diff --git a/.DataLogTool/datalogtool.json b/.DataLogTool/datalogtool.json
index 70f447c9..3230a842 100644
--- a/.DataLogTool/datalogtool.json
+++ b/.DataLogTool/datalogtool.json
@@ -1,6 +1,7 @@
 {
   "download": {
-    "localDir": "C:\\Users\\robotics\\Documents\\Crescendo-2024\\logs",
+    "deleteAfter": false,
+    "localDir": "C:\\Users\\admin.CT48-11\\Desktop\\Code\\23-24 Crescendo\\Crescendo-2024\\logs",
     "serverTeam": "10.11.55.2"
   }
 }
diff --git a/simgui-ds.json b/simgui-ds.json
index c3b41178..21520010 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -4,6 +4,11 @@
       "visible": true
     }
   },
+  "Keyboard 1 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "System Joysticks": {
     "window": {
       "visible": false
diff --git a/src/main/java/org/sciborgs1155/robot/Constants.java b/src/main/java/org/sciborgs1155/robot/Constants.java
index 0870ad30..0ef2a18a 100644
--- a/src/main/java/org/sciborgs1155/robot/Constants.java
+++ b/src/main/java/org/sciborgs1155/robot/Constants.java
@@ -142,7 +142,7 @@ public static Translation2d amp() {
     }
 
     public static Translation2d feedTarget() {
-      return amp().plus(new Translation2d(Inches.of(0), Inches.of(-24)));
+      return amp().plus(new Translation2d(Inches.of(0), Inches.of(-100)));
     }
 
     /** Returns whether the provided position is within the boundaries of the field. */
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
index e64d2824..e0a24a07 100644
--- a/src/main/java/org/sciborgs1155/robot/Robot.java
+++ b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -232,7 +232,7 @@ private void configureBindings() {
     // intake (right trigger / top left bump)
     operator
         .leftTrigger()
-        .whileTrue(intake.intake().deadlineWith(feeder.slowForward()))
+        .whileTrue(intake.intake().deadlineWith(feeder.forward()))
         .whileTrue(led.rainbow());
 
     // operator feed (left trigger) underfeeding
diff --git a/src/main/java/org/sciborgs1155/robot/commands/Shooting.java b/src/main/java/org/sciborgs1155/robot/commands/Shooting.java
index bda71d1c..2d63f6c0 100644
--- a/src/main/java/org/sciborgs1155/robot/commands/Shooting.java
+++ b/src/main/java/org/sciborgs1155/robot/commands/Shooting.java
@@ -54,7 +54,7 @@ public class Shooting implements Logged {
    * The conversion between shooter tangential velocity and note launch velocity. Perhaps. This may
    * also account for other errors with our model.
    */
-  public static final DoubleEntry siggysConstant = Tuning.entry("/Robot/Siggy's Constant", 4.42);
+  public static final DoubleEntry siggysConstant = Tuning.entry("/Robot/Siggy's Constant", 4.15);
 
   public static final DoubleEntry ethansConstant = Tuning.entry("/Robot/Ethan's Constant", 3.2);
 
diff --git a/src/main/java/org/sciborgs1155/robot/pivot/PivotConstants.java b/src/main/java/org/sciborgs1155/robot/pivot/PivotConstants.java
index 2139b85d..58647488 100644
--- a/src/main/java/org/sciborgs1155/robot/pivot/PivotConstants.java
+++ b/src/main/java/org/sciborgs1155/robot/pivot/PivotConstants.java
@@ -2,9 +2,12 @@
 
 import static edu.wpi.first.units.Units.*;
 
+import org.sciborgs1155.lib.Tuning;
+
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.networktables.DoubleEntry;
 import edu.wpi.first.units.Angle;
 import edu.wpi.first.units.Current;
 import edu.wpi.first.units.Distance;
@@ -32,7 +35,7 @@ public class PivotConstants {
   public static final Measure<Mult<Mult<Distance, Distance>, Mass>> MOI =
       (Meters).mult(Meters).mult(Kilograms).of(0.17845);
 
-  public static final Measure<Angle> POSITION_TOLERANCE = Degrees.of(0.8);
+  public static final Measure<Angle> POSITION_TOLERANCE = Degrees.of(0.4);
 
   public static final Measure<Mass> MASS = Kilograms.of(1);
   public static final Measure<Distance> LENGTH = Inches.of(16);
@@ -44,10 +47,11 @@ public class PivotConstants {
   public static final Measure<Angle> STARTING_ANGLE = Degrees.of(63.3);
 
   public static final Measure<Angle> MIN_ANGLE = Degrees.of(-45.7);
+
   public static final Measure<Angle> MAX_ANGLE = STARTING_ANGLE.minus(Degrees.of(1.2));
 
   public static final Measure<Angle> PRESET_SUBWOOFER_ANGLE = STARTING_ANGLE;
-  public static final Measure<Angle> AMP_ANGLE = Radians.of(-0.645);
+  public static final Measure<Angle> AMP_ANGLE = Radians.of(-0.59);
   public static final Measure<Angle> PRESET_PODIUM_ANGLE = Radians.of(0.5);
 
   public static final Measure<Angle> PRESET_CLIMBING_ANGLE = Radians.of(-0.195);
@@ -57,9 +61,9 @@ public class PivotConstants {
 
   public static final Measure<Angle> UNDERFEED_ANGLE = Radians.of(-0.027);
   public static final Measure<Angle> OVERFEED_ANGLE = Radians.of(0.619);
-  public static final double kP = 8.0;
+  public static final double kP = 12.0;
   public static final double kI = 0.0;
-  public static final double kD = 0.5;
+  public static final double kD = 0.1;
 
   public static final double kS = 0.14296;
   public static final double kV = 1.7305;
diff --git a/src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java b/src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java
index c7512441..94629ce9 100644
--- a/src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java
+++ b/src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java
@@ -23,7 +23,7 @@ public class ShooterConstants {
   public static final Measure<Velocity<Angle>> VELOCITY_TOLERANCE = RadiansPerSecond.of(5);
 
   public static final Measure<Velocity<Angle>> IDLE_VELOCITY = RadiansPerSecond.of(300);
-  public static final Measure<Velocity<Angle>> AMP_VELOCITY = RadiansPerSecond.of(150);
+  public static final Measure<Velocity<Angle>> AMP_VELOCITY = RadiansPerSecond.of(90);
 
   public static final Measure<Velocity<Angle>> DEFAULT_VELOCITY = RadiansPerSecond.of(550);
   public static final Measure<Velocity<Distance>> DEFAULT_NOTE_VELOCITY =