diff --git a/Competition/src/main/cpp/subsystems/Shooter.cpp b/Competition/src/main/cpp/subsystems/Shooter.cpp
index 45c3ed7..14ad4e4 100644
--- a/Competition/src/main/cpp/subsystems/Shooter.cpp
+++ b/Competition/src/main/cpp/subsystems/Shooter.cpp
@@ -169,7 +169,7 @@ void Shooter::assessInputs()
     }
     
     //Turret
-    if (feederTable->GetNumber("Intake Encoder Value", 0) > ShooterConstants::turretRotateIntakeThreshold) {
+    if (feederTable->GetNumber("Intake Encoder Value", 0) < FeederConstants::rotateForwardLimit / 2) {
         if (turretEncoder.GetPosition() > ShooterConstants::homePositionMid) {
             state.turretState = TurretState::TURRET_HOME_LEFT;
         }
diff --git a/Competition/src/main/include/Constants.h b/Competition/src/main/include/Constants.h
index e6a57ff..f1b1d22 100644
--- a/Competition/src/main/include/Constants.h
+++ b/Competition/src/main/include/Constants.h
@@ -227,7 +227,6 @@ namespace ShooterConstants{
     constexpr static double turretLimitRight = 0 - 7;
 
     constexpr static double turretRotateLiftThreshold = 20000; // lowered from 64500
-    constexpr static double turretRotateIntakeThreshold = 829.63;  //set to intake rotate up threshold
     
     constexpr static double hubX = 0;
     constexpr static double hubY = 0;
@@ -270,7 +269,7 @@ namespace FeederConstants{
     constexpr static double main_KI = 0.0;
     constexpr static double main_KP = 0.1;
 
-    constexpr static double MAIN_MOTION_CRUISE_VELOCITY = 50;
+    constexpr static double MAIN_MOTION_CRUISE_VELOCITY = 4000;
     constexpr static double MAIN_MOTION_ACCELERATION = MAIN_MOTION_CRUISE_VELOCITY * 1;