diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorBase.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorBase.java
index ed8e584..9f720c9 100644
--- a/src/main/java/frc/robot/subsystems/elevator/ElevatorBase.java
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorBase.java
@@ -186,7 +186,7 @@ public void periodic() {
       }
 
       io.runPosition(
-          setpoint.position / drumRadius / numStages,
+          setpoint.position / drumRadius,
           feedforward.calculateWithVelocities(setpoint.velocity, previousVelocity));
 
       // Check at goal
@@ -284,7 +284,7 @@ public Command homingSequence() {
 
   @AutoLogOutput(key = "Elevator/MeasuredHeightMeters")
   public double getPositionMeters() {
-    return inputs.positionRads * drumRadius * numStages;
+    return inputs.positionRads * drumRadius;
   }
 
   public double getGoalMeters() {
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
index 3973822..8479a03 100644
--- a/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
+++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
@@ -5,18 +5,18 @@
 
 public class ElevatorConstants {
   // Pitch from Floor to Elevator
-  public static final Rotation2d elevatorPitch = Rotation2d.fromDegrees(84.5);
+  public static final Rotation2d elevatorPitch = Rotation2d.fromDegrees(86.0);
   // Pitch from Elevator to Dispenser
-  public static final Rotation2d dispenserPitch = Rotation2d.fromDegrees(73.0);
+  public static final Rotation2d dispenserPitch = Rotation2d.fromDegrees(61.6);
 
-  public static final double originToBaseHeightMeters = Units.inchesToMeters(5.149922);
+  public static final double originToBaseHeightMeters =
+      Units.inchesToMeters(6.288); // <-- highest edge on slam plate
+  //    6.148 to the lowest edge, 6.218 to centroid
 
-  public static final double drumRadius = Units.inchesToMeters(1.751 / 2.0);
-  public static final double gearing = 3.0;
-  public static final int numStages = 2;
+  public static final double drumRadius = Units.inchesToMeters(1.0);
+  public static final double gearing = 4.0;
 
-  // public static final double maxTravel = Units.inchesToMeters(42.244094); // TODO
-  public static final double maxTravel = Units.inchesToMeters(42); // TODO
+  public static final double maxTravel = Units.inchesToMeters(41); // TODO
 
   public static final double carriageMassKg = Units.lbsToKilograms(6.0);
   public static final double stagesMassKg = Units.lbsToKilograms(12.0);