diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d2e43ed..98c5c1b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -362,7 +362,7 @@ public class RobotContainer {
                     secondary.setRumble(RumbleType.kBothRumble, 0);
                 }, 
                 () -> false
-            ).withTimeout(5)
+            ).withTimeout(1)
         );
     }
 
diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
index 5a1d846..3b32a86 100644
--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -41,18 +41,18 @@ public class ShooterConstants {
     public static final boolean kLeftShooterMotorInverted = true;
     public static final boolean kRightShooterMotorInverted = false;
 
-    public static final double kLeftP = 0.001;
+    public static final double kLeftP = 0.04;//0.01;//0.001;
     public static final double kLeftI = 0;
-    public static final double kLeftD = 0;
+    public static final double kLeftD = 0;//1.8;
     public static final double kLeftS = 0;
-    public static final double kLeftV = 0.0013;
+    public static final double kLeftV = 0.00129;
     public static final double kLeftA = 0;
 
-    public static final double kRightP = 0.001;
+    public static final double kRightP = 0.04;//0.001;//0.001;
     public static final double kRightI = 0;
-    public static final double kRightD = 0.000;
+    public static final double kRightD = 0;
     public static final double kRightS = 0;
-    public static final double kRightV = 0.00121;
+    public static final double kRightV = 0.00125;
     public static final double kRightA = 0;
 
     public static final double kMaxManualSpeedMultiplier = 1;
@@ -77,13 +77,15 @@ public class ShooterConstants {
             .inverted(kLeftShooterMotorInverted);
         kLeftMotorConfig.absoluteEncoder
             .positionConversionFactor(1)
-            .velocityConversionFactor(60);
+            .velocityConversionFactor(60)
+            .averageDepth(16); // VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
         kLeftMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
-            .pid(kLeftP, kLeftI, kLeftD)
+            .pid(kLeftP, kLeftI, kLeftD, ClosedLoopSlot.kSlot0)
             .outputRange(-1, 1)
+            //.allowedClosedLoopError(10.0, ClosedLoopSlot.kSlot0)
             .feedForward
-                .sva(kLeftS, kLeftV, kLeftA);
+                .sva(kLeftS, kLeftV, kLeftA, ClosedLoopSlot.kSlot0);
 
         kRightMotorConfig
             .idleMode(kShooterIdleMode)
@@ -92,12 +94,14 @@ public class ShooterConstants {
         kRightMotorConfig.absoluteEncoder
             .positionConversionFactor(1)
             .velocityConversionFactor(60)
+            .averageDepth(16)// VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
             .inverted(true);
         kRightMotorConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
             .pid(kRightP, kRightI, kRightD)
             .outputRange(-1, 1)
+            //.allowedClosedLoopError(10.0, ClosedLoopSlot.kSlot0)
             .feedForward
-                .sva(kRightS, kRightV, kRightA);
+                .sva(kRightS, kRightV, kRightA, ClosedLoopSlot.kSlot0);
     }
 }