diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3a892d5..6c04ee9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -226,8 +226,8 @@ public class RobotContainer {
 		operator.back().onTrue(elevator.homeCommand());
 
 		operator.start().toggleOnTrue(
-			climberPivot.runPivot(() -> -operator.getRightY()*0.5)
-			.alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
+			climberPivot.runPivot(() -> -operator.getRightY())
+			.alongWith(climberRollers.runRoller(() -> operator.getLeftY())));
 
 		operator.a().onTrue(
 			safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 2124be5..e7d8348 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -188,8 +188,6 @@ public class Drivetrain extends SubsystemBase {
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
             }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
-            }else if(getVelocity() < 1.5){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.06, 0.06, Units.degreesToRadians(360)));
             }
 
             // if the detected tags match your alliances reef tags use their pose estimates  
@@ -216,8 +214,6 @@ public class Drivetrain extends SubsystemBase {
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
             }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
                 m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
-            }else if(getVelocity() < 1.5){
-                m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.06, 0.06, Units.degreesToRadians(360)));
             }
 
             if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){