diff --git a/src/main/java/com/stuypulse/robot/Robot.java b/src/main/java/com/stuypulse/robot/Robot.java
index 0971a6e4..1f1b6116 100644
--- a/src/main/java/com/stuypulse/robot/Robot.java
+++ b/src/main/java/com/stuypulse/robot/Robot.java
@@ -37,7 +37,7 @@ public void robotInit() {
 
     @Override
     public void robotPeriodic() {
-        if (Arm.getInstance().getState() == Arm.State.FEED 
+        if (Arm.getInstance().getActualState() == Arm.State.FEED 
             && Arm.getInstance().atTarget() 
             && !Shooter.getInstance().hasNote()
             && Intake.getInstance().hasNote()
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
index 6949b4e9..b41d3163 100644
--- a/src/main/java/com/stuypulse/robot/RobotContainer.java
+++ b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -2,12 +2,17 @@
 
 import com.ctre.phoenix6.Utils;
 import com.stuypulse.robot.commands.BuzzController;
+import com.stuypulse.robot.commands.arm.ArmDisableOverride;
+import com.stuypulse.robot.commands.arm.ArmEnableOverride;
 import com.stuypulse.robot.commands.arm.ArmToAmp;
 import com.stuypulse.robot.commands.arm.ArmToFeed;
+import com.stuypulse.robot.commands.arm.ArmToFerry;
 import com.stuypulse.robot.commands.arm.ArmToLobFerry;
 import com.stuypulse.robot.commands.arm.ArmToLowFerry;
 import com.stuypulse.robot.commands.arm.ArmToPreClimb;
+import com.stuypulse.robot.commands.arm.ArmToSpeaker;
 import com.stuypulse.robot.commands.arm.ArmToSpeakerHigh;
+import com.stuypulse.robot.commands.arm.ArmToSpeaker;
 import com.stuypulse.robot.commands.arm.ArmToSpeakerLow;
 import com.stuypulse.robot.commands.arm.ArmToStow;
 import com.stuypulse.robot.commands.arm.ArmWaitUntilAtTarget;
@@ -19,6 +24,7 @@
 import com.stuypulse.robot.commands.shooter.ShooterAutoShoot;
 import com.stuypulse.robot.commands.shooter.ShooterFeederShoot;
 import com.stuypulse.robot.commands.shooter.ShooterFeederStop;
+import com.stuypulse.robot.commands.shooter.ShooterSetRPM;
 import com.stuypulse.robot.commands.swerve.SwerveDriveAutoAlignment;
 import com.stuypulse.robot.commands.swerve.SwerveDriveDrive;
 import com.stuypulse.robot.commands.swerve.SwerveDriveDriveAlignedLowFerry;
@@ -35,6 +41,7 @@
 import com.stuypulse.robot.subsystems.swerve.Telemetry;
 import com.stuypulse.robot.subsystems.vision.AprilTagVision;
 import com.stuypulse.robot.subsystems.vision.NoteVision;
+import com.stuypulse.robot.util.ShooterSpeeds;
 import com.stuypulse.robot.subsystems.arm.Arm;
 import com.stuypulse.robot.subsystems.intake.Intake;
 
@@ -96,6 +103,7 @@ private void configureDefaultCommands() {
     private void configureButtonBindings() {
         driver.getRightBumper().whileTrue(new SwerveDriveXMode());
 
+        driver.getLeftMenuButton().onTrue(new SwerveDriveSeedFieldRelative());
         driver.getRightMenuButton().onTrue(new SwerveDriveAutoAlignment(driver));
 
         driver.getLeftTriggerButton()
@@ -111,26 +119,37 @@ private void configureButtonBindings() {
             .whileTrue(new ArmWaitUntilAtTarget().withTimeout(Settings.Arm.MAX_WAIT_TO_REACH_TARGET)
                 .andThen(new ShooterAutoShoot())
             )
-            .onFalse(new ShooterFeederStop());
+            .onFalse(new ShooterFeederStop())
+            .onFalse(new ShooterSetRPM(new ShooterSpeeds()).onlyIf(() -> !Settings.Shooter.ALWAYS_KEEP_AT_SPEED));
         
