diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c8c0aad..f82c80c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -226,8 +226,8 @@ public class RobotContainer {
 
         drivetrain.setDefaultCommand(
             drivetrain.teleopCommand(
-                () -> { return driver.getLeftY() * (invertXYDrive ? -1 : 1); }, 
-                () -> { return driver.getLeftX() * (invertXYDrive ? -1 : 1); }, 
+                () -> { return driver.getLeftY() /* * (invertXYDrive ? -1 : 1)*/; }, 
+                () -> { return driver.getLeftX() /* * (invertXYDrive ? -1 : 1)*/; }, 
                 () -> { return -driver.getRightX(); }, 
                 OIConstants.kTeleopDriveDeadband
             )
@@ -311,7 +311,7 @@ public class RobotContainer {
         indexer.setDefaultCommand(indexer.shootNote(
             () -> {
                 if (driver.getRightTriggerAxis() > .25) {
-                        return -1.0;
+                        return 1.0;
                     }else {
                         return 0.0;
                     }
@@ -381,6 +381,8 @@ public class RobotContainer {
         // This was originally a run while held, not sure that's really necessary, change it if need be
         driver.rightBumper().onTrue(drivetrain.setXCommand());
 
+        operator.rightTrigger().whileTrue(indexer.shootNote(() -> -1.0));
+
         /*
         * This has been added because interest has been expressed in trying field relative vs
         * robot relative control. This should <i>default</i> to field relative, but give the option
@@ -419,7 +421,7 @@ public class RobotContainer {
 
         driver.povDown().whileTrue(indexer.shootNote(() -> -1.0));
 
-        operator.start().onTrue(shooter.zeroEncoder());
+        operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis()));
 
         //operator.povDown().whileTrue(intake.intakeDownCommand());
         //operator.povUp().whileTrue(intake.intakeUpCommand());
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index a087c3c..0066d9e 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -20,8 +20,10 @@ import java.util.function.DoubleSupplier;
 import com.kauailabs.navx.frc.AHRS;
 import com.pathplanner.lib.auto.AutoBuilder;
 
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DrivetrainConstants;
 import frc.robot.utilities.MAXSwerveModule;
@@ -43,6 +45,7 @@ public class Drivetrain extends SubsystemBase {
 
     // The gyro sensor
     private final AHRS m_gyro;
+    //private final ADXRS450_Gyro m_gyro;
 
     private final SlewRateLimiter m_magLimiter;
     private final SlewRateLimiter m_rotLimiter;
@@ -92,6 +95,8 @@ public class Drivetrain extends SubsystemBase {
 
         // TODO The NavX is not centered in the robot, it's output probably needs to be translated
         m_gyro = new AHRS(SPI.Port.kMXP);
+       // m_gyro = new ADXRS450_Gyro();
+        //m_gyro.calibrate();
 
         m_magLimiter = new SlewRateLimiter(DrivetrainConstants.kMagnitudeSlewRate);
         m_rotLimiter = new SlewRateLimiter(DrivetrainConstants.kRotationalSlewRate);
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index ad2cd0e..0aab41f 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -40,6 +40,7 @@ public class Intake extends SubsystemBase{
 
         intakePivot.setIdleMode(IdleMode.kBrake);
         intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit);
+        intakePivot.setInverted(true);
         intakePivot.burnFlash();
 
         intakeFeedForward = new ArmFeedforward(