diff --git a/src/main/java/frc/robot/conveyor/ConveyorState.java b/src/main/java/frc/robot/conveyor/ConveyorState.java
index 3cd6f29c..7c42be01 100644
--- a/src/main/java/frc/robot/conveyor/ConveyorState.java
+++ b/src/main/java/frc/robot/conveyor/ConveyorState.java
@@ -8,6 +8,7 @@ public enum ConveyorState {
   IDLE,
   INTAKE_TO_SELF,
   INTAKE_TO_QUEUER,
+  CONVEYOR_TO_QUEUER,
   CONVEYOR_TO_INTAKE,
   QUEUER_TO_INTAKE,
   WAITING_AMP_SHOT,
diff --git a/src/main/java/frc/robot/conveyor/ConveyorSubsystem.java b/src/main/java/frc/robot/conveyor/ConveyorSubsystem.java
index af2c963f..1b2b4a95 100644
--- a/src/main/java/frc/robot/conveyor/ConveyorSubsystem.java
+++ b/src/main/java/frc/robot/conveyor/ConveyorSubsystem.java
@@ -51,6 +51,7 @@ public void enabledPeriodic() {
         motor.setVoltage(-3);
         break;
       case CONVEYOR_TO_INTAKE:
+      case CONVEYOR_TO_QUEUER:
         motor.setVoltage(3);
         break;
       case AMP_SHOT:
diff --git a/src/main/java/frc/robot/note_manager/NoteManager.java b/src/main/java/frc/robot/note_manager/NoteManager.java
index 28ccbbf1..b6ac2edb 100644
--- a/src/main/java/frc/robot/note_manager/NoteManager.java
+++ b/src/main/java/frc/robot/note_manager/NoteManager.java
@@ -47,20 +47,19 @@ public void robotPeriodic() {
         case AMP_WAIT:
           if (state == NoteState.IDLE_IN_CONVEYOR) {
             // Do nothing, you are already idling with the note in the conveyor
-          } else if (state == NoteState.QUEUER_TO_INTAKE_FOR_CONVEYOR_FINAL
-              || state == NoteState.INTAKE_TO_CONVEYOR) {
+          } else if (state == NoteState.QUEUER_TO_CONVEYOR_FOR_IDLE) {
             // Do nothing, we are already in the handoff process
           } else {
-            state = NoteState.QUEUER_TO_INTAKE_FOR_CONVEYOR;
+            state = NoteState.QUEUER_TO_CONVEYOR_FOR_IDLE;
           }
           break;
         case IDLE_IN_QUEUER:
           if (state == NoteState.IDLE_IN_CONVEYOR) {
-            state = NoteState.CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE;
-          } else if (state == NoteState.CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE) {
+            state = NoteState.CONVEYOR_TO_QUEUER_FOR_IDLE;
+          } else if (state == NoteState.CONVEYOR_TO_QUEUER_FOR_IDLE) {
             // Do nothing, we are already in the handoff process
           } else {
-            state = NoteState.IDLE_IN_QUEUER;
+            state = NoteState.CONVEYOR_TO_QUEUER_FOR_IDLE;
           }
           break;
         case IDLE_NO_GP:
@@ -78,14 +77,14 @@ public void robotPeriodic() {
           break;
         case SHOOTER_OUTTAKE:
           if (state == NoteState.IDLE_IN_CONVEYOR) {
-            state = NoteState.CONVEYOR_TO_INTAKE_FOR_SHOOTER_OUTTAKE;
+            state = NoteState.CONVEYOR_TO_QUEUER_FOR_SHOOTER_OUTTAKE;
           } else {
             state = NoteState.SHOOTER_OUTTAKING;
           }
           break;
         case SHOOTER_SCORE:
           if (state == NoteState.IDLE_IN_CONVEYOR) {
-            state = NoteState.CONVEYOR_TO_INTAKE_FOR_SHOOTER_SCORE;
+            state = NoteState.CONVEYOR_TO_QUEUER_FOR_SHOOTER_SCORE;
           } else {
             state = NoteState.SHOOTING;
           }
@@ -118,42 +117,36 @@ public void robotPeriodic() {
           state = NoteState.IDLE_IN_QUEUER;
         }
         break;
-      case INTAKE_TO_CONVEYOR:
-        if (conveyor.hasNote() && !intake.hasNote()) {
-          state = NoteState.IDLE_IN_CONVEYOR;
-        }
-        break;
-      case QUEUER_TO_INTAKE_FOR_CONVEYOR:
