diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java
index d93ac3e..9f1dde9 100644
--- a/src/main/java/frc/robot/constants/GameConstants.java
+++ b/src/main/java/frc/robot/constants/GameConstants.java
@@ -36,7 +36,7 @@ public enum Mode {
     public static final boolean ENABLE_LOGGING = true;
 
     //Debugs
-    public static final boolean DEBUG = false;
+    public static final boolean DEBUG = true;
     public static final boolean ARM_DEBUG = true;
 
     //Joystick
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/vision/estimation/PoseEstimator.java b/src/main/java/frc/robot/subsystems/swervedrive/vision/estimation/PoseEstimator.java
index 17e4bc1..dc80d1a 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/vision/estimation/PoseEstimator.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/vision/estimation/PoseEstimator.java
@@ -160,7 +160,7 @@ private VisionMeasurement getVisionMeasurement(double[] pos, int index) {
    * are sent to the {@link PoseManager} for further processing
    */
   public void updateVision() {
-    updateVision(15, 4, 14, 5, 16, 3);
+    updateVision(99);
   }
 
   public void updateVision(Apriltag focusedTag) {