diff --git a/src/main/java/team3647/frc2024/constants/ShooterConstants.java b/src/main/java/team3647/frc2024/constants/ShooterConstants.java
index 78977b6..245395b 100644
--- a/src/main/java/team3647/frc2024/constants/ShooterConstants.java
+++ b/src/main/java/team3647/frc2024/constants/ShooterConstants.java
@@ -36,7 +36,7 @@ public class ShooterConstants {
             kWheelRotationMeters / GlobalConstants.kFalconTicksPerRotation * kGearboxReduction;
 
     // tune ff
-    public static final double kS = 9.8182; // 21.415; // 17.729; // 8.7167;
+    public static final double kS = 2.0; // 21.415; // 17.729; // 8.7167;
     public static final double kV = 0; // 1.5; // 0.28947; // 0.24226;
     public static final double kA = 0; // 0.88966; // 0.60231;
 
diff --git a/src/main/java/team3647/frc2024/robot/RobotContainer.java b/src/main/java/team3647/frc2024/robot/RobotContainer.java
index b79deae..9380d09 100644
--- a/src/main/java/team3647/frc2024/robot/RobotContainer.java
+++ b/src/main/java/team3647/frc2024/robot/RobotContainer.java
@@ -306,6 +306,8 @@ public void teleopInit() {}
     void configTestCommands() {}
 
     public void configureSmartDashboardLogging() {
+        //logging offset for interp
+        printer.addDouble("offset", targetingUtil::getOffset);
         printer.addBoolean("note seen", () -> !autoCommands.noteNotSeen.getAsBoolean());
         // SmartDashboard.putNumber("pivot output", 0);
         // // SmartDashboard.putNumber("wrist kg", 0);
diff --git a/src/main/java/team3647/frc2024/subsystems/Superstructure.java b/src/main/java/team3647/frc2024/subsystems/Superstructure.java
index 816ef28..3e32495 100644
--- a/src/main/java/team3647/frc2024/subsystems/Superstructure.java
+++ b/src/main/java/team3647/frc2024/subsystems/Superstructure.java
@@ -41,7 +41,7 @@ public class Superstructure {
     private final double churroDeployAngle = 70;
     private final double churroStowAngle = ChurroConstants.kInitialDegree;
     private final double shootSpeed;
-    public double currentLimit = 59;
+    public double currentLimit = 49;
     
     ;
     private boolean hasPiece = false;
@@ -165,7 +165,7 @@ public Command stowChurro() {
     }
 
     public Command spinUpAmp() {
-        return shooterCommands.setVelocity(() -> 3.5, () -> 1);
+        return shooterCommands.setVelocity(() -> 6, () -> 1);
     }
 
     public Command setShootModeStationary() {
diff --git a/src/main/java/team3647/frc2024/util/RobotTracker.java b/src/main/java/team3647/frc2024/util/RobotTracker.java
index 28dcf4c..74d9dea 100644
--- a/src/main/java/team3647/frc2024/util/RobotTracker.java
+++ b/src/main/java/team3647/frc2024/util/RobotTracker.java
@@ -45,7 +45,7 @@ public RobotTracker(
         this.speakerPose = AllianceFlip.flipForPP(speakerPose, this.color == Alliance.Red);
         this.ampPose = color.equals(Alliance.Red) ? AllianceFlip.flipForPP(ampPose) : ampPose;
         this.robotToShooter = robotToShooter;
-        this.feedPose = feedPose;
+        this.feedPose = AllianceFlip.flipForPP(feedPose, color == Alliance.Red);
         this.drivePose = drivePose;
         this.driveSpeeds = driveSpeeds;
         this.shootSpeedMap = shootSpeedMap;