-        if (intake.hasNote() && !queuer.hasNote()) {
-          state = NoteState.QUEUER_TO_INTAKE_FOR_CONVEYOR_FINAL;
+      case CONVEYOR_TO_INTAKE_FOR_OUTTAKING:
+        if (!conveyor.hasNote() && intake.hasNote()) {
+          state = NoteState.OUTTAKING;
         }
         break;
-      case QUEUER_TO_INTAKE_FOR_CONVEYOR_FINAL:
-        if (!intake.hasNote()) {
-          state = NoteState.INTAKE_TO_CONVEYOR;
+      case QUEUER_TO_INTAKE_FOR_OUTTAKING:
+        if (!queuer.hasNote() && intake.hasNote()) {
+          state = NoteState.OUTTAKING;
         }
         break;
-      case CONVEYOR_TO_INTAKE_FOR_OUTTAKING:
-        if (!conveyor.hasNote() && intake.hasNote()) {
-          state = NoteState.OUTTAKING;
+      case CONVEYOR_TO_QUEUER_FOR_IDLE:
+        if (!conveyor.hasNote() && queuer.hasNote()) {
+          state = NoteState.IDLE_IN_QUEUER;
         }
         break;
-      case CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE:
-        if (!conveyor.hasNote() && intake.hasNote()) {
-          state = NoteState.CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE_FINAL;
+      case CONVEYOR_TO_QUEUER_FOR_SHOOTER_OUTTAKE:
+        if (!conveyor.hasNote() && queuer.hasNote()) {
+          state = NoteState.SHOOTER_OUTTAKING;
         }
         break;
-      case CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE_FINAL:
-        if (!intake.hasNote()) {
-          state = NoteState.INTAKE_TO_QUEUER;
+      case CONVEYOR_TO_QUEUER_FOR_SHOOTER_SCORE:
+        if (!conveyor.hasNote() && queuer.hasNote()) {
+          state = NoteState.SHOOTING;
         }
         break;
-      case QUEUER_TO_INTAKE_FOR_OUTTAKING:
-        if (!queuer.hasNote() && intake.hasNote()) {
-          state = NoteState.OUTTAKING;
+      case QUEUER_TO_CONVEYOR_FOR_IDLE:
+        if (!queuer.hasNote() && conveyor.hasNote()) {
+          state = NoteState.IDLE_IN_CONVEYOR;
         }
         break;
-        // TODO: Fix missing states
       default:
         break;
     }
@@ -180,28 +173,11 @@ public void robotPeriodic() {
         queuer.setState(QueuerState.IDLE);
         break;
       case CONVEYOR_TO_INTAKE_FOR_OUTTAKING:
-      case CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE:
-      case CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE_FINAL:
         intake.setState(IntakeState.FROM_CONVEYOR);
         conveyor.setState(ConveyorState.CONVEYOR_TO_INTAKE);
         queuer.setState(QueuerState.IDLE);
         break;
       case OUTTAKING:
-        intake.setState(IntakeState.OUTTAKING);
-        conveyor.setState(ConveyorState.QUEUER_TO_INTAKE);
-        queuer.setState(QueuerState.PASS_TO_INTAKE);
-        break;
-      case QUEUER_TO_INTAKE_FOR_CONVEYOR:
-      case QUEUER_TO_INTAKE_FOR_CONVEYOR_FINAL:
-        intake.setState(IntakeState.FROM_QUEUER);
-        conveyor.setState(ConveyorState.QUEUER_TO_INTAKE);
-        queuer.setState(QueuerState.PASS_TO_INTAKE);
-        break;
-      case INTAKE_TO_CONVEYOR:
-        intake.setState(IntakeState.TO_CONVEYOR);
-        conveyor.setState(ConveyorState.INTAKE_TO_SELF);
-        queuer.setState(QueuerState.IDLE);
-        break;
       case QUEUER_TO_INTAKE_FOR_OUTTAKING:
         intake.setState(IntakeState.OUTTAKING);
         conveyor.setState(ConveyorState.QUEUER_TO_INTAKE);
@@ -217,6 +193,22 @@ public void robotPeriodic() {
         conveyor.setState(ConveyorState.INTAKE_TO_QUEUER);
         queuer.setState(QueuerState.PASS_TO_SHOOTER);
         break;
+      case CONVEYOR_TO_QUEUER_FOR_IDLE:
+        intake.setState(IntakeState.IDLE);
