diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6c75e81..35d529d 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -53,13 +53,13 @@ public static final class CANConstants {
   // Analog Ports
   /// Ultrasonic Sensors and ports.
   public static final int ULTRASONICSHOOTERPORT = 0;
-  public static final int ARMLIMITSWITCHBACK = 1;
-  public static final int ARMLIMITSWITCHFRONT = 2;
 
   // Digital Ports
+  public static final int ARMLIMITSWITCHBACK = 0;
+  public static final int ARMLIMITSWITCHFRONT = 1;
 
   // Shooter Angles
-  public static final double ARMENCODEROFFSET = 0.8457221;
+  public static final double ARMENCODEROFFSET = 2.8378526;
   public static final double ARMSTARTINGANGLE = 22.5; // WHY MaTH HURT
   public static final double ARMMINRELATVESTART = 0.0;
   public static final double ARMLOADANGLE = 65 - ARMSTARTINGANGLE;
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
index 4a37c92..95817fe 100644
--- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -55,7 +55,9 @@ public class ArmSubsystem extends SubsystemBase {
   // gear ratio by dividing by the gear ratio.
   // remember that 2pi radians in 360 degrees.
   private final double kRadiansConversionRatio = (Math.PI * 2) / kGearRatio;
+  private final double kVelocityConversionRatio = kRadiansConversionRatio / 60;
   private final double kAbsoluteRadiansConversionRatio = (Math.PI * 2);
+  private final double kAbsoluteVelocityConversionRatio = kAbsoluteRadiansConversionRatio / 60;
   private final ArmFeedforward m_armFeedforward =
       new ArmFeedforward(
           ksArmVolts, kgArmGravityGain, kvArmVoltSecondsPerMeter, kaArmVoltSecondsSquaredPerMeter);
@@ -85,9 +87,11 @@ public ArmSubsystem(ShooterState shooterState) {
     m_AbsoluteEncoder = m_armMotorMain.getAbsoluteEncoder();
     m_AbsoluteEncoder.setInverted(false);
     m_AbsoluteEncoder.setPositionConversionFactor(kAbsoluteRadiansConversionRatio);
+    m_AbsoluteEncoder.setVelocityConversionFactor(kAbsoluteVelocityConversionRatio);
     // m_AbsoluteEncoder.setZeroOffset(Constants.ARMENCODEROFFSET);
     // setup the encoders
     m_MainEncoder.setPositionConversionFactor(kRadiansConversionRatio);
+    m_MainEncoder.setVelocityConversionFactor(kVelocityConversionRatio);
     m_MainEncoder.setPosition(Units.degreesToRadians(Constants.ARMMINRELATVESTART));
     // PID coefficients
     kP = 1.7496;
@@ -104,6 +108,8 @@ public ArmSubsystem(ShooterState shooterState) {
     m_armMainPIDController.setIZone(kIz);
     m_armMainPIDController.setOutputRange(kMinOutput, kMaxOutput);
     m_armMainPIDController.setFeedbackDevice(m_AbsoluteEncoder);
+    // m_armMotorMain.setSoftLimit(SoftLimitDirection.kReverse, kMinArmAngleRadians));
+    // m_armMotorMain.setSoftLimit(SoftLimitDirection.kForward, kMaxArmAngleRadians);
     m_armMotorMain.burnFlash();
 
     // setup SysID for auto profiling
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 9ab6d2d..97bd541 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -30,8 +30,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import frc.robot.Constants.CANConstants;
 import frc.robot.Constants;
+import frc.robot.Constants.CANConstants;
 import frc.robot.DriveConstants;
 
 /** This Subsystem is what allows the code to interact with the drivetrain of the robot. */
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 2bdacfe..8dc2c65 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -32,7 +32,8 @@ public class ShooterSubsystem extends SubsystemBase {
   private final double kGearRatio = 4; // TBD
   // basically converted from rotations to to radians to then meters using the wheel diameter.
   // the diameter is already *2 so we don't need to multiply by 2 again.
-  private final double kVelocityConversionRatio = (Math.PI * kWheelDiameter) / kGearRatio / 60;
+  private final double kPositionConversionRatio = (Math.PI * kWheelDiameter) / kGearRatio; 
+  private final double kVelocityConversionRatio =  kPositionConversionRatio / 60;
 
   // setup feedforward
   private final double ksShooterVolts = 0.17875;
@@ -63,6 +64,7 @@ public ShooterSubsystem() {
 
     // allow us to read the encoder
     m_ShooterMainEncoder = m_ShooterMotorMain.getEncoder();
+    m_ShooterMainEncoder.setPositionConversionFactor(kPositionConversionRatio);
     m_ShooterMainEncoder.setVelocityConversionFactor(kVelocityConversionRatio);
     // PID coefficients
     kP = 0.00032423;
diff --git a/src/main/java/frc/robot/subsystems/UltrasonicSubsystem.java b/src/main/java/frc/robot/subsystems/UltrasonicSubsystem.java
index e27792c..ef7566f 100644
--- a/src/main/java/frc/robot/subsystems/UltrasonicSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/UltrasonicSubsystem.java
@@ -5,6 +5,7 @@
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** This Subsystem is what translates the output of the ultrasonic sensor to standard units. */
@@ -34,6 +35,7 @@ public void periodic() {
     // SmartDashboard.putNumber("Ultrasonic Sensor Distance", getRangeInches(ultrasonic1));
     // Calculate what percentage of 5 Volts we are actually at
     voltageScaleFactor = 5 / RobotController.getVoltage5V();
+    SmartDashboard.putNumber("Ring Distance", DistanceIn());
   }
 
   @Override