diff --git a/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LEDSubsystem.java b/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LEDSubsystem.java
index 70b57fb..d4a4df7 100644
--- a/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LEDSubsystem.java
+++ b/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LEDSubsystem.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.LimeLight;
 import frc.robot.subsystems.LimelightSubsystem;
 
 public class LEDSubsystem extends SubsystemBase {
@@ -22,7 +21,7 @@ public class LEDSubsystem extends SubsystemBase {
   AddressableLEDBuffer m_ledBuffer;
 
   public LEDSubsystem() {
-    // PWM port 9
+   // PWM port 9
     m_led = new AddressableLED(9);
 
     m_ledBuffer = new AddressableLEDBuffer(60);
@@ -34,7 +33,7 @@ public LEDSubsystem() {
 
   public void LED() {
     for (var i = 0; i < m_ledBuffer.getLength(); i++) {
-      // Sets the specified LED to the HSV values for red
+    //  Sets the specified LED to the HSV values for red
       m_ledBuffer.setHSV(i, 180, 98, 59);
     }
     m_led.setData(m_ledBuffer);
@@ -61,28 +60,31 @@ private void turretAlignmentLEDs(){
     }
   }
 
-  // private void frontLEDs(){
-  //   int i;
-  // //boolean forwardDrive = DriveSubsystem.m_driveForward;
-  //   while(forwardDrive){
-  //     m_ledBuffer.setHSV(i, 190 + (i * (80/m_ledBuffer.getLength())), 100, 50); //Set farthest 2 LEDs
-  //     m_led.setData(m_ledBuffer);
-  //     i = i + 1;
-  //     if(i > m_ledBuffer.getLength())
-  //     {
-  //       i = 0;
-  //     }
-  //   }
-  //  m_ledBuffer.setHSV(i, 270 - (i * (80/m_ledBuffer.getLength())), 100, 50); //Set farthest 2 LEDs
-  //  m_led.setData(m_ledBuffer);
-  //   i = i + 1;
+  private void frontDrivingLEDs(){
+    int i = 0;
+  boolean forwardDrive = true; //Change to m_forwardDrive
+    while(forwardDrive){
+      m_ledBuffer.setHSV(i, 190 + (i * (80/m_ledBuffer.getLength())), 100, 100); //Set farthest 2 LEDs
+      m_led.setData(m_ledBuffer);
+      i ++;
+      if(i > m_ledBuffer.getLength())
+      {
+        i = 0;
+      }
+    }
+   m_ledBuffer.setHSV(i, 270 - (i * (80/m_ledBuffer.getLength())), 100, 100); //Set farthest 2 LEDs
+   m_led.setData(m_ledBuffer);
+    i ++;
+
+   if(i > m_ledBuffer.getLength())
+   {
+    i = 0;
+   }
+    }
+  }
+
+//we need an LED to describe when the shooter and/or feeder is on
 
-  //  if(i > m_ledBuffer.getLength())
-  //  {
-  //   i = 0;
-  //  }
-  //   }
- }
 /*
   private fullFireSpeed(){
 
diff --git a/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LimelightSubsystem.java b/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LimelightSubsystem.java
index 4f34d12..888a942 100644
--- a/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LimelightSubsystem.java
+++ b/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LimelightSubsystem.java
@@ -32,6 +32,7 @@ public class LimelightSubsystem extends SubsystemBase {
     public static double xOffset;
     public static double point3Angle;
     public static boolean limelightTargetingStatic = true;
+    public double limelightMountAngle = 7.75;
   
     public LimelightSubsystem() {
       table = NetworkTableInstance.getDefault().getTable("limelight");
@@ -57,7 +58,7 @@ public void updateLimeLightValues() {
   }
   public void getDistance() {
     //Angle (in degrees) the limelight is mounted at
-    final double limeLightDefAngle = 16.3; //NEW VALUE NEEDED
+    final double limeLightDefAngle = .2 + limelightMountAngle + 2.4; //NEW VALUE NEEDED
     //Add the mount angle to the yangle gotten
     yAngleDegrees = yAngleDegrees + limeLightDefAngle;
     //Convert the new yangle into radians for the tangent
@@ -65,9 +66,10 @@ public void getDistance() {
     //Get the tangent of the new yangle
     tyTangent = Math.tan(yAngleRadians);
     //Divide the tangent by the magic number gotten from a sample at 166.6in from target straight on
-    dist = 70.5 / tyTangent;           //NEW NUMBER MAY NEED TO BE GOTTEN WITH NEW ROBOT
+    dist = 57.25 / tyTangent;           //NEW NUMBER MAY NEED TO BE GOTTEN WITH NEW ROBOT
     //plug the number into the desmos graph
     dist = dist * 1.096 - 16.0466;     //Desmos correction graph REQUIRES TESTING WITH NEW ROBOT
+    dist = dist - 4.5; //Distance from camera lens to center of ball output
   }
 
   public static void toggleAimAssist() {
diff --git a/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 1b72974..c3dfeb1 100644
--- a/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -157,9 +157,8 @@ else if(((!m_leftLimit.get() && (azimuthSpeed>0)) || (!m_rightLimit.get() &&(azi
   }
 
   public boolean setAzimuthMotorAutomatic(double azimuthSpeed){
-    m_limeLight.gettxValue();
-
-    if((-.75 < xOffset)||(xOffset < .75))
+    double xOffset = LimelightSubsystem.gettxValue();
+    if((-.75 < xOffset)&&(xOffset < .75))
     {
       azimuthSpeed = 0;
     }