         driver.getTopButton()
-            .onTrue(new ConditionalCommand(
-                new ArmToSpeakerHigh(), 
-                new ArmToSpeakerLow(), 
-                () -> Arm.getInstance().getState() == Arm.State.SPEAKER_LOW));
-
-        driver.getLeftButton().onTrue(new ArmToAmp());
+            .onTrue(new ArmToSpeaker());
+        
+        driver.getTopButton()
+            .debounce(Settings.Driver.HOLD_TO_OVERRIDE_TIME)
+            .onTrue(new ArmEnableOverride())
+            .onFalse(new ArmDisableOverride());
+
+        driver.getLeftButton()
+            .onTrue(new ArmToAmp());
+            
+        driver.getLeftButton()
+            .debounce(Settings.Driver.HOLD_TO_OVERRIDE_TIME)
+            .onTrue(new ArmEnableOverride())
+            .onFalse(new ArmDisableOverride());
 
         driver.getRightButton()
-            .onTrue(new ConditionalCommand(
-                new ArmToLobFerry(), 
-                new ArmToLowFerry(), 
-                () -> Arm.getInstance().getState() == Arm.State.LOW_FERRY));
+            .whileTrue(new ArmToFerry());
+            
+        driver.getRightButton()
+            .debounce(Settings.Driver.HOLD_TO_OVERRIDE_TIME)
+            .onTrue(new ArmEnableOverride())
+            .onFalse(new ArmDisableOverride());
 
         driver.getBottomButton().onTrue(new ArmToFeed());
         
-        driver.getDPadUp().onTrue(new ArmToPreClimb());
-        driver.getDPadDown().onTrue(new ArmToStow());
+        driver.getDPadUp().whileTrue(new ArmToPreClimb());
+        driver.getDPadDown().whileTrue(new ArmToStow());
 
     }
 
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmDisableOverride.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmDisableOverride.java
new file mode 100644
index 00000000..0babc58f
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmDisableOverride.java
@@ -0,0 +1,19 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.subsystems.arm.Arm;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class ArmDisableOverride extends InstantCommand{
+    
+    private final Arm arm;
+
+    public ArmDisableOverride() {
+        this.arm = Arm.getInstance();
+    }
+
+    @Override
+    public void initialize() {
+        arm.setOverriding(false);
+    }
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmEnableOverride.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmEnableOverride.java
new file mode 100644
index 00000000..9c89f6d4
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmEnableOverride.java
@@ -0,0 +1,19 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.subsystems.arm.Arm;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class ArmEnableOverride extends InstantCommand{
+    
+    private final Arm arm;
+
+    public ArmEnableOverride() {
+        this.arm = Arm.getInstance();
+    }
+
+    @Override
+    public void initialize() {
+        arm.setOverriding(true);
+    }
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmSetState.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmSetState.java
index 33700542..3f94c534 100644
--- a/src/main/java/com/stuypulse/robot/commands/arm/ArmSetState.java
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmSetState.java
@@ -1,7 +1,6 @@
 package com.stuypulse.robot.commands.arm;
 
 import com.stuypulse.robot.subsystems.arm.Arm;
-
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 public class ArmSetState extends InstantCommand{
@@ -17,6 +16,6 @@ public ArmSetState(Arm.State state) {
 
