diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7189454..1003408 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -262,8 +262,8 @@ public class RobotContainer {
         driver.a().whileTrue(indexer.shootNote(() -> 1.0));
 
         operator.back().toggleOnTrue(shooter.manualPivot(
-        () -> operator.getLeftY(),
-        () -> operator.getRightTriggerAxis()-operator.getLeftTriggerAxis()
+        () -> MathUtil.clamp(-operator.getLeftY(), -0.75, 0.75),
+        () -> MathUtil.clamp(operator.getRightTriggerAxis()-operator.getLeftTriggerAxis(), -0.75, 0.75)
         ));
 
         operator.start().onTrue(shooter.zeroEncoder());
diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index fea3f9b..add6a5e 100644
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -24,7 +24,7 @@ public final class AutoConstants {
         new PIDConstants(kPXController), 
         new PIDConstants(kPThetaController), 
         kMaxSpeedMetersPerSecond, 
-        Units.inchesToMeters(34.65), 
+        Units.inchesToMeters(Math.sqrt(Math.pow(28-17.5, 2)+ Math.pow(28-1.75, 2))), 
         new ReplanningConfig()
     );
 
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
index 5fe793b..d60bc30 100644
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -8,6 +8,7 @@ import com.ctre.phoenix.motorcontrol.can.VictorSPX;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ClimberConstants;
+import frc.robot.constants.ShooterConstants;
 
 public class Climber extends SubsystemBase {
     private VictorSPX motor1;
@@ -29,11 +30,8 @@ public class Climber extends SubsystemBase {
     public Command setSpeedWithSupplier(DoubleSupplier speed) {
         return run(() -> {
 
-            if(shooterAngle.getAsDouble() > Math.toRadians(-5.0)){
-                motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
-            }else{
-                motor1.set(VictorSPXControlMode.PercentOutput, 0);
-            }
+            motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
+            
         });
     }