diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Auton/blueDepot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Auton/blueDepot.java
index 0709b81..382ecc7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Auton/blueDepot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Auton/blueDepot.java
@@ -116,8 +116,8 @@ public class blueDepot extends LinearOpMode {
                 .UNSTABLE_addTemporalMarkerOffset(.1, () -> {
                     reset();
                 })
-                .lineToLinearHeading(new Pose2d(-13,27, Math.toRadians(90)))
-                .lineToLinearHeading(new Pose2d(-13,65, Math.toRadians(55)))
+                .lineToLinearHeading(new Pose2d(-16,27, Math.toRadians(90)))
+                .lineToLinearHeading(new Pose2d(-16,65, Math.toRadians(55)))
                 .UNSTABLE_addTemporalMarkerOffset(.1, () -> {
                     spintakeStart();
                 })
@@ -143,7 +143,7 @@ public class blueDepot extends LinearOpMode {
                 .UNSTABLE_addTemporalMarkerOffset(.1, () -> {
                     reset();
                 })
-                .lineToLinearHeading(new Pose2d(-13,27, Math.toRadians(90)))
+                .lineToLinearHeading(new Pose2d(-16,27, Math.toRadians(90)))
                 .lineToLinearHeading(new Pose2d(-18 ,65, Math.toRadians(55)))
                 .UNSTABLE_addTemporalMarkerOffset(.1, () -> {
                     spintakeStart();
@@ -155,7 +155,7 @@ public class blueDepot extends LinearOpMode {
                 .UNSTABLE_addTemporalMarkerOffset(.1, () -> {
                     spintakeEnd();
                 })
-                .lineToLinearHeading(new Pose2d(-13,27, Math.toRadians(90)))
+                .lineToLinearHeading(new Pose2d(-16,27, Math.toRadians(90)))
                 .lineToLinearHeading(new Pose2d(24,23, Math.toRadians(135)))
                 .UNSTABLE_addTemporalMarkerOffset(.1, () -> {
                     reset();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControlsV1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControlsV1.java
index 5363b23..08f8640 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControlsV1.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControlsV1.java
@@ -61,6 +61,9 @@ public class DriverControlsV1 extends LinearOpMode {
         robot.turret.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
         while (opModeIsActive()) {
+            robot.leftPTO.setPosition(0.2);
+            robot.rightPTO.setPosition(0.2);
+
             double currentVoltage = robot.batteryVoltageSensor.getVoltage();
             if (currentVoltage > 13.5) {
                 pidf = new PIDFCoefficients(3, 0, 0, 13.8
@@ -74,16 +77,19 @@ public class DriverControlsV1 extends LinearOpMode {
 
             }
             Pose2d myPose = drive.getPoseEstimate();
-
+            double turrPos = robot.turret.getCurrentPosition();
 
             result = limelight.getLatestResult();
             double vision = result.getTx() * visionMult;
+            if((result.getTx() < 2 || result.getTy() > -2) && result.isValid()){
+//                drive.setPoseEstimate(new Pose2d(drive.getPoseEstimate().getX(), drive.getPoseEstimate().getY(), turretLock.updateHeading(myPose, result, turrPos)));
+            }
             double trimDeltaDeg = MANUAL_TRIM_DEG_PER_LOOP * (gamepad2.left_trigger - gamepad2.right_trigger);
             if (Math.abs(trimDeltaDeg) > 1e-6) turretLock.addManualTrimDeg(trimDeltaDeg);
             if (gamepad2.y) turretLock.resetManualTrim();  // reset driver trim
 //            telemetry.update();\
 //
-            double targetTicks =  turretLock.update(myPose, result, vision);
+            double targetTicks = turretLock.update(myPose, result, vision, turrPos);
             robot.turret.setTargetPosition((int) targetTicks);
             robot.turret.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             robot.turret.setPower(1);
@@ -159,8 +165,11 @@ public class DriverControlsV1 extends LinearOpMode {
                     break;
 
                 case LOWER_HOOD:
-                    targetHood = Math.max(0.45, targetHood - 0.2);
+                    targetHood = Math.max(0.34, targetHood - 0.2);
+                    targetVelocity = targetVelocity + 100;
                     robot.launchHood.setPosition(targetHood);
+                    robot.bottomFly.setVelocity(targetVelocity);
+                    robot.topFly.setVelocity(targetVelocity);
                     shootStatus = ShootState.RESET;
                     break;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTurretLock.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTurretLock.java
index 6de05c6..f55231e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTurretLock.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpTurretLock.java
@@ -127,7 +127,7 @@ public class TeleOpTurretLock extends LinearOpMode {
             if (gamepad2.y) turretLock.resetManualTrim();  // reset driver trim
 //            telemetry.update();\
 //
-            double targetTicks =  turretLock.update(pose, result, vision);
+            double targetTicks =  turretLock.update(pose, result, vision, robot.turret.getCurrentPosition());
             robot.turret.setTargetPosition((int) targetTicks);
             robot.turret.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             robot.turret.setPower(1);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TurretLock.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TurretLock.java
index 1c02f4c..e9ca896 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TurretLock.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TurretLock.java
@@ -168,7 +168,7 @@ public class TurretLock {
 
 
     /** Main update: call every loop. */
-    public double update(Pose2d robotPose, LLResult result, double visionCorrect) {
+    public double update(Pose2d robotPose, LLResult result, double visionCorrect, double turrPos) {
         // 1) ODOM: compute turret angle needed to face goal (in degrees)
         double dx = goalX - robotPose.getX();
         double dy = goalY - robotPose.getY();
@@ -193,7 +193,7 @@ public class TurretLock {
         filteredVisionTrimDeg = -visionCorrect;
         switch (TYPE){
             case LIME:
-                finalDeg = manualTrimDeg + filteredVisionTrimDeg + turretCmdDeg;
+                finalDeg = manualTrimDeg + turrPos / ticksPerDegree + filteredVisionTrimDeg;
                 if (result != null && (finalDeg > 20 || finalDeg < -20)) {
                     TYPE = MODE.ODOMETRY;
                 }
@@ -223,6 +223,16 @@ public class TurretLock {
 //        turret.setPower(1.0);
       }
 
+    public double updateHeading(Pose2d robotPose, LLResult result, double turrPos) {
+        double robotHeadingDeg = Math.toDegrees(robotPose.getHeading());
+
+        if(result.getTx() < 1 || result.getTy() > -1){
+            robotHeadingDeg = - (turrPos / ticksPerDegree - 45);
+        }
+
+        return robotHeadingDeg;
+    }
+
     public MODE getTYPE() {
         return TYPE;
     }