diff --git a/y2022/constants.h b/y2022/constants.h
index 2c29950..460cde3 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -48,6 +48,9 @@
     return 22 * 0.25 * 0.0254;
   }
   static constexpr double kClimberPotRatio() { return 1.0; }
+  // TODO(milind): figure this out
+  // Climber position when it's comfortably above the mid rung.
+  static constexpr double kClimberMidRungHeight() { return 1.0; }
 
   struct PotConstants {
     ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
@@ -94,6 +97,12 @@
     };
   }
 
+  // When the intake is atleast this much out, always spin the rollers
+  static constexpr double kIntakeSlightlyOutPosition() {
+    return kIntakeRange().middle();
+  }
+  static constexpr double kIntakeOutPosition() { return 1.24; }
+
   // Intake rollers
   static constexpr double kIntakeRollerSupplyCurrentLimit() { return 40.0; }
   static constexpr double kIntakeRollerStatorCurrentLimit() { return 60.0; }
@@ -111,6 +120,10 @@
   static constexpr double kTransferRollerBackWiggleVoltage() {
     return -kTransferRollerFrontWiggleVoltage();
   }
+  // Minimum roller speed when the intake is slightly out
+  static constexpr double kMinIntakeSlightlyOutRollerSpeed() { return 6.0; }
+  // Roller speeds when intake is out
+  static constexpr double kIntakeOutRollerSpeed() { return 7.0; }
 
   // Turret
   PotAndAbsEncoderConstants turret;
@@ -194,6 +207,9 @@
   static constexpr double kCatapultEncoderCountsPerRevolution() {
     return 4096.0;
   }
+  static constexpr double kDefaultCatapultShotPosition() { return 3.0; }
+  static constexpr double kDefaultCatapultShotVelocity() { return 3.0; }
+  static constexpr double kCatapultReturnPosition() { return -0.85; }
 
   static constexpr double kMaxCatapultEncoderPulsesPerSecond() {
     return control_loops::superstructure::catapult::kFreeSpeed / (2.0 * M_PI) *