diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index bba590b..1ce7a50 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -291,7 +291,7 @@ public static class NarwhalConstants {
         public static final double UPPER_ASSEMBLY_MOI = 0.995; //Kg m^2
 
         public static final Transform2d INTAKING_RELATIVE_TRANSFORM = new Transform2d(new Translation2d(0.0,0.0),new Rotation2d(Math.PI));
-        public static final Transform2d SCORING_RELATIVE_TRANSFORM = new Transform2d(new Translation2d(0.1524,0.0),new Rotation2d(0));
+        public static Transform2d SCORING_RELATIVE_TRANSFORM = new Transform2d(new Translation2d(0.1524,0.0),new Rotation2d(0));
         public static final Transform2d ALGAE_REMOVAL_RELATIVE_TRANSFORM = new Transform2d(new Translation2d(0.0,0.0),new Rotation2d(0.0));
         public static final Transform2d CLIMB_RELATIVE_TRANSFORM = new Transform2d(new Translation2d(0.0,0.0),new Rotation2d(Math.PI));
  
@@ -367,8 +367,8 @@ public static class NarwhalClimberConstants {
             public static final double CLIMBER_PID_MIN_OUTPUT = -1.0;
             public static final double CLIMBER_PID_MAX_OUTPUT = 1.0;
             
-            public static final Rotation2d DEPLOYED_WINCH_ROTATIONS = Rotation2d.fromDegrees(1080);
-            public static final Rotation2d CLIMB_WINCH_ROTATIONS = Rotation2d.fromDegrees(270);
+            public static Rotation2d DEPLOYED_WINCH_ROTATIONS = Rotation2d.fromDegrees(1035);
+            public static Rotation2d CLIMB_WINCH_ROTATIONS = Rotation2d.fromDegrees(270);
 
             /** The angle tolerance for the climber to be considered at a specific state. */
             public static final Rotation2d CLIMBER_ANGLE_TOLERANCE = Rotation2d.fromDegrees(3);
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ddae85b..9c340ed 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -29,6 +29,8 @@
 import frc.robot.util.upper_assembly.UpperAssemblyFactory;
 import frc.robot.util.upper_assembly.UpperAssemblyType;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -156,7 +158,7 @@ private void setupSmartDashboard() {
         SmartDashboard.putData(this.upperAssemblySelector);
         SmartDashboard.putData(this.drivingMotorSelector);
 
-        // Add autonomous configuration options.
+        // Add narwhal upper assembly configuration options.
         SmartDashboard.putNumber("Intake Angle", NarwhalConstants.NarwhalWristConstants.INTAKE_ANGLE.getDegrees());
         SmartDashboard.putNumber("Intake Height", NarwhalConstants.NarwhalElevatorConstants.INTAKE_ELEVATOR_HEIGHT_METERS);
         SmartDashboard.putNumber("L1 Angle", NarwhalConstants.NarwhalWristConstants.L1_OUTTAKE_ANGLE.getDegrees());
@@ -167,7 +169,15 @@ private void setupSmartDashboard() {
         SmartDashboard.putNumber("L3 Height", NarwhalConstants.NarwhalElevatorConstants.L3_ELEVATOR_HEIGHT);
         SmartDashboard.putNumber("L4 Angle", NarwhalConstants.NarwhalWristConstants.L4_OUTTAKE_ANGLE.getDegrees());
         SmartDashboard.putNumber("L4 Height", NarwhalConstants.NarwhalElevatorConstants.L4_ELEVATOR_HEIGHT);
-        
+
+        SmartDashboard.putNumber("Climb Rotations (degrees)", NarwhalConstants.NarwhalClimberConstants.CLIMB_WINCH_ROTATIONS.getDegrees());
+        SmartDashboard.putNumber("Deploy Rotations (degrees)", NarwhalConstants.NarwhalClimberConstants.DEPLOYED_WINCH_ROTATIONS.getDegrees());
+
+        // Add autonomous configuration options.
+        SmartDashboard.putNumber("Auto Score Offset X", NarwhalConstants.SCORING_RELATIVE_TRANSFORM.getX());
+        SmartDashboard.putNumber("Auto Score Offset Y", NarwhalConstants.SCORING_RELATIVE_TRANSFORM.getY());
+        SmartDashboard.putNumber("Auto Score Offset Rot", NarwhalConstants.SCORING_RELATIVE_TRANSFORM.getRotation().getDegrees());
+
         SmartDashboard.putNumber("Auto Delay", this.delayTimeSeconds);
         SmartDashboard.putBoolean("Tush Push Mode", this.startWithTushPush);
     }
@@ -189,6 +199,11 @@ public void scheduleAutonomous() {
         this.delayTimeSeconds = SmartDashboard.getNumber("Auto Delay", this.delayTimeSeconds);
         this.startWithTushPush = SmartDashboard.getBoolean("Tush Push Mode", this.startWithTushPush);
 
