diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 28ca972..9f8290f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -38,7 +38,7 @@ public static final class FeatureFlags {
     public static final boolean PROFILING_ENABLED = false;
 
     public static final boolean LEDS_ENABLED = false;
-    public static final boolean VISION_ENABLED = false;
+    public static final boolean VISION_ENABLED = true;
   }
 
   public final class RobotConstants {
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
index a5bf33e..71ecbea 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -31,40 +31,40 @@ public record CameraConfig(String name, Transform3d robotToCamera) {}
   // Camera configurations (name must match name configured on coprocessor)
   public static CameraConfig FRONT_RIGHT_CAMERA =
       new CameraConfig(
-          "OV2311_TH_2026_FR",
+          "OV2311_TH_6",
           new Transform3d(
-              Inches.of(-10.572),
-              Inches.of(-12.337),
-              Inches.of(16.688),
-              // pitch 20 degrees up, yaw 55 degrees right
-              new Rotation3d(new Quaternion(0.8735, -0.0802, -0.1540, -0.4547))));
+              Inches.of(11.471),
+              Inches.of(-9.971),
+              Inches.of(8.158),
+              // pitch 20 degrees up, yaw 45 degrees right
+              new Rotation3d(new Quaternion(0.9098, -0.0665, -0.1604, -0.3769))));
   public static CameraConfig FRONT_LEFT_CAMERA =
       new CameraConfig(
-          "OV2311_TH_2026_FL",
+          "OV2311_TH_5",
           new Transform3d(
-              Inches.of(-10.572),
-              Inches.of(12.337),
-              Inches.of(16.688),
-              // pitch 20 degrees up, yaw 55 degrees left
-              new Rotation3d(new Quaternion(0.8735, 0.0802, -0.1540, 0.4547))));
+              Inches.of(11.471),
+              Inches.of(9.971),
+              Inches.of(8.158),
+              // pitch 20 degrees up, yaw 45 degrees left
+              new Rotation3d(new Quaternion(0.9098, 0.0665, -0.1604, 0.3769))));
   public static CameraConfig BACK_RIGHT_CAMERA =
       new CameraConfig(
-          "OV2311_TH_2026_RR",
+          "OV2311_TH_1",
           new Transform3d(
-              Inches.of(-13.1623),
-              Inches.of(-12.1623),
-              Inches.of(20.26674),
-              // pitch 15 degrees up, yaw 135 degrees right
-              new Rotation3d(new Quaternion(-0.3794, 0.1206, 0.0500, 0.9160))));
+              Inches.of(-11.471),
+              Inches.of(-9.971),
+              Inches.of(8.158),
+              // pitch 20 degrees up, yaw 135 degrees right
+              new Rotation3d(new Quaternion(0.3769, -0.1604, -0.0665, -0.9098))));
   public static CameraConfig BACK_LEFT_CAMERA =
       new CameraConfig(
-          "OV2311_TH_2026_RL",
+          "OV2311_TH_7",
           new Transform3d(
-              Inches.of(-13.1623),
-              Inches.of(12.1623),
-              Inches.of(20.26674),
-              // pitch 15 degrees up, yaw 135 degrees left
-              new Rotation3d(new Quaternion(0.3794, 0.1206, -0.0500, 0.9160))));
+              Inches.of(-11.471),
+              Inches.of(9.971),
+              Inches.of(8.158),
+              // pitch 20 degrees up, yaw 135 degrees left
+              new Rotation3d(new Quaternion(0.3769, 0.1604, -0.0665, 0.9098))));
 
   public static Distance MIN_ROBOT_WIDTH = Inches.of(36.875);