     @Override
     public void initialize() {
-        arm.setState(state);
+        arm.setRequestedState(state);
     }
 }
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmToFerry.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmToFerry.java
new file mode 100644
index 00000000..d39a34f3
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmToFerry.java
@@ -0,0 +1,33 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+import com.stuypulse.robot.subsystems.arm.Arm;
+import com.stuypulse.stuylib.util.StopWatch;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class ArmToFerry extends InstantCommand{
+    
+    private final Arm arm;
+    private final StopWatch stopWatch;
+    private double lastClick;
+
+    public ArmToFerry() {
+        arm = Arm.getInstance();
+        stopWatch = new StopWatch();
+        lastClick = 0;
+        addRequirements(arm);
+    }
+
+    @Override
+    public void initialize() {
+        if (stopWatch.getTime() - lastClick < Settings.Driver.DOUBLE_CLICK_TIME_BETWEEN_CLICKS) {
+            arm.setRequestedState(Arm.State.LOB_FERRY);
+        }
+        else {
+            arm.setRequestedState(Arm.State.LOW_FERRY);
+        }
+        lastClick = stopWatch.getTime();
+    }
+
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/arm/ArmToSpeaker.java b/src/main/java/com/stuypulse/robot/commands/arm/ArmToSpeaker.java
new file mode 100644
index 00000000..eafa55aa
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/arm/ArmToSpeaker.java
@@ -0,0 +1,33 @@
+package com.stuypulse.robot.commands.arm;
+
+import com.stuypulse.robot.constants.Settings;
+import com.stuypulse.robot.subsystems.arm.Arm;
+import com.stuypulse.stuylib.util.StopWatch;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class ArmToSpeaker extends InstantCommand{
+    
+    private final Arm arm;
+    private final StopWatch stopWatch;
+    private double lastClick;
+
+    public ArmToSpeaker() {
+        arm = Arm.getInstance();
+        stopWatch = new StopWatch();
+        lastClick = 0;
+        addRequirements(arm);
+    }
+
+    @Override
+    public void initialize() {
+        if (stopWatch.getTime() - lastClick < Settings.Driver.DOUBLE_CLICK_TIME_BETWEEN_CLICKS) {
+            arm.setRequestedState(Arm.State.SPEAKER_HIGH);
+        }
+        else {
+            arm.setRequestedState(Arm.State.SPEAKER_LOW);
+        }
+        lastClick = stopWatch.getTime();
+    }
+
+}
diff --git a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterAutoShoot.java b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterAutoShoot.java
index 7d0dd506..1377464c 100644
--- a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterAutoShoot.java
+++ b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterAutoShoot.java
@@ -12,7 +12,7 @@ public class ShooterAutoShoot extends InstantCommand{
 
     @Override
     public void initialize() {
-        switch (Arm.getInstance().getState()) {
+        switch (Arm.getInstance().getActualState()) {
             case AMP:
                 CommandScheduler.getInstance().schedule(new ShooterScoreAmp());
                 break;
diff --git a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterFerry.java b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterFerry.java
index e2aeee4b..ecd37b11 100644
--- a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterFerry.java
+++ b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterFerry.java
@@ -1,13 +1,14 @@
 package com.stuypulse.robot.commands.shooter;
 
 import com.stuypulse.robot.constants.Settings;
-
+import com.stuypulse.robot.subsystems.shooter.Shooter;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
 public class ShooterFerry extends SequentialCommandGroup {
     
     public ShooterFerry() {
         addCommands(
+            new ShooterSetRPM(Shooter.getInstance()::getFerrySpeeds),
             new ShooterWaitForTarget().withTimeout((Settings.Shooter.MAX_WAIT_TO_REACH_TARGET)),
             new ShooterFeederShoot()
         );
diff --git a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreSpeaker.java b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreSpeaker.java
index 61931553..76b2d342 100644
--- a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreSpeaker.java
+++ b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreSpeaker.java
@@ -8,6 +8,7 @@ public class ShooterScoreSpeaker extends SequentialCommandGroup {
 
     public ShooterScoreSpeaker() {
         addCommands(
+            new ShooterSetRPM(Settings.Shooter.SPEAKER),
             new ShooterWaitForTarget().withTimeout(Settings.Shooter.MAX_WAIT_TO_REACH_TARGET),
             new ShooterFeederShoot()
         );
diff --git a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterSetRPM.java b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterSetRPM.java
index bfeab4fb..31928d8e 100644
--- a/src/main/java/com/stuypulse/robot/commands/shooter/ShooterSetRPM.java
+++ b/src/main/java/com/stuypulse/robot/commands/shooter/ShooterSetRPM.java
@@ -1,5 +1,7 @@
 package com.stuypulse.robot.commands.shooter;
 
