diff --git a/elastic-layout.json b/elastic-layout.json
new file mode 100644
index 0000000..727b697
--- /dev/null
+++ b/elastic-layout.json
@@ -0,0 +1,871 @@
+{
+  "version": 1.0,
+  "grid_size": 128,
+  "tabs": [
+    {
+      "name": "Match",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "Scheduler",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 384.0,
+            "height": 896.0,
+            "type": "Scheduler",
+            "properties": {
+              "topic": "/SmartDashboard/Scheduler",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "FMSInfo",
+            "x": 384.0,
+            "y": 0.0,
+            "width": 512.0,
+            "height": 128.0,
+            "type": "FMSInfo",
+            "properties": {
+              "topic": "/FMSInfo",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "APPLIED STATE",
+            "x": 896.0,
+            "y": 0.0,
+            "width": 512.0,
+            "height": 128.0,
+            "type": "Large Text Display",
+            "properties": {
+              "topic": "/SmartDashboard/APPLIED STATE",
+              "period": 0.06,
+              "data_type": "string"
+            }
+          },
+          {
+            "title": "Alerts",
+            "x": 1408.0,
+            "y": 384.0,
+            "width": 384.0,
+            "height": 512.0,
+            "type": "Alerts",
+            "properties": {
+              "topic": "/SmartDashboard/Alerts",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "Field2d",
+            "x": 384.0,
+            "y": 128.0,
+            "width": 1024.0,
+            "height": 512.0,
+            "type": "Field",
+            "properties": {
+              "topic": "/SmartDashboard/Field2d",
+              "period": 0.06,
+              "field_game": "Rebuilt",
+              "robot_width": 0.85,
+              "robot_length": 0.85,
+              "show_other_objects": false,
+              "show_trajectories": true,
+              "field_rotation": 0.0,
+              "robot_color": 4294198070,
+              "trajectory_color": 4294967295,
+              "show_robot_outside_widget": true
+            }
+          },
+          {
+            "title": "Auto Chooser",
+            "x": 384.0,
+            "y": 640.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "ComboBox Chooser",
+            "properties": {
+              "topic": "/SmartDashboard/Auto Chooser",
+              "period": 0.06,
+              "sort_options": false
+            }
+          },
+          {
+            "title": "Initialized",
+            "x": 384.0,
+            "y": 768.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Boolean Box",
+            "properties": {
+              "topic": "/SmartDashboard/Initialized",
+              "period": 0.06,
+              "data_type": "boolean",
+              "true_color": 4283215696,
+              "false_color": 4294198070,
+              "true_icon": "None",
+              "false_icon": "None"
+            }
+          },
+          {
+            "title": "InShift",
+            "x": 1152.0,
+            "y": 640.0,
+            "width": 256.0,
+            "height": 256.0,
+            "type": "Boolean Box",
+            "properties": {
+              "topic": "/SmartDashboard/Match Data/InShift",
+              "period": 0.06,
+              "data_type": "boolean",
+              "true_color": 4283215696,
+              "false_color": 4294198070,
+              "true_icon": "Checkmark",
+              "false_icon": "X"
+            }
+          },
+          {
+            "title": "TimeLeftInShift",
+            "x": 896.0,
+            "y": 640.0,
+            "width": 256.0,
+            "height": 256.0,
+            "type": "Match Time",
+            "properties": {
+              "topic": "/SmartDashboard/Match Data/TimeLeftInShift",
+              "period": 0.06,
+              "data_type": "double",
+              "time_display_mode": "Minutes and Seconds",
+              "red_start_time": 20,
+              "yellow_start_time": 30
+            }
+          },
+          {
+            "title": "MatchTime",
+            "x": 640.0,
+            "y": 640.0,
+            "width": 256.0,
+            "height": 256.0,
+            "type": "Match Time",
+            "properties": {
+              "topic": "/SmartDashboard/Match Data/MatchTime",
+              "period": 0.06,
+              "data_type": "double",
+              "time_display_mode": "Minutes and Seconds",
+              "red_start_time": 20,
+              "yellow_start_time": 30
+            }
+          },
+          {
+            "title": "Offset",
+            "x": 1408.0,
+            "y": 0.0,
+            "width": 384.0,
+            "height": 384.0,
+            "type": "Radial Gauge",
+            "properties": {
+              "topic": "/Robot/ShotCalc/Offset",
+              "period": 0.033,
+              "data_type": "double",
+              "start_angle": -140.0,
+              "end_angle": 140.0,
+              "min_value": -5.0,
+              "max_value": 5.0,
+              "number_of_labels": 10,
+              "wrap_value": false,
+              "show_pointer": true,
+              "show_ticks": true
+            }
+          }
+        ]
+      }
+    },
+    {
