diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 83599ce..1c65909 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -33,7 +33,7 @@ public static final class IOConstants {
     public static final int kDriverControllerPort = 0;
     public static final int kOperatorControllerPort = 1;
 
-    public static final double kControllerDeadband = 0.05;
+    public static final double kControllerDeadband = 0.1;
     public static final double kSlowModeScalar = 0.8;
   }
 
@@ -117,7 +117,8 @@ public static final class IntakeConstants {
   public static final class ShooterConstants {
     public static final int kTopShooterMotorPort = 20;
     public static final int kBottomShooterMotorPort = 35;
-    public static final double kShooterSpeed = 0.7;
+    public static final double kShooterSpeedTop = 0.75;
+    public static final double kShooterSpeedBottom = 0.9;
     public static final double kShooterOff = 0;
   }
 
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 0ce6093..0934ad3 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -94,18 +94,18 @@ public void periodic() {
 
     m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());
 
-    SmartDashboard.putNumber("gyro angle", m_gyro.getAngle());
-    SmartDashboard.putNumber("odometryX", m_poseEstimator.getEstimatedPosition().getX());
-    SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY());
-
-    // AdvantageScope Logging
-    double[] logData = {
-        m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput,
-        m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput,
-        m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput,
-        m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput,
-    };
-    SmartDashboard.putNumberArray("AdvantageScope Swerve States", logData);
+    // SmartDashboard.putNumber("gyro angle", m_gyro.getAngle());
+    // SmartDashboard.putNumber("odometryX", m_poseEstimator.getEstimatedPosition().getX());
+    // SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY());
+
+    // // AdvantageScope Logging
+    // double[] logData = {
+    //     m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput,
+    //     m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput,
+    //     m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput,
+    //     m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput,
+    // };
+    // SmartDashboard.putNumberArray("AdvantageScope Swerve States", logData);
 
     setModuleStates(swerveModuleStates);
   }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index d372c3b..2b0cb44 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -27,21 +27,21 @@ public class IntakeSubsystem extends SubsystemBase {
 
   private DutyCycleEncoder m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderChannel);
 
-  //private Rev2mDistanceSensor m_distanceSensor = new Rev2mDistanceSensor(Port.kOnboard); // onboard I2C port;
+  private Rev2mDistanceSensor m_distanceSensor = new Rev2mDistanceSensor(Port.kMXP); // onboard I2C port;
 
   private double m_intakeSpeed = 0;
   private double m_armSetpoint = IntakeConstants.kIntakeRaisedAngle;
 
   /** Creates a new IntakeSubsystem */
   public IntakeSubsystem() {
-    //m_distanceSensor.setAutomaticMode(true);
+    m_distanceSensor.setAutomaticMode(true);
 
     m_armEncoder.setPositionOffset(IntakeConstants.kArmEncoderOffset);
     SmartDashboard.putNumber("arm", m_armEncoder.getAbsolutePosition());
     m_armEncoder.setDistancePerRotation(360);
 
-    m_intakeMotor.setIdleMode(IdleMode.kBrake);
-    m_armMotor.setIdleMode(IdleMode.kCoast);
+    m_intakeMotor.setIdleMode(IdleMode.kCoast);
+    m_armMotor.setIdleMode(IdleMode.kBrake);
 
     m_armPID.setTolerance(10);
 
@@ -97,7 +97,7 @@ public void stopIntake() {
    * Gets distance from Rev 2m sensor
    */
   public double getDistanceSensor() {
-    return 0;//m_distanceSensor.getRange();
+    return m_distanceSensor.getRange();
   }
 
   @Override
@@ -112,7 +112,7 @@ public void periodic() {
 
     SmartDashboard.putNumber("Arm Angle", m_armEncoder.getDistance());
     SmartDashboard.putBoolean("Have Note?", haveNote);
-    //SmartDashboard.putNumber("distance sensor", m_distanceSensor.getRange(Rev2mDistanceSensor.Unit.kInches));
+    SmartDashboard.putNumber("distance sensor", m_distanceSensor.getRange(Rev2mDistanceSensor.Unit.kInches));
     SmartDashboard.putNumber("pid output", setMotorSpeed);
   }
 
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 251acbf..f8a5e64 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -39,8 +39,8 @@ public void reset() {
   public void setShootingSpeed(ShootSpeed speed) {
     switch (speed) {
       case Shooting:
-        m_topSpeed = ShooterConstants.kShooterSpeed;
-        m_bottomSpeed = ShooterConstants.kShooterSpeed;
+        m_topSpeed = ShooterConstants.kShooterSpeedTop;
+        m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
         // System.out.println("shoot speed: " + ShooterConstants.kShooterSpeed);
         break;
       case Off: