diff --git a/build.gradle b/build.gradle
index d141f06..5159c6c 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 java {
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c358b72..3dc3230 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -31,8 +31,9 @@ public final class Constants {
    */
   public static final class IOConstants {
     public static final int kDriverControllerPort = 0;
+    public static final int kOperatorControllerPort = 1;
 
-    public static final double kControllerDeadband = 0.2;
+    public static final double kControllerDeadband = 0.05;
     public static final double kSlowModeScalar = 0.8;
   }
 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 31890bf..7937fe6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -38,9 +38,10 @@ public class RobotContainer {
   private final ShooterSubsystem m_shooterSubsystem = new ShooterSubsystem();
   
   private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort);
+  private final XboxController m_operatorController = new XboxController(IOConstants.kOperatorControllerPort);
 
   /**
-   * The container for the robot. Contains subsystems, OI devices, and commands.
+   * The container for the robot. Contains subsystems, IO devices, and commands.
    */
   public RobotContainer() {
 
@@ -50,8 +51,8 @@ public RobotContainer() {
         new HolonomicPathFollowerConfig(
             new PIDConstants(5, 0.0, 0.0), // Translation PID constants
             new PIDConstants(5, 0.0, 0.0), // Rotation PID constants
-            4.5, // Max module speed, in m/s
-            0.4, // Drive base radius in meters. Distance from robot center to furthest module.
+            DriveConstants.kMaxSpeedMetersPerSecond, // Max module speed, in m/s
+            Math.hypot(DriveConstants.kTrackWidth, DriveConstants.kWheelBase), // Drive base radius in meters. Distance from robot center to furthest module.
             new ReplanningConfig(true, true)),
         () -> false, m_robotDrive);
 
@@ -67,16 +68,16 @@ public RobotContainer() {
                     * DriveConstants.kMaxSpeedMetersPerSecond
                     * (1 - m_driverController
                         .getLeftTriggerAxis()
-                        * IOConstants.kSlowModeScalar)
-                    * 0.8,
+                        * IOConstants.kSlowModeScalar),
+                    // * 0.8,
                 MathUtil.applyDeadband(
                     -m_driverController.getLeftX(),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxSpeedMetersPerSecond
                     * (1 - m_driverController
                         .getLeftTriggerAxis()
-                        * IOConstants.kSlowModeScalar)
-                    * 0.8,
+                        * IOConstants.kSlowModeScalar),
+                    // * 0.8,
                 MathUtil.applyDeadband(
                     -m_driverController.getRightX(),
                     IOConstants.kControllerDeadband)
@@ -100,11 +101,10 @@ private void configureBindings() {
     //     AutoBuilder.pathfindToPose(new Pose2d(2.8, 5.5, new Rotation2d()), new PathConstraints(
     //         DriveConstants.kMaxSpeedMetersPerSecond - 1, 5, DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5)));
 
-    // TODO: Move shoot commands to operator controller
-    new JoystickButton(m_driverController, Button.kX.value)
+    new JoystickButton(m_operatorController, Button.kX.value)
         .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(0.75), m_shooterSubsystem))
         .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem));
-    new JoystickButton(m_driverController, Button.kY.value)
+    new JoystickButton(m_operatorController, Button.kY.value)
         .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(-0.75), m_shooterSubsystem))
         .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem));
   }