+        double autoScoreOffsetX = SmartDashboard.getNumber("Auto Score Offset X", NarwhalConstants.SCORING_RELATIVE_TRANSFORM.getX());
+        double autoScoreOffsetY = SmartDashboard.getNumber("Auto Score Offset Y", NarwhalConstants.SCORING_RELATIVE_TRANSFORM.getY());
+        double autoScoreOffsetRot = SmartDashboard.getNumber("Auto Score Offset Rot", NarwhalConstants.SCORING_RELATIVE_TRANSFORM.getRotation().getDegrees());
+
+        NarwhalConstants.SCORING_RELATIVE_TRANSFORM = new Transform2d(new Translation2d(autoScoreOffsetX, autoScoreOffsetY), Rotation2d.fromDegrees(autoScoreOffsetRot));
 
         // Get and display the selected autonomous mode.
         AutonomousRoutine autonomousRoutine = autonomousSelector.getSelected();
@@ -283,6 +298,8 @@ public void scheduleAutonomous() {
     public void scheduleTeleOp() {
         CommandScheduler.getInstance().cancelAll();
         this.setWristValuesFromSmartDashbaord();
+        NarwhalConstants.NarwhalClimberConstants.CLIMB_WINCH_ROTATIONS = Rotation2d.fromDegrees(SmartDashboard.getNumber("Climb Rotations (degrees)", NarwhalConstants.NarwhalClimberConstants.CLIMB_WINCH_ROTATIONS.getDegrees()));
+        NarwhalConstants.NarwhalClimberConstants.DEPLOYED_WINCH_ROTATIONS = Rotation2d.fromDegrees(SmartDashboard.getNumber("Deploy Rotations (degrees)", NarwhalConstants.NarwhalClimberConstants.DEPLOYED_WINCH_ROTATIONS.getDegrees()));
 
         Alliance alliance = allianceSelector.getSelected();
         SmartDashboard.putString("Selected Alliance", alliance.toString());
diff --git a/src/main/java/frc/robot/subsystems/narwhal/NarwhalUpperAssembly.java b/src/main/java/frc/robot/subsystems/narwhal/NarwhalUpperAssembly.java
index 47b116d..0f10bee 100644
--- a/src/main/java/frc/robot/subsystems/narwhal/NarwhalUpperAssembly.java
+++ b/src/main/java/frc/robot/subsystems/narwhal/NarwhalUpperAssembly.java
@@ -90,6 +90,8 @@ public Command getCoralScoreCommand(ScoringHeight scoringHeight) {
                     new NarwhalScorePositionCommand(elevator,wrist,scoringHeight)
                 ).andThen(
                     new WaitUntilCommand(robotInScoringPositionSupplier::get)
+                ).andThen(
+                    new WaitCommand(1.0)
                 ).andThen(
                     new NarwhalOuttakeCommand(intakeOuttake)
                 ).andThen(
diff --git a/src/main/java/frc/robot/subsystems/vision/odometry/PhotonVisionCamera.java b/src/main/java/frc/robot/subsystems/vision/odometry/PhotonVisionCamera.java
index fd43cfb..1a29ba7 100644
--- a/src/main/java/frc/robot/subsystems/vision/odometry/PhotonVisionCamera.java
+++ b/src/main/java/frc/robot/subsystems/vision/odometry/PhotonVisionCamera.java
@@ -57,7 +57,7 @@ public PhotonVisionCamera(String cameraName, Transform3d robotToCamera) {
     public void update(Pose2d currentBestGuess) {
 
         // Update the reference pose for better solvePNP
-        // photonPoseEstimator.setReferencePose(currentBestGuess);
+        photonPoseEstimator.setReferencePose(currentBestGuess);
 
         // Grab *all* the new pipeline results since our last call
         List<PhotonPipelineResult> allResults = camera.getAllUnreadResults();