diff --git a/src/algo/src/Swerve_Locomotion.c b/src/algo/src/Swerve_Locomotion.c
index d180cace..4e7c90f8 100644
--- a/src/algo/src/Swerve_Locomotion.c
+++ b/src/algo/src/Swerve_Locomotion.c
@@ -268,14 +268,14 @@ void Swerve_Drive(float x, float y, float omega)
             //     g_robot_state.power_increment_ratio = 1.0f;
             // }
             // __MAX_LIMIT(g_robot_state.power_increment_ratio, 0.6f, 3.0f);
-            g_robot_state.power_increment_ratio = 1 + Referee_Robot_State.Level*0.08f + g_supercap.supercap_enabled_flag*0.7f;
+            g_robot_state.power_increment_ratio = 0.9f + Referee_Robot_State.Level*0.11f + g_supercap.supercap_enabled_flag*0.6f;
             x *= g_robot_state.power_increment_ratio; // convert to m/s
             y *= g_robot_state.power_increment_ratio;
             omega *= g_robot_state.power_increment_ratio; // convert to rad/s
             }
         else
         {
-            g_robot_state.power_increment_ratio = 1 + Referee_Robot_State.Manual_Level*0.08f + g_supercap.supercap_enabled_flag*0.7f;
+            g_robot_state.power_increment_ratio = 0.9f + Referee_Robot_State.Manual_Level*0.11f + g_supercap.supercap_enabled_flag*0.6f;
             x *= g_robot_state.power_increment_ratio; // convert to m/s
             y *= g_robot_state.power_increment_ratio;
             omega *= g_robot_state.power_increment_ratio; // convert to rad/s
diff --git a/src/app/src/chassis_task.c b/src/app/src/chassis_task.c
index 3c93fd2f..f5e9377f 100644
--- a/src/app/src/chassis_task.c
+++ b/src/app/src/chassis_task.c
@@ -6,8 +6,8 @@
 #include "imu_task.h"
 #include "Swerve_Locomotion.h"
 
-#define SPINTOP_RAMP_COEF (0.01f)
-#define TRANSLATION_RAMP_COEF (0.000001f)
+#define SPINTOP_RAMP_COEF (0.05f)
+#define TRANSLATION_RAMP_COEF (0.05f)
 #define SPIN_TOP_OMEGA (1.0f)
 
 extern Robot_State_t g_robot_state;
@@ -34,7 +34,7 @@ void Chassis_Ctrl_Loop()
         if (g_robot_state.spintop_mode)
         {
             float translation_speed = sqrtf(powf(g_robot_state.chassis_x_speed, 2) + powf(g_robot_state.chassis_y_speed, 2));
-            float spin_coeff = chassis_rad * SPIN_TOP_OMEGA / (translation_speed*0.5f + chassis_rad * SPIN_TOP_OMEGA);
+            float spin_coeff = chassis_rad * SPIN_TOP_OMEGA / (translation_speed + chassis_rad * SPIN_TOP_OMEGA);
 
             // ramp up to target omega
             float target_omega = SPIN_TOP_OMEGA * spin_coeff;
@@ -44,26 +44,9 @@ void Chassis_Ctrl_Loop()
         {
             g_robot_state.chassis_omega *= (1 - SPINTOP_RAMP_COEF);
         }
-
-        float chassis_x_speed = g_robot_state.chassis_x_speed;
-        if(chassis_x_speed > 0.01f)
-        {
-            g_robot_state.chassis_x_speed += TRANSLATION_RAMP_COEF * (chassis_x_speed - g_robot_state.chassis_x_speed);
-        }
-        else
-        {
-            g_robot_state.chassis_x_speed *= (1 - TRANSLATION_RAMP_COEF);
-        }
-
-        float chassis_y_speed = g_robot_state.chassis_y_speed;
-        if(chassis_y_speed > 0.01f)
-        {
-            g_robot_state.chassis_y_speed += TRANSLATION_RAMP_COEF * (chassis_y_speed - g_robot_state.chassis_y_speed);
-        }
-        else
-        {
-            g_robot_state.chassis_y_speed *= (1 - TRANSLATION_RAMP_COEF);
-        }
+        //g_robot_state.chassis_omega = (1-SPINTOP_RAMP_COEF)*g_robot_state.chassis_omega + SPINTOP_RAMP_COEF*g_robot_state.chassis_omega;
+        g_robot_state.chassis_x_speed = (1 - TRANSLATION_RAMP_COEF)*g_robot_state.chassis_x_speed + TRANSLATION_RAMP_COEF*g_robot_state.chassis_x_speed;
+        g_robot_state.chassis_y_speed = (1 - TRANSLATION_RAMP_COEF)*g_robot_state.chassis_y_speed + TRANSLATION_RAMP_COEF*g_robot_state.chassis_y_speed;
 
         Swerve_Drive(g_robot_state.chassis_x_speed, g_robot_state.chassis_y_speed, g_robot_state.chassis_omega);
     }
diff --git a/src/app/src/robot.c b/src/app/src/robot.c
index ed05d07d..9f04b770 100644
--- a/src/app/src/robot.c
+++ b/src/app/src/robot.c
@@ -189,7 +189,7 @@ void Robot_Cmd_Loop()
                 Referee_Robot_State.Manual_Level++;
                 __MAX_LIMIT(Referee_Robot_State.Manual_Level,1,10);
             }
-            if (g_remote.keyboard.Shift)
+            if (g_remote.keyboard.Shift == 1 || (g_remote.controller.wheel > 50.0f && !g_launch_target.flywheel_enabled))
             {
                 g_supercap.supercap_enabled_flag = 1;
             }
@@ -197,14 +197,6 @@ void Robot_Cmd_Loop()
             {
                 g_supercap.supercap_enabled_flag = 0;
             }
-            if(g_remote.controller.wheel > 50.0f && !g_launch_target.flywheel_enabled)
-            {
-                g_supercap.supercap_enabled_flag = 1;
-            }
-             else
-            {
-                g_supercap.supercap_enabled_flag = 0;
-            }
             g_key_prev.prev_B = g_remote.keyboard.B;
             g_key_prev.prev_G = g_remote.keyboard.G;
             g_key_prev.prev_V = g_remote.keyboard.V;
diff --git a/src/devices/src/supercap.c b/src/devices/src/supercap.c
index fabaf3d9..b47a1b3d 100644
--- a/src/devices/src/supercap.c
+++ b/src/devices/src/supercap.c
@@ -24,14 +24,7 @@ void Supercap_Send(void)
 {
     // Send supercap data
     uint8_t *data = supercap_can_instance->tx_buffer;
-    if (g_orin_data.sending.game_start_flag)
-    {
-        data[0] = Referee_Robot_State.Chassis_Power_Max;
-    }
-    else
-    {
-        data[0] = 90;
-    }
+    data[0] = Referee_Robot_State.Chassis_Power_Max;
     
     CAN_Transmit(supercap_can_instance);
 }
\ No newline at end of file