diff --git a/shuffleboard.json b/shuffleboard.json
index 24c4718..7a06dde 100644
--- a/shuffleboard.json
+++ b/shuffleboard.json
@@ -357,6 +357,77 @@
               "_glyph": 148,
               "_showGlyph": false
             }
+          },
+          "4,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Command",
+              "_source0": "network_table:///SmartDashboard/ConditionalCommand",
+              "_title": "ConditionalCommand",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "8,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/LeftHang Is Down",
+              "_title": "LeftHang Is Down",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "4,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/RightHang Is Down",
+              "_title": "RightHang Is Down",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "7,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Lidar",
+              "_title": "Lidar",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "8,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Got to Command",
+              "_title": "Got to Command",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
           }
         }
       }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 109b833..23f2a85 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -160,9 +160,8 @@ public RobotContainer() {
 		SmartDashboard.putNumber("shootOffset", 0);
 		SmartDashboard.putData(Autos.shootInSpeaker(drivetrain, arm, intakeShooter, this));
 
-		// SmartDashboard.putData("ArmUp", new ArmRotateTo(arm,
-		// ArmConstants.ARM_START_DEGREES));
-		// SmartDashboard.putData("ZeroYaw", new InstantCommand(drivetrain::zeroYaw));
+		SmartDashboard.putData("ArmUp", new ArmRotateTo(arm, ArmConstants.ARM_START_DEGREES));
+		SmartDashboard.putData("ZeroYaw", new InstantCommand(drivetrain::zeroYaw));
 
 		SmartDashboard.putString("Bot Name", Constants.currentBot.toString() + " - " + Constants.serialNumber);
 
diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
index f16efba..600470e 100644
--- a/src/main/java/frc/robot/commands/Autos.java
+++ b/src/main/java/frc/robot/commands/Autos.java
@@ -225,7 +225,7 @@ public static Command shootInSpeaker(SwerveDrivetrain drivetrain, Arm arm, Intak
 		final double distanceFromTag = 1.55;
 		final double spacingFromPoint = 0.25;
 
-		final double minSpinUpTimeSeconds = 1;
+		final double minSpinUpTimeSeconds = 2;
 
 		// Say whether to use vision
 		final BooleanSupplier shouldUseVisionSupplier = () -> (vision != null && vision.isEnabled());