+import java.util.function.Supplier;
+
 import com.stuypulse.robot.subsystems.shooter.Shooter;
 import com.stuypulse.robot.util.ShooterSpeeds;
 
@@ -8,19 +10,21 @@
 public class ShooterSetRPM extends InstantCommand {
 
     private final Shooter shooter;
-    private final ShooterSpeeds speeds;
+    private final Supplier<ShooterSpeeds> speeds;
 
-    public ShooterSetRPM(ShooterSpeeds speeds) {
+    public ShooterSetRPM(Supplier<ShooterSpeeds> speeds) {
         shooter = Shooter.getInstance();
-
         this.speeds = speeds;
-
         addRequirements(shooter);
     }
 
+    public ShooterSetRPM(ShooterSpeeds speeds) {
+        this(() -> speeds);
+    }
+
     @Override
     public void initialize() {
-        shooter.setTargetSpeeds(speeds);
+        shooter.setTargetSpeeds(speeds.get());
     }
 
 }
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveAutoAlignment.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveAutoAlignment.java
index 218f440c..c2feab30 100644
--- a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveAutoAlignment.java
+++ b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveAutoAlignment.java
@@ -22,7 +22,7 @@ public SwerveDriveAutoAlignment(Gamepad driver) {
 
     @Override
     public void initialize() {
-        switch (Arm.getInstance().getState()) {
+        switch (Arm.getInstance().getActualState()) {
             case AMP:
                 CommandScheduler.getInstance().schedule(new SwerveDriveDriveAmpAligned(driver));
                 break;
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
index 74872822..88658606 100644
--- a/src/main/java/com/stuypulse/robot/constants/Settings.java
+++ b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -114,8 +114,10 @@ public interface Shooter {
         double FEEDER_DEAQUIRE_SPEED = 0.5;
         double FEEDER_SHOOT_SPEED = 0.25;
 
+        boolean ALWAYS_KEEP_AT_SPEED = false;
+
         double TARGET_RPM_THRESHOLD = 250;
-        double MAX_WAIT_TO_REACH_TARGET = 1.5;
+        double MAX_WAIT_TO_REACH_TARGET = ALWAYS_KEEP_AT_SPEED ? 1.5 : 2.0;
         
         ShooterSpeeds SPEAKER = new ShooterSpeeds(
             new SmartNumber("Shooter/Speaker RPM", 4875), 
@@ -325,6 +327,9 @@ public interface Rotation {
     }
 
     public interface Driver {
+        double HOLD_TO_OVERRIDE_TIME = 0.55;
+        double DOUBLE_CLICK_TIME_BETWEEN_CLICKS = 0.5;
+
         public interface Drive {
             SmartNumber DEADBAND = new SmartNumber("Driver Settings/Drive/Deadband", 0.03);
 
diff --git a/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java b/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java
index 75aeb73b..842ee3a1 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/arm/Arm.java
@@ -1,5 +1,7 @@
 package com.stuypulse.robot.subsystems.arm;
 
+import com.stuypulse.robot.subsystems.shooter.Shooter;
+
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -28,26 +30,44 @@ public enum State {
         RESETTING
     }
 
-    protected State state;
+    protected State requestedState;
+    protected State actualState;
+    protected boolean overriding;
 
     protected Arm() {
-        state = State.RESETTING;
+        requestedState = State.RESETTING;
+        actualState = State.RESETTING;
+        overriding = false;
+    }
+
+    public void setRequestedState(State state) {
+        this.requestedState = state;
+    }
+
+    public State getRequestedState() {
+        return this.requestedState;
+    }
+
+    public State getActualState() {
+        return this.actualState;
     }
 
-    public void setState(State state) {
-        if (this.state != State.RESETTING) {
-            this.state = state;
-        }
+    public void setOverriding(boolean overriding) {
+        this.overriding = overriding;
     }
 
-    public State getState() {
-        return this.state;
+    public boolean isOverriding() {
+        return this.overriding;
     }
 
     public abstract boolean atTarget();
 
