diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5bc5953..2e5bbb6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -57,7 +57,6 @@ public class RobotContainer {
    */
 
   private void configureBindings() {
-    turretSubsystem.startHoming();
     m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
     m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
     m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
index d30d6fc..5ee7c8c 100644
--- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
+++ b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
@@ -91,7 +91,7 @@ public class AutoShootCommandChassisTurret extends Command{
         Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d());
         Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
 
-        deadreckoningAutoCenterController.setSetpoint(delta.getAngle().getRadians());
+        deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.k180deg).getRadians());
     }
 
     @Override
@@ -105,7 +105,7 @@ public class AutoShootCommandChassisTurret extends Command{
             Logger.recordOutput("AutoAlignState", "Look for tag");
 
             Pose3d botPose = driveSubsystem.getBotPose();
-            driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
+            //driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
         }
         else // We have an april tag, center it to the camera frame
         {
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 485a5f0..6dbad45 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -135,7 +135,7 @@ public class DriveSubsystem extends TestableSubsystem {
 
 
         // Set vision measurement confidence values
-        driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 9999999));
+        driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 0.7));
 
         this.setDefaultCommand(Commands.run(new Runnable() {
 
diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
index a8bae7d..0a2425d 100644
--- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
@@ -26,13 +26,13 @@ public class HopperSubsystem extends TestableSubsystem {
     kickerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION));
   } 
 
-  public void feedKicker() {kickerMotor.set(0.5);}
+  public void feedKicker() {kickerMotor.set(0.75);}
 
   public void reverseKicker() {kickerMotor.set(-0.5);} 
 
   public void stopKicker() {kickerMotor.stopMotor();}
 
-  public void spindexerOn() { spindexerMotor.set(0.5);}
+  public void spindexerOn() { spindexerMotor.set(0.75);}
 
   public void spindexerOff() { spindexerMotor.stopMotor();}