+      "name": "Diagnostic",
+      "grid_layout": {
+        "layouts": [
+          {
+            "title": "Swerve Velocities",
+            "x": 1408.0,
+            "y": 0.0,
+            "width": 384.0,
+            "height": 384.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "Front Left Velocity",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve Drive/Front Left Velocity",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Front Right Velocity",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve Drive/Front Right Velocity",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Back Left Velocity",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve Drive/Back Left Velocity",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Back Right Velocity",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve Drive/Back Right Velocity",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Robot Angle",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve Drive/Robot Angle",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "ClimbTop",
+            "x": 256.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 640.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "CurrentCommand",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ClimbTop/CurrentCommand",
+                  "period": 0.06,
+                  "data_type": "string",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Motor Voltage",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ClimbTop/Motor Voltage",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Position Degrees",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ClimbTop/Position Degrees",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Position Rotations",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ClimbTop/Position Rotations",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "StatorCurrent",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ClimbTop/StatorCurrent",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "ElevatorFront",
+            "x": 768.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 640.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "CurrentCommand",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ElevatorFront/CurrentCommand",
+                  "period": 0.06,
+                  "data_type": "string",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "MotorVoltage",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ElevatorFront/MotorVoltage",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Rotations",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ElevatorFront/Rotations",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "StatorCurrent",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/ElevatorFront/StatorCurrent",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "Intake",
+            "x": 1024.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 640.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "CurrentCommand",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Intake/CurrentCommand",
+                  "period": 0.06,
+                  "data_type": "string",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Motor Voltage",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Intake/Motor Voltage",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "StatorCurrent",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Intake/StatorCurrent",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Velocity RPM",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Intake/Velocity RPM",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "Twist",
+            "x": 1280.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 640.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "CurrentCommand",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Twist/CurrentCommand",
+                  "period": 0.06,
+                  "data_type": "string",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Degrees",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Twist/Degrees",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Motor Voltage",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Twist/Motor Voltage",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "StatorCurrent",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Twist/StatorCurrent",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "Shoulder",
+            "x": 1536.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 640.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "CurrentCommand",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Shoulder/CurrentCommand",
+                  "period": 0.06,
+                  "data_type": "string",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "MotorVoltage",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Shoulder/MotorVoltage",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Position Degrees",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Shoulder/Position Degrees",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "StatorCurrent",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Shoulder/StatorCurrent",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "Swerve",
