diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java
index 8c06822..d4c0916 100644
--- a/src/main/java/frc/robot/commands/states/Shooting.java
+++ b/src/main/java/frc/robot/commands/states/Shooting.java
@@ -8,32 +8,27 @@
 import frc.robot.RobotContainer;
 import frc.robot.constants.ConstMotion;
 import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine;
 
 public class Shooting extends Command {
   /** Creates a new Shooting. */
   public Shooting() {
 
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(RobotContainer.stateMachineInstance);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.motionInstance.setHoodPivotAngle(ConstMotion.HOOD_PIVOT_ANGLE);
+    RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
-    RobotContainer.rotorsInstance.setFlyWheelSpeeds(ConstRotors.FLYWHEEL_SHOOTING_SPEED);
-    if (RobotContainer.rotorsInstance.isFlyWheelAtSpeed(ConstRotors.FLYWHEEL_SHOOTING_SPEED)) {
-      RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.INTAKE_TRANSFER_SPEED);
-      RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
-
-    } else {
-      RobotContainer.rotorsInstance.setFlywheelPercentOutput(0.0);
-    }
+    RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
 
   }
 
@@ -43,6 +38,7 @@ public void end(boolean interrupted) {
     RobotContainer.rotorsInstance.setFlywheelPercentOutput(0.0);
     RobotContainer.rotorsInstance.setTransferRollersPercentOutput(0.0);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(0.0);
+    RobotContainer.motionInstance.setHoodPivotAngle(ConstMotion.HOOD_PIVOT_ANGLE_RETRACT);
 
   }
 
@@ -51,4 +47,4 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return false;
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java
index 3ef98db..d367b3f 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstMotion.java
@@ -23,6 +23,7 @@ public class ConstMotion {
   public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
   public static final Angle RETRACT_INTAKE_PIVOT_ANGLE = Degrees.of(0);
   public static final Angle HOOD_PIVOT_ANGLE = Degrees.of(14);
+  public static final Angle HOOD_PIVOT_ANGLE_RETRACT = Degrees.of(0);
   public static final double STOP = 0;
   public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
   public static final Angle HOOD_TRENCH_ANGLE = Units.Degrees.of(13);
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index efe9a82..3364df3 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -33,9 +33,10 @@ public class ConstRotors {
   public static final double INTAKE_ROLLERS_SPEED = 0.5;
   public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
   // public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000);
-  public static final AngularVelocity INTAKE_TRANSFER_SPEED = Units.RPM.of(3000);
   public static final double SERIALIZER_SHOOTING_SPEED = 0.5;
   public static final double STOP = 0;
+  public static final AngularVelocity TRANSFER_ROLLERS_SPEED = Units.RPM.of(3400);
+  public static final AngularVelocity FLYWHEEL_TOLERANCE = Units.RPM.of(100);
   public static final double REVERSE_SHOOTING_SPEED = -1;
   public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -0.5;
   public static final double REVERSE_INTAKE_ROLLERS_SPEED = -0.5;
diff --git a/src/main/java/frc/robot/subsystems/Rotors.java b/src/main/java/frc/robot/subsystems/Rotors.java
index 51b57be..fce3fba 100644
--- a/src/main/java/frc/robot/subsystems/Rotors.java
+++ b/src/main/java/frc/robot/subsystems/Rotors.java
@@ -127,4 +127,5 @@ public boolean isFlyWheelAtSpeed(AngularVelocity tolerance) {
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
 }