+        conveyor.setState(ConveyorState.CONVEYOR_TO_QUEUER);
+        queuer.setState(QueuerState.INTAKING);
+        break;
+      case CONVEYOR_TO_QUEUER_FOR_SHOOTER_OUTTAKE:
+      case CONVEYOR_TO_QUEUER_FOR_SHOOTER_SCORE:
+        intake.setState(IntakeState.IDLE);
+        conveyor.setState(ConveyorState.CONVEYOR_TO_QUEUER);
+        queuer.setState(QueuerState.PASS_TO_SHOOTER);
+        break;
+      case QUEUER_TO_CONVEYOR_FOR_IDLE:
+        intake.setState(IntakeState.IDLE);
+        conveyor.setState(ConveyorState.INTAKE_TO_SELF);
+        queuer.setState(QueuerState.PASS_TO_CONVEYOR);
+        break;
       default:
         break;
     }
diff --git a/src/main/java/frc/robot/note_manager/NoteState.java b/src/main/java/frc/robot/note_manager/NoteState.java
index 10e0cfc9..7cffd362 100644
--- a/src/main/java/frc/robot/note_manager/NoteState.java
+++ b/src/main/java/frc/robot/note_manager/NoteState.java
@@ -10,17 +10,14 @@ public enum NoteState {
   INTAKE_TO_QUEUER,
   IDLE_IN_QUEUER,
 
-  CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE,
-  CONVEYOR_TO_INTAKE_FOR_QUEUER_IDLE_FINAL,
-  CONVEYOR_TO_INTAKE_FOR_SHOOTER_OUTTAKE,
-  CONVEYOR_TO_INTAKE_FOR_SHOOTER_SCORE,
+  CONVEYOR_TO_QUEUER_FOR_IDLE,
+  CONVEYOR_TO_QUEUER_FOR_SHOOTER_OUTTAKE,
+  CONVEYOR_TO_QUEUER_FOR_SHOOTER_SCORE,
 
   SHOOTING,
   SHOOTER_OUTTAKING,
 
-  QUEUER_TO_INTAKE_FOR_CONVEYOR,
-  QUEUER_TO_INTAKE_FOR_CONVEYOR_FINAL,
-  INTAKE_TO_CONVEYOR,
+  QUEUER_TO_CONVEYOR_FOR_IDLE,
   IDLE_IN_CONVEYOR,
 
   AMP_SCORING,
diff --git a/src/main/java/frc/robot/queuer/QueuerState.java b/src/main/java/frc/robot/queuer/QueuerState.java
index 654f7109..27b8cee0 100644
--- a/src/main/java/frc/robot/queuer/QueuerState.java
+++ b/src/main/java/frc/robot/queuer/QueuerState.java
@@ -8,5 +8,6 @@ public enum QueuerState {
   IDLE,
   INTAKING,
   PASS_TO_SHOOTER,
+  PASS_TO_CONVEYOR,
   PASS_TO_INTAKE;
 }
diff --git a/src/main/java/frc/robot/queuer/QueuerSubsystem.java b/src/main/java/frc/robot/queuer/QueuerSubsystem.java
index b50820f5..7f08ae76 100644
--- a/src/main/java/frc/robot/queuer/QueuerSubsystem.java
+++ b/src/main/java/frc/robot/queuer/QueuerSubsystem.java
@@ -44,6 +44,7 @@ public void enabledPeriodic() {
         }
         break;
       case PASS_TO_INTAKE:
+      case PASS_TO_CONVEYOR:
         motor.setVoltage(-1);
         break;
       case PASS_TO_SHOOTER:
diff --git a/src/main/java/frc/robot/robot_manager/RobotManager.java b/src/main/java/frc/robot/robot_manager/RobotManager.java
index 0c6195e3..38963f06 100644
--- a/src/main/java/frc/robot/robot_manager/RobotManager.java
+++ b/src/main/java/frc/robot/robot_manager/RobotManager.java
@@ -333,13 +333,6 @@ public void robotPeriodic() {
         climber.setGoalMode(ClimberMode.IDLE);
         noteManager.idleNoGPRequest();
         break;
-      case PREPARE_IDLE_WITH_GP_FROM_CONVEYOR:
-        wrist.setAngle(WristPositions.STOWED);
-        elevator.setGoalHeight(ElevatorPositions.STOWED);
-        shooter.setGoalMode(ShooterMode.IDLE);
-        climber.setGoalMode(ClimberMode.IDLE);
-        noteManager.ampWaitRequest();
-        break;
       case IDLE_WITH_GP:
         wrist.setAngle(wristAngleForSpeaker);
         elevator.setGoalHeight(ElevatorPositions.STOWED);
@@ -425,6 +418,7 @@ public void robotPeriodic() {
         snaps.setEnabled(true);
         snaps.cancelCurrentCommand();
         break;
+      case PREPARE_IDLE_WITH_GP_FROM_CONVEYOR:
       case PREPARE_WAITING_AMP_SHOT:
         wrist.setAngle(WristPositions.STOWED);
         elevator.setGoalHeight(ElevatorPositions.STOWED);