+            "x": 768.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 384.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "Pose X",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve/Pose X",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Pose Y",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/Swerve/Pose Y",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          },
+          {
+            "title": "IntakePivot",
+            "x": 512.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 640.0,
+            "type": "List Layout",
+            "properties": {
+              "label_position": "TOP"
+            },
+            "children": [
+              {
+                "title": "CurrentCommand",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/IntakePivot/CurrentCommand",
+                  "period": 0.06,
+                  "data_type": "string",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "MotorVoltage",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/IntakePivot/MotorVoltage",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "Position Degrees",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/IntakePivot/Position Degrees",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              },
+              {
+                "title": "StatorCurrent",
+                "x": 0.0,
+                "y": 0.0,
+                "width": 128.0,
+                "height": 128.0,
+                "type": "Text Display",
+                "properties": {
+                  "topic": "/SmartDashboard/IntakePivot/StatorCurrent",
+                  "period": 0.06,
+                  "data_type": "double",
+                  "show_submit_button": false
+                }
+              }
+            ]
+          }
+        ],
+        "containers": [
+          {
+            "title": "Scheduler",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 1024.0,
+            "type": "Scheduler",
+            "properties": {
+              "topic": "/SmartDashboard/Scheduler",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "Swerve Drive",
+            "x": 1024.0,
+            "y": 0.0,
+            "width": 384.0,
+            "height": 384.0,
+            "type": "SwerveDrive",
+            "properties": {
+              "topic": "/SmartDashboard/Swerve Drive",
+              "period": 0.06,
+              "show_robot_rotation": true,
+              "rotation_unit": "Radians"
+            }
+          },
+          {
+            "title": "Alerts",
+            "x": 512.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 384.0,
+            "type": "Alerts",
+            "properties": {
+              "topic": "/SmartDashboard/Alerts",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "States",
+            "x": 256.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 384.0,
+            "type": "Alerts",
+            "properties": {
+              "topic": "/SmartDashboard/States",
+              "period": 0.06
+            }
+          }
+        ]
+      }
+    },
+    {
+      "name": "Vision",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "limelight-back",
+            "x": 1408.0,
+            "y": 0.0,
+            "width": 512.0,
+            "height": 384.0,
+            "type": "Camera Stream",
+            "properties": {
+              "topic": "/CameraPublisher/limelight-back",
+              "period": 0.06,
+              "rotation_turns": 0
+            }
+          },
+          {
+            "title": "limelight-front",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 512.0,
+            "height": 384.0,
+            "type": "Camera Stream",
+            "properties": {
+              "topic": "/CameraPublisher/limelight-front",
+              "period": 0.06,
+              "rotation_turns": 0
+            }
+          },
+          {
+            "title": "limelight-top",
+            "x": 512.0,
+            "y": 0.0,
+            "width": 896.0,
+            "height": 640.0,
+            "type": "Camera Stream",
+            "properties": {
+              "topic": "/CameraPublisher/limelight-top",
+              "period": 0.06,
+              "rotation_turns": 0
+            }
+          }
+        ]
+      }
+    },
+    {
+      "name": "Field",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "Field2d",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 1792.0,
+            "height": 1024.0,
+            "type": "Field",
+            "properties": {
+              "topic": "/SmartDashboard/Field2d",
+              "period": 0.06,
+              "field_game": "Reefscape",
+              "robot_width": 0.85,
+              "robot_length": 0.85,
+              "show_other_objects": false,
+              "show_trajectories": true,
+              "field_rotation": 0.0,
+              "robot_color": 4294198070,
+              "trajectory_color": 4294967295,
+              "show_robot_outside_widget": true
+            }
+          }
+        ]
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/src/main/java/frc/rebuilt/ShotCalculator.java b/src/main/java/frc/rebuilt/ShotCalculator.java
index b0e5d00..11dc52b 100644
--- a/src/main/java/frc/rebuilt/ShotCalculator.java
+++ b/src/main/java/frc/rebuilt/ShotCalculator.java
@@ -38,6 +38,28 @@ public record ShootingParameters(
 
