diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index 23a8e4e..c8d89d4 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -17,7 +17,7 @@
 namespace {
 
 // It has about 0.029043 of gearbox slop.
-const double kCompWristHallEffectStartAngle = 1.257;
+const double kCompWristHallEffectStartAngle = 1.264;
 const double kPracticeWristHallEffectStartAngle = 1.230;
 
 const double kCompWristHallEffectStopAngle = 100 * M_PI / 180.0;
diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index d46f943..8035bed 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -133,9 +133,9 @@
           // pretend like no button is pressed
         }
 #endif
-        shooter_goal->velocity = 400;
+        shooter_goal->velocity = 395;
         wrist_up_position = 1.23 - 0.4;
-        angle_adjust_goal = 0.586;
+        angle_adjust_goal = 0.520;
       } else if (Pressed(2, 3)) {
         // medium shot
 #if 0