalse(pivot.stop());
 
     driverController
-        .povDown()
+        .povLeft()
         .whileTrue(pivot.agitate().alongWith(wheels.runIntake(5)))
         .onFalse(wheels.stop().alongWith(pivot.stop()));
 
@@ -366,7 +401,8 @@ private void configureBindings() {
         .rightTrigger()
         .whileTrue(conductor.runState(ConductorState.TRACKED_FIRING))
         .and(activeOrPassing)
-        .whileTrue(Commands.parallel(indexer.in(), kicker.in()))
+        .whileTrue(
+            Commands.waitSeconds(1).andThen(Commands.parallel(indexer.pulseIn(), kicker.in())))
         .onFalse(Commands.parallel(indexer.stop(), kicker.stop()));
 
     // Firing during inactive period
@@ -379,8 +415,35 @@ private void configureBindings() {
     driverController
         .rightBumper()
         .whileTrue(conductor.runState(ConductorState.TRACKED_FIRING))
+        .whileTrue(
+            Commands.waitSeconds(1).andThen(Commands.parallel(indexer.pulseIn(), kicker.in())))
+        .onFalse(Commands.parallel(indexer.stop(), kicker.stop()));
+
+    // Operator override
+    operatorController
+        .rightTrigger()
         .whileTrue(Commands.parallel(indexer.in(), kicker.in()))
         .onFalse(Commands.parallel(indexer.stop(), kicker.stop()));
+    operatorController
+        .rightBumper()
+        .whileTrue(Commands.parallel(indexer.out(), kicker.out(), wheels.out()))
+        .onFalse(Commands.parallel(indexer.stop(), kicker.stop(), wheels.stop()));
+
+    // Turret Zero
+    operatorController.back().onTrue(Commands.runOnce(() -> turret.zeroTurret()));
+
+    // Manual Mode
+    operatorController
+        .start()
+        .toggleOnTrue(conductor.forceManual().alongWith(Commands.runOnce(this::resetManual)));
+    operatorController.povUp().whileTrue(Commands.run(() -> flywheelManual += 0.1));
+    operatorController.povDown().whileTrue(Commands.run(() -> flywheelManual -= 0.1));
+    operatorController
+        .povLeft()
+        .whileTrue(Commands.run(() -> turretManual -= Units.degreesToRadians(0.75)));
+    operatorController
+        .povRight()
+        .whileTrue(Commands.run(() -> turretManual += Units.degreesToRadians(0.75)));
 
     // Location Triggers
     allianceZoneTrigger
@@ -438,6 +501,11 @@ public void updateAlerts() {
     operatorControllerAlert.set(!operatorController.isConnected());
   }
 
+  public void resetManual() {
+    flywheelManual = flywheel.getVelocityMetersPerSec();
+    turretManual = turret.getTurretPositionAsADouble();
+  }
+
   public static boolean withinBounds(double value, double bound1, double bound2) {
     return value <= Math.max(bound1, bound2) && value >= Math.min(bound1, bound2);
   }
diff --git a/src/main/java/org/team2342/frc/subsystems/Conductor.java b/src/main/java/org/team2342/frc/subsystems/Conductor.java
index cffb130..e7879be 100644
--- a/src/main/java/org/team2342/frc/subsystems/Conductor.java
+++ b/src/main/java/org/team2342/frc/subsystems/Conductor.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 import lombok.experimental.Delegate;
 import org.team2342.frc.Constants;
@@ -29,6 +30,7 @@ public class Conductor extends SubsystemBase {
   public enum ConductorState {
     UNDETERMINED,
     DISABLED,
+    MANUAL,
     WARM_UP,
     TRACKED_FIRING,
     TUNING,
@@ -48,17 +50,25 @@ public enum ConductorState {
   private final Supplier<Pose2d> poseSupplier;
   private final Supplier<ChassisSpeeds> velocitySupplier;
 
+  private final DoubleSupplier manualTurretSupplier;
+  private final DoubleSupplier manualFlywheelSupplier;
+
   public Conductor(
       Flywheel flywheel,
       Turret turret,
       Supplier<Pose2d> poseSupplier,
-      Supplier<ChassisSpeeds> velocitySupplier) {
+      Supplier<ChassisSpeeds> velocitySupplier,
+      DoubleSupplier manualTurretSupplier,
+      DoubleSupplier manualFlywheelSupplier) {
     this.flywheel = flywheel;
     this.turret = turret;
 
     this.poseSupplier = poseSupplier;
     this.velocitySupplier = velocitySupplier;
 
+    this.manualFlywheelSupplier = manualFlywheelSupplier;
+    this.manualTurretSupplier = manualTurretSupplier;
+
     setupStateCommands();
     setupTransitions();
 
@@ -127,12 +137,23 @@ private void setupStateCommands() {
                         .calculate(velocitySupplier.get(), poseSupplier.get())
                         .turretAngle())
             .alongWith(flywheel.shoot(flywheelSpeed)));
+
+    fsm.addStateCommand(
+        ConductorState.MANUAL,
+        turret
+            .runPositionNoLimitCommand(manualTurretSupplier)
+            .alongWith(flywheel.shoot(manualFlywheelSupplier)));
   }
 
   public Command disable() {
     return Commands.runOnce(() -> fsm.disable());
   }
 
+  public Command forceManual() {
+    return Commands.run(() -> fsm.forceState(ConductorState.MANUAL))
+        .finallyDo(() -> fsm.forceState(ConductorState.DISABLED));
+  }
+
   public Command enable() {
     return Commands.runOnce(() -> fsm.enable());
   }
@@ -142,10 +163,11 @@ public ConductorState getCurrentState() {
   }
 
   private void setupTransitions() {
-    fsm.addOmniTransition(ConductorState.DISABLED);
-    fsm.addOmniTransition(ConductorState.TRACKED_FIRING);
-    fsm.addOmniTransition(ConductorState.WARM_UP);
-    fsm.addOmniTransition(ConductorState.TUNING);
+    fsm.addTransition(ConductorState.UNDETERMINED, ConductorState.DISABLED);
+    fsm.addDualTransition(ConductorState.DISABLED, ConductorState.TRACKED_FIRING);
+    fsm.addDualTransition(ConductorState.WARM_UP, ConductorState.TRACKED_FIRING);
+    fsm.addDualTransition(ConductorState.DISABLED, ConductorState.WARM_UP);
+    fsm.addDualTransition(ConductorState.DISABLED, ConductorState.TUNING);
   }
 
   public interface FSMDelegate {
diff --git a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java
index 36edbf4..697f4f0 100644
--- a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java
+++ b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java
@@ -51,7 +51,7 @@ public Command out() {
 
   public Command pulseIn() {
     return Commands.repeatingSequence(
-        in().withTimeout(0.25), stop().andThen(Commands.waitSeconds(0.25)));
+        in().withTimeout(2), stop().andThen(Commands.waitSeconds(0.5)));
   }
 
   public Command stop() {
diff --git a/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java b/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java
index a7f09f6..d2323c1 100644
--- a/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java
+++ b/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java
@@ -25,14 +25,14 @@ public class Pivot extends SubsystemBase {
   private final SmartMotorIOInputsAutoLogged pivotMotorInputs = new SmartMotorIOInputsAutoLogged();
 
   @AutoLogOutput(key = "Intake/Pivot/TargetAngle")
-  private double goal = IntakeConstants.MIN_ANGLE;
+  private double goal = IntakeConstants.MAX_ANGLE;
 
   private final Alert pivotMotorAlert = new Alert("Pivot motor is disconnected!", AlertType.kError);
 
   public Pivot(SmartMotorIO pivotMotor) {
     this.pivotMotor = pivotMotor;
     setName("Intake/Pivot");
-    setDefaultCommand(holdAngle(goal));
+    setDefaultCommand(run(() -> pivotMotor.runPosition(goal)));
   }
 
   @Override
@@ -71,6 +71,6 @@ public Command stop() {
   }
 
   public Command agitate() {
-    return Commands.repeatingSequence(goToAngle(0.8), goToAngle(0.9));
+    return Commands.repeatingSequence(goToAngle(1.4), goToAngle(1.5));
   }
 }
diff --git a/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java b/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java
index 90cbd21..b2b73d9 100644
--- a/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java
+++ b/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java
@@ -12,6 +12,7 @@
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
@@ -53,10 +54,19 @@ public void runPosition(Supplier<Rotation2d> target) {
     turretMotor.runPosition(goal);
   }
 
+  public void runPositionNoLimit(DoubleSupplier target) {
+    this.goal = target.getAsDouble();
+    turretMotor.runPosition(goal);
+  }
+
   public Command runPositionCommand(Rotation2d target) {
     return run(() -> runPosition(target)).withName("Turret RunPosition");
   }
 
+  public Command runPositionNoLimitCommand(DoubleSupplier target) {
+    return run(() -> runPositionNoLimit(target)).withName("Turret RunPosition No Limit");
+  }
+
   public Command runPositionCommand(Supplier<Rotation2d> target) {
     return run(() -> runPosition(target)).withName("Turret RunPosition");
   }
@@ -86,6 +96,10 @@ public Rotation2d getTurretPosition() {
     return Rotation2d.fromRadians(inputs.positionRad);
   }
 
+  public double getTurretPositionAsADouble() {
+    return inputs.positionRad;
+  }
+
   public double getTurretVelocity() {
     return inputs.velocityRadPerSec;
   }
@@ -100,7 +114,8 @@ public boolean atGoal() {
   }
 
   public void zeroTurret() {
-    turretMotor.setPosition(0.0);
+    turretMotor.setPosition(TurretConstants.STARTING_ANGLE);
+    goal = TurretConstants.STARTING_ANGLE;
   }
 
   private double calculateTurretAngle(Rotation2d angle) {
diff --git a/src/main/java/org/team2342/frc/util/FiringSolver.java b/src/main/java/org/team2342/frc/util/FiringSolver.java
index 50f8c7f..aa9cbaa 100644
--- a/src/main/java/org/team2342/frc/util/FiringSolver.java
+++ b/src/main/java/org/team2342/frc/util/FiringSolver.java
@@ -32,16 +32,16 @@ public class FiringSolver {
   // TODO: tune real maps
   static {
     speedMap.put(1.942, 14.2);
-    speedMap.put(2.712, 14.2);
-    speedMap.put(2.847, 15.0);
-    speedMap.put(3.065, 16.0);
-    speedMap.put(3.442, 17.0);
-    speedMap.put(3.8, 17.5);
-    speedMap.put(4.16, 19.0);
-    speedMap.put(4.341, 20.5);
+    speedMap.put(2.712, 14.7);
+    speedMap.put(2.847, 15.5);
+    speedMap.put(3.065, 17.5);
+    speedMap.put(3.442, 18.0);
+    speedMap.put(3.8, 18.5);
+    speedMap.put(4.16, 20.5);
+    speedMap.put(4.341, 21.5);
 
     MIN_TOF = 3.89 - 3.08;
-    MAX_TOF = 1.0;
+    MAX_TOF = 11.3 - 9.83;
 
     tofMap.put(1.942, 3.89 - 3.08);
     tofMap.put(2.712, 4.11 - 3.30);