+    public abstract boolean shouldReturnToFeed();
+
     @Override
     public void periodic() {
-        SmartDashboard.putString("Arm/State", getState().toString());
+        SmartDashboard.putBoolean("Arm/Is Overriding", overriding);
+        SmartDashboard.putString("Arm/Requested State", getRequestedState().toString());
+        SmartDashboard.putString("Arm/Actual State", getActualState().toString());
     }
 }
\ No newline at end of file
diff --git a/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java b/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
index a0f46554..5d342af6 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
@@ -26,6 +26,7 @@
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class ArmImpl extends Arm {
     
@@ -75,8 +76,13 @@ public boolean atTarget() {
         return Math.abs(getTargetDegrees() - getDegrees()) < Settings.Arm.MAX_ANGLE_ERROR.getAsDouble();
     }
 
+    @Override
+    public boolean shouldReturnToFeed() {
+        return shouldGoBackToFeed.get();
+    }
+
     private double getTargetDegrees() {
-        switch (state) {
+        switch (actualState) {
             case AMP:
                 return Settings.Arm.AMP_ANGLE.getAsDouble();
             case SPEAKER_LOW:
@@ -158,17 +164,30 @@ public void periodic() {
 
         if (bumpSwitchTriggered.get()) {
             armEncoder.setPosition(Settings.Arm.MIN_ANGLE.get()/360);
-            if (state == State.RESETTING) {
-                state = State.FEED;
+            if (actualState == State.RESETTING) {
+                actualState = State.FEED;
+                requestedState = State.FEED;
             }
         }
         
-        if (state == State.RESETTING) {
-            setVoltage(-2);
+        if (actualState == State.RESETTING) {
+            setVoltage(-1.5);
         }
         else {
-            if (state != State.PRE_CLIMB && state != State.STOW && shouldGoBackToFeed.get()) {
-                setState(State.FEED);
+            if (overriding
+                || requestedState == State.STOW 
+                || requestedState == State.PRE_CLIMB
+                || requestedState == State.FEED
+                || requestedState == State.RESETTING
+                || Shooter.getInstance().hasNote()
+            ) {
+                this.actualState = this.requestedState;
+            }
+            else if (shouldGoBackToFeed.get()) {
+                if (actualState != State.FEED) {
+                    requestedState = State.FEED;
+                    actualState = State.FEED;
+                }
             }
 
             controller.update(SLMath.clamp(getTargetDegrees(), Settings.Arm.MIN_ANGLE.get(), Settings.Arm.MAX_ANGLE.get()), getDegrees());
@@ -179,7 +198,7 @@ public void periodic() {
         SmartDashboard.putNumber("Arm/Error (deg)", controller.getError());
         SmartDashboard.putNumber("Arm/Output (V)", controller.getOutput());
 
-        SmartDashboard.putBoolean("Arm/Bump Switch Triggered?", bumpSwitch.get());
+        SmartDashboard.putBoolean("Arm/Bump Switch Triggered?", !bumpSwitch.get());
 
         SmartDashboard.putNumber("Arm/Encoder Angle (deg))", getDegrees());
         SmartDashboard.putNumber("Arm/Raw Encoder Angle (rot)", armEncoder.getPosition());
diff --git a/src/main/java/com/stuypulse/robot/subsystems/shooter/Shooter.java b/src/main/java/com/stuypulse/robot/subsystems/shooter/Shooter.java
index b324e3d3..41f6b74d 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/shooter/Shooter.java
@@ -22,8 +22,8 @@ public static Shooter getInstance() {
     private final SmartNumber rightTargetRPM;
 
     public Shooter() {
-        leftTargetRPM = new SmartNumber("Shooter/Left Target RPM", Settings.Shooter.SPEAKER.getLeftRPM());
-        rightTargetRPM = new SmartNumber("Shooter/Right Target RPM", Settings.Shooter.SPEAKER.getRightRPM());
+        leftTargetRPM = new SmartNumber("Shooter/Left Target RPM", 0);
+        rightTargetRPM = new SmartNumber("Shooter/Right Target RPM", 0);
     }
 
     public void setTargetSpeeds(ShooterSpeeds speeds) {
@@ -47,6 +47,8 @@ public void stop() {
 
     public abstract boolean atTargetSpeeds();
 
