diff --git a/src/main/java/frc/robot/AutoPaths.java b/src/main/java/frc/robot/AutoPaths.java
index 0f59713..61e3f37 100644
--- a/src/main/java/frc/robot/AutoPaths.java
+++ b/src/main/java/frc/robot/AutoPaths.java
@@ -78,7 +78,7 @@ public AutoPaths() {
         ball4Quadrant2Shoot = new AutoCommand(
             Arrays.asList(
                 new Translation2d(meterConversion(6.6570), meterConversion(5.4252)),
-                new Translation2d(meterConversion(6.1570), meterConversion(6.4252))
+                new Translation2d(meterConversion(6.1570), meterConversion(6.5752))
             ),
             3.2 * Math.PI / 4
         );
diff --git a/src/main/java/frc/robot/subsystems/MagazineSubsystem.java b/src/main/java/frc/robot/subsystems/MagazineSubsystem.java
index cda7885..8fde6a1 100644
--- a/src/main/java/frc/robot/subsystems/MagazineSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/MagazineSubsystem.java
@@ -48,11 +48,11 @@ public void magazineOff() {
     }
 
     public boolean bottomDetector() {
-        return (bottomDetectors[0].getDistanceInches() > 0 && bottomDetectors[0].getDistanceInches() < 3) || (bottomDetectors[1].getDistanceInches() > 0 && bottomDetectors[1].getDistanceInches() < 3);
+        return (bottomDetectors[0].getDistanceInches() > 0 && bottomDetectors[0].getDistanceInches() < 4) || (bottomDetectors[1].getDistanceInches() > 0 && bottomDetectors[1].getDistanceInches() < 4);
     }
     
     public boolean topDetector() {
-        return (topDetectors[0].getDistanceInches() > 0 && topDetectors[0].getDistanceInches() < 3) || (topDetectors[1].getDistanceInches() > 0 && topDetectors[1].getDistanceInches() < 3);
+        return (topDetectors[0].getDistanceInches() > 0 && topDetectors[0].getDistanceInches() < 4) || (topDetectors[1].getDistanceInches() > 0 && topDetectors[1].getDistanceInches() < 4);
     }
     
     public boolean bottomDetectorOnly() {
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 731044b..da23575 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -24,7 +24,7 @@ public void periodic() {
 
     public void autonomousMode() {
         lowSpeed = 0.5;
-        highFarSpeed = 0.8;
+        highFarSpeed = 0.83;
     }
 
     public void teleopMode() {