diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 513bf88..7b5a7b1 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -680,12 +680,12 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
                         shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing())));
 
     new Trigger(() -> NewAutoAim.targetInTurretDeadzone())
-        .onTrue(
-            driver
-                .rumbleCmd(1, 1)
-                .withTimeout(0.25)
-                .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25)));
+        .onTrue(driver.rumbleCmd(1, 1).withTimeout(0.25));
+    //  .alongWith(operator.rumbleCmd(1, 1).withTimeout(0.25)));
     // ---zeroing stuff---
+    new Trigger(() -> superstructure.tenSecsLeftInOffShift())
+        .onTrue(operator.rumbleCmd(1, 1).withTimeout(0.25));
+
     driver.povUp().whileTrue(shooter.currentZeroTurretAgainstForwardHardstop());
 
     driver
@@ -706,6 +706,14 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
         .onTrue(Commands.runOnce(() -> leftClimbTarget = false));
     // I HATE THIS!
     operator.leftStick().whileTrue(Commands.parallel(intake.restRetracted(), shooter.stopTurret()));
+    operator
+        .rightStick()
+        .onTrue(
+            Commands.runOnce(
+                () ->
+                    shooter
+                        .resetTurretToPosition(shooter::getCalculatedTurretRotations)
+                        .ignoringDisable(true)));
 
     driver
         .rightBumper()
diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java
index 10edb59..dee60ae 100644
--- a/src/main/java/frc/robot/Superstructure.java
+++ b/src/main/java/frc/robot/Superstructure.java
@@ -823,6 +823,23 @@ public boolean isOurShift() {
     }
   }
 
+  public boolean tenSecsLeftInOffShift() {
+    if (!isOurShift() && (10.0 <= getTimeLeftInShift() && getTimeLeftInShift() <= 11.0)) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  @AutoLogOutput(key = "10s Left (in off shift)")
+  public boolean lessThanTenSecsLeftInOffShift() {
+    if (!isOurShift() && (10.0 <= getTimeLeftInShift())) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+
   public boolean inScoringArea() {
     // return true;
     if (swerve == null) return false;
diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
index 41d69d1..8f63924 100644
--- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java
+++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
@@ -63,43 +63,43 @@ public class AutoAim {
         1.716849,
         new ShotData(
             Rotation2d.fromDegrees(23 - 13.16),
-            30 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            30 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             0.8));
     COMP_HUB_SHOT_TREE.put(
         2.017596,
         new ShotData(
             Rotation2d.fromDegrees(23 - 13.16),
-            33 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            33 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             0.9));
     COMP_HUB_SHOT_TREE.put(
         2.423868,
         new ShotData(
             Rotation2d.fromDegrees(25 - 13.16),
-            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             1.1));
     COMP_HUB_SHOT_TREE.put(
         2.664198,
         new ShotData(
             Rotation2d.fromDegrees(26 - 13.16),
-            36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             1.2));
     COMP_HUB_SHOT_TREE.put(
         2.903207,
         new ShotData(
             Rotation2d.fromDegrees(30 - 13.16),
-            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             1.2));
     COMP_HUB_SHOT_TREE.put(
         3.156802,
         new ShotData(
             Rotation2d.fromDegrees(32 - 13.16),
-            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             1.23));
     COMP_HUB_SHOT_TREE.put(
         3.437033,
         new ShotData(
             Rotation2d.fromDegrees(34 - 13.16),
-            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO, //   + 1,
             1.25));
     COMP_HUB_SHOT_TREE.put(
         3.611052,