+    public abstract ShooterSpeeds getFerrySpeeds();
+
     public abstract void feederIntake();
     public abstract void feederDeacquire();
     public abstract void feederShoot();
diff --git a/src/main/java/com/stuypulse/robot/subsystems/shooter/ShooterImpl.java b/src/main/java/com/stuypulse/robot/subsystems/shooter/ShooterImpl.java
index be2bdac6..59854b2e 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/shooter/ShooterImpl.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/shooter/ShooterImpl.java
@@ -132,14 +132,15 @@ public boolean noteShot() {
         return getLeftTargetRPM() > 0 && getRightTargetRPM() > 0 && hasNote.get() == false; 
     }
 
-    private ShooterSpeeds getFerrySpeeds() {
+    @Override
+    public ShooterSpeeds getFerrySpeeds() {
         Translation2d ferryZone = Robot.isBlue()
             ? new Translation2d(0, Field.WIDTH - 1.5)
             : new Translation2d(0, 1.5);
         
         double distanceToFerryInInches = Units.metersToInches(SwerveDrive.getInstance().getPose().getTranslation().getDistance(ferryZone));
         
-        if (Arm.getInstance().getState() == Arm.State.LOB_FERRY) {
+        if (Arm.getInstance().getActualState() == Arm.State.LOB_FERRY) {
             double targetRPM = ShooterLobFerryInterpolation.getRPM(distanceToFerryInInches);
             return new ShooterSpeeds(targetRPM, 500);
         }
@@ -153,20 +154,33 @@ private ShooterSpeeds getFerrySpeeds() {
     public void periodic () {
         super.periodic();
 
-        Arm.State armState = Arm.getInstance().getState();
-
-        if (armState == Arm.State.SPEAKER_HIGH || armState == Arm.State.SPEAKER_LOW) {
-            setTargetSpeeds(Settings.Shooter.SPEAKER);
+        Arm.State armState = Arm.getInstance().getActualState();
+
+        if (Settings.Shooter.ALWAYS_KEEP_AT_SPEED) {
+            if (armState == Arm.State.SPEAKER_HIGH || armState == Arm.State.SPEAKER_LOW) {
+                setTargetSpeeds(Settings.Shooter.SPEAKER);
+            }
+            else if (armState == Arm.State.LOW_FERRY || armState == Arm.State.LOB_FERRY) {
+                setTargetSpeeds(getFerrySpeeds());
+            }
+            else {
+                setTargetSpeeds(Settings.Shooter.SPEAKER);
+            }
         }
-        else if (armState == Arm.State.LOW_FERRY || armState == Arm.State.LOB_FERRY) {
-            setTargetSpeeds(getFerrySpeeds());
+
+        if (getLeftTargetRPM() == 0) {
+            leftMotor.set(0);
         }
         else {
-            setTargetSpeeds(Settings.Shooter.SPEAKER);
+            setLeftShooterRPM(getLeftTargetRPM());
         }
 
-        setLeftShooterRPM(getLeftTargetRPM());
-        setRightShooterRPM(getRightTargetRPM());
+        if (getRightTargetRPM() == 0) {
+            rightMotor.set(0);
+        }
+        else {
+            setRightShooterRPM(getRightTargetRPM());
+        }
 
         SmartDashboard.putNumber("Shooter/Feeder Speed", feederMotor.get());
 
diff --git a/src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java b/src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java
index f3d8972c..c2a2250a 100644
--- a/src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java
+++ b/src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java
@@ -13,7 +13,10 @@ public static void main(String[] args) {
 
     // RPM, distance (inches)
     private static final double[][] RPMAndDistance = {
-        {, },
+        // fake data im just putting here so it doesnt crash lol
+        {1000, 55.5},
+        {1000, 42.5},
+        {1000, 57},
     };
 
     static {