diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 75ece46..5560250 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -145,7 +145,7 @@ public final class Constants {
     public static final double INDEXER_LOADING_WAIT = 0.5;
     public static final double INDEXER_HUMAN_LOADING_WAIT = 1;
 
-    public static final double INDEXER_SHOOTER_REJECTION_TIME = 0.5;
+    public static final double INDEXER_SHOOTER_REJECTION_TIME = 2; // put back to .5 when using full battery
     public static final double INDEXER_INTAKE_REJECTION_TIME = 1;
 
     public static final I2C.Port INDEXER_COLOR = I2C.Port.kMXP;
@@ -171,7 +171,7 @@ public final class Constants {
     public static final double SHOOTER_P = 0.0002;
     public static final double SHOOTER_FEEDFORWARD = 0.00218;
 
-    public static final double SHOOTER_TOLERANCE = 100;
+    public static final double SHOOTER_TOLERANCE = 0.20;
 
     public static final InterpolatingTreeMap SHOOTER_SPEED_MAP = new InterpolatingTreeMap();
     static {
diff --git a/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/src/main/java/frc/robot/subsystems/indexer/Indexer.java
index 5d3efd9..7d3b0e7 100644
--- a/src/main/java/frc/robot/subsystems/indexer/Indexer.java
+++ b/src/main/java/frc/robot/subsystems/indexer/Indexer.java
@@ -91,6 +91,7 @@ public void periodic() {
         Logger.getInstance().recordOutput("Indexer/InstantShooterBall", ballCurrentlyAtShooter);
         getAllianceColorFMS();
         Logger.getInstance().recordOutput("Indexer/AllianceColor", allianceColor.toString());
+        Logger.getInstance().recordOutput("Indexer/RejectiomTimerState", rejectionTimerStarted);
         switch (state) {
             case FIELD2:
                 stomachMotorOff();
@@ -336,12 +337,13 @@ else if (rejectionTimerStarted && rejectionTimer.hasElapsed(Constants.INDEXER_SH
                     shootBall();
                     intakeBall();
                     rejectionTimerStarted = false;
-                    state = State.INTAKE1;
+                    state = State.FIELD2;
                 }
+                /* This shouldn't happen, it would be at a state with 2 balls not 1
                 else if (ballCurrentlyAtIntake) {
                     intakeBall();
                     state = State.REJECT1INTAKE1;
-                }
+                } */
                 else if (rejectionTimerStarted && rejectionTimer.hasElapsed(Constants.INDEXER_SHOOTER_REJECTION_TIME)) {
                     shootBall();
                     rejectionTimerStarted = false;
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index c1992d2..bbb99f3 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -67,7 +67,8 @@ public void setSetpoint(double setpoint, boolean forced) {
             this.setpoint = setpoint;
         }
         else {
-            forcedSetpoint = setpoint;
+            this.setpoint = setpoint;
+            // forcedSetpoint = setpoint;
         }
     }
 
@@ -76,7 +77,7 @@ public double getVelocity() {
     }
 
     public boolean isAtSetpoint() {
-        return BetterMath.epsilonEquals(inputs.velocityRotPerMin, Constants.SHOOTER_TOLERANCE) || (Constants.ROBOT_DEMO_MODE && RobotBase.isSimulation());
+        return BetterMath.epsilonEquals(inputs.velocityRotPerMin, this.setpoint, Constants.SHOOTER_TOLERANCE*this.setpoint) || (Constants.ROBOT_DEMO_MODE && RobotBase.isSimulation());
     }
 
 }