   private static final InterpolatingDoubleTreeMap timeOfFlightMap = new InterpolatingDoubleTreeMap();
 
+  public static final double STARTING_FLYWHEEL_SPEED_OFFSET = 0;
+  public static double FLYWHEEL_SPEED_OFFSET = STARTING_FLYWHEEL_SPEED_OFFSET;
+
+  public static final double STARTING_TURRET_ANGLE_OFFSET_DEGREES = 0;
+  public static double TURRET_ANGLE_OFFSET_DEGREES = STARTING_TURRET_ANGLE_OFFSET_DEGREES;
+
+  public static void increaseFlywheelSpeedOffset() {
+    FLYWHEEL_SPEED_OFFSET += 1;
+  }
+
+  public static void decreaseFlywheelSpeedOffset() {
+    FLYWHEEL_SPEED_OFFSET -= 1;
+  }
+
+  public static void increaseTurretAngleOffsetDegrees() {
+    TURRET_ANGLE_OFFSET_DEGREES += 1;
+  }
+
+  public static void decreaseTurretAngleOffsetDegrees() {
+    TURRET_ANGLE_OFFSET_DEGREES -= 1;
+  }
+
   static {
     phaseDelay = 0.03;
 
@@ -110,6 +132,8 @@ public ShootingParameters getParameters() {
     // Calculate parameters accounted for imparted velocity
     Rotation2d turretAngle = target.minus(lookaheadPose.getTranslation()).getAngle();
     double flywheelSpeed = shotFlywheelSpeedMap.get(lookaheadTurretToTargetDistance);
+    turretAngle = turretAngle.plus(Rotation2d.fromDegrees(TURRET_ANGLE_OFFSET_DEGREES));
+    flywheelSpeed += flywheelSpeed * (FLYWHEEL_SPEED_OFFSET / 100.0);
 
     latestParameters = new ShootingParameters(
         turretAngle,
@@ -120,6 +144,8 @@ public ShootingParameters getParameters() {
     DogLog.log("ShotCalc/TurretAngleDeg", Double.toString(turretAngle.getDegrees()));
     DogLog.log("ShotCalc/FlywheelSpeed", Double.toString(flywheelSpeed));
     DogLog.log("ShotCalc/TargetPose", new Pose2d(target.getX(), target.getY(), new Rotation2d()));
+    DogLog.log("ShotCalc/FlywheelSpeedOffset", FLYWHEEL_SPEED_OFFSET);
+    DogLog.log("ShotCalc/TurretAngleOffsetDegrees", TURRET_ANGLE_OFFSET_DEGREES);
     return latestParameters;
   }
 
diff --git a/src/main/java/frc/robot/pilot/Pilot.java b/src/main/java/frc/robot/pilot/Pilot.java
index 36630de..7643a2a 100644
--- a/src/main/java/frc/robot/pilot/Pilot.java
+++ b/src/main/java/frc/robot/pilot/Pilot.java
@@ -31,6 +31,11 @@ public class Pilot extends Gamepad {
 
     public final Trigger RB = rightBumper.and(teleop);
 
+    public final Trigger dpadUp = upDpad.and(teleop);
+    public final Trigger dpadDown = downDpad.and(teleop);
+    public final Trigger dpadLeft = leftDpad.and(teleop);
+    public final Trigger dpadRight = rightDpad.and(teleop);
+
     // Vision Triggers
     public final Trigger tagsInView = new Trigger(() -> Robot.getVision().tagsInView());
 
diff --git a/src/main/java/frc/robot/pilot/PilotStates.java b/src/main/java/frc/robot/pilot/PilotStates.java
index 1ee789b..dc82fa1 100644
--- a/src/main/java/frc/robot/pilot/PilotStates.java
+++ b/src/main/java/frc/robot/pilot/PilotStates.java
@@ -2,7 +2,9 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.rebuilt.ShotCalculator;
 import frc.robot.Robot;
 import frc.robot.RobotSim;
 import frc.robot.vision.VisionStates;
@@ -24,8 +26,12 @@ public static void setStates() {
         pilot.visionPoseReset_LB_Select.onTrue(VisionStates.resetVisionPose());
 
         pilot.AButton.whileTrue(RobotSim.mapleSimIntakeFuel());
-
         pilot.YButton.whileTrue(RobotSim.mapleSimLaunchFuel());
+
+        pilot.dpadDown.onTrue(log(new InstantCommand(ShotCalculator::decreaseFlywheelSpeedOffset)));
+        pilot.dpadUp.onTrue(log(new InstantCommand(ShotCalculator::increaseFlywheelSpeedOffset)));
+        pilot.dpadRight.onTrue(log(new InstantCommand(ShotCalculator::decreaseTurretAngleOffsetDegrees)));
+        pilot.dpadLeft.onTrue(log(new InstantCommand(ShotCalculator::increaseTurretAngleOffsetDegrees)));
         
         // Rumble whenever we reorient
         pilot.upReorient