diff --git a/src/main/deploy/pathplanner/paths/Center Sub to Note 1.path b/src/main/deploy/pathplanner/paths/Center Sub to Note 1.path
index a2e0332..5e78848 100644
--- a/src/main/deploy/pathplanner/paths/Center Sub to Note 1.path	
+++ b/src/main/deploy/pathplanner/paths/Center Sub to Note 1.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.421132842265685,
-        "y": 6.728691171668058
+        "x": 2.5050384003901907,
+        "y": 6.829386194384925
       },
       "prevControl": {
-        "x": 2.1572626002394863,
-        "y": 6.3328858086287605
+        "x": 2.241168158363992,
+        "y": 6.433580831345627
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b17fb25..ab6cda3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -140,7 +140,7 @@ public class RobotContainer {
                     1.0, 
                     1.0
                 ).alongWith(indexer.shootNote(() -> 1.0))
-                .withTimeout(1.0)
+                .withTimeout(0.75)
             )
         );
 
@@ -168,7 +168,7 @@ public class RobotContainer {
             .andThen(
                 intake.stopAll()
             )
-            //.withTimeout(1.0)
+            .withTimeout(2.5)
         );
 
         //NamedCommands.registerCommand("Auto Intake", new PrintCommand("Intake Note"));
@@ -226,9 +226,9 @@ public class RobotContainer {
 
         drivetrain.setDefaultCommand(
             drivetrain.teleopCommand(
-                () -> { return driver.getLeftY() * (invertXYDrive ? -1 : 1); }, 
-                () -> { return driver.getLeftX() * (invertXYDrive ? -1 : 1); }, 
-                () -> { return driver.getRightX() * (invertXYDrive ? -1 : 1); }, 
+            () -> { return driver.getLeftY();  /*(invertXYDrive ? -1 : 1);*/ }, 
+            () -> { return driver.getLeftX(); /*(invertXYDrive ? -1 : 1);*/ }, 
+            () -> { return driver.getRightX(); /*(invertXYDrive ? -1 : 1);*/ }, 
                 OIConstants.kTeleopDriveDeadband
             )
         );
@@ -409,17 +409,19 @@ public class RobotContainer {
         
         //operator.a().whileTrue(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterAmpAngle, 0, 0));
 
-        operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState(), intake.climbingStateCommand()));
+        operator.y().toggleOnTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState(), intake.climbingStateCommand()));
 
         driver.a().whileTrue(indexer.shootNote(() -> 1.0));
 
         operator.back().toggleOnTrue(shooter.manualPivot(
-        () -> MathUtil.clamp(-operator.getLeftY(), -0.5, 0.5),
+        () -> MathUtil.clamp(-operator.getLeftY(), -0.25, 0.25),
         () -> MathUtil.clamp(driver.getRightTriggerAxis(), -1, 1)
         ));
 
         driver.povDown().whileTrue(indexer.shootNote(() -> -1.0));
 
+        operator.leftTrigger().whileTrue(Commands.parallel( indexer.shootNote(() -> -1), intake.intakeControl(() -> IntakeConstants.kDownAngle, () -> -1.0)));
+
         operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis()));
         
   }
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 31a6078..13c8c3f 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -326,9 +326,9 @@ public class Drivetrain extends SubsystemBase {
     public Command teleopCommand(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, double deadband) {
         return run(() -> {
             drive(
-                MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband), 
-                MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband), 
-                MathUtil.applyDeadband(rotation.getAsDouble(), deadband), 
+                -MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband), 
+                -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband), 
+                -MathUtil.applyDeadband(rotation.getAsDouble(), deadband), 
                 () -> fieldRelativeControl, 
                 true
             );
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 0aab41f..05185f0 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -116,6 +116,7 @@ public class Intake extends SubsystemBase{
             );
         });
     }
+    
 
     public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){
         return run(() ->{
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 5e355d4..90a89f6 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -7,6 +7,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -144,8 +145,12 @@ public class Shooter extends SubsystemBase{
     public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){
         return run(() ->{
             shooterPivot.setIdleMode(IdleMode.kBrake);
-            if(getShooterAngle() >= ShooterConstants.kShooterLoadAngle || getShooterAngle() <= ShooterConstants.kShooterAmpAngle){
+            if(getShooterAngle() >= ShooterConstants.kShooterLoadAngle && getShooterAngle() <= ShooterConstants.kShooterAmpAngle){
                 shooterPivot.set(pivotPower.getAsDouble());
+            }else if(getShooterAngle() > ShooterConstants.kShooterAmpAngle){
+                shooterPivot.set(MathUtil.clamp(pivotPower.getAsDouble(), -1.0, 0.0));
+            }else if(getShooterAngle() < ShooterConstants.kShooterLoadAngle){
+                shooterPivot.set(MathUtil.clamp(pivotPower.getAsDouble(), 0.0, 1.0));
             }
 
             topShooter.set(spinny.getAsDouble());