diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java
index 80506f71..58edd231 100644
--- a/src/main/java/com/team1816/season/RobotContainer.java
+++ b/src/main/java/com/team1816/season/RobotContainer.java
@@ -49,6 +49,7 @@ public void teleopInit() {
         superstructure.setAutoAimTurret(true);
         superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE);
         superstructure.forceAllowGatekeeperControl(true);
+        superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE);
     }
 
     private void configureBindings() {
diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 13d6fa6c..2c0a9da9 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -1,6 +1,6 @@
 shooterSettings:
     distancesInches:
-        - 64
+        - 60
         - 96
         - 156
         - 204
@@ -14,7 +14,7 @@ shooterSettings:
         - 0.1196 # 264
         - 0.108 # 360
     launchVelocitiesRPS:
-        - 33 # 48
+        - 30 # 48
         - 41 # 96
         - 46 # 156
         - 48 # 204
@@ -187,7 +187,7 @@ subsystems:
                 id: 2
                 deviceType: TalonFX
                 neutralMode: Coast
-                motorRotation: CounterClockwise_Positive
+                motorRotation: Clockwise_Positive
             flipperMotor:
                 id: 3
                 deviceType: TalonFX
@@ -201,8 +201,10 @@ subsystems:
                 rotorToSensor: 0.1
                 pidConfig:
                     slot0:
-                        kS: 0.3 # static friction - increase if stalling near setpoint
-                        kP: 50 # position error gain - increase if not reaching target, decrease if oscillating
+                        kS: 0.1 # static friction - increase if turret won't move at small errors
+                        kP: 30 # position error gain - increase if still lagging, decrease if oscillating at setpoint
+                        kD: 0.28 # position error gain - increase if not reaching target, decrease if oscillating
+                        staticFeedforwardSign: UseClosedLoopSign
                 motionMagic:
                     expoKV: 10 # cruise speed - lower = faster, higher = slower
                     expoKA: 5.0 # acceleration smoothness - higher = gentler ramp, lower = snappier
@@ -213,7 +215,7 @@ subsystems:
             intakeOnSpeed: .4
             intakeSlowSpeed: .1
             outtakeSpeed: -0.6
-            flipperMotorOutPosition: 0.135 #0.166
+            flipperMotorOutPosition: 0.164 #0.166
             flipperMotorPullInOnePosition: 0.1
             flipperMotorPullInTwoPosition: 0.05
             flipperMotorInPosition: 0.025
@@ -231,7 +233,7 @@ subsystems:
                         kV: 0.081
         constants:
             topClosedVelocity: 0
-            topOpenVelocity: 40
+            topOpenVelocity: 60
     shooter:
         canBusName: shootercanivore
         devices:
@@ -316,7 +318,7 @@ subsystems:
             launchVelocityAdjustmentAmountRPS: 0.01
             inclineAngleAdjustmentAmountDegrees: 0.02
             turretAngleAdjustmentAmountDegrees: 0.04
-            topLaunchMotorBackspinMultiplier: .95 # Less than one for backspin.
+            topLaunchMotorBackspinMultiplier: 1 # Less than one for backspin.
     vision:
         cameras:
             forwardLeft: # Pi IP: 10.18.16.11