diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9d25aba..72951c9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -132,26 +132,6 @@ public class RobotContainer {
             )
         );
 
-        //intake.setDefaultCommand(intake.intakeUpCommand());
-        intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, driver::getLeftTriggerAxis));
-
-       // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
-        shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY, operator::getLeftTriggerAxis));
-
-        climber.setDefaultCommand(climber.stop());
-
-        indexer.setDefaultCommand(indexer.shootNote(operator::getRightTriggerAxis));
-
-        driver.povCenter().onFalse(
-            drivetrain.driveCardinal(
-                driver::getLeftY, 
-                driver::getLeftX, 
-                driver.getHID()::getPOV,
-                OIConstants.kTeleopDriveDeadband).until(
-                () -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
-                )
-        );
-
         // Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
         driver.a().onTrue(
             drivetrain.driveAprilTagLock(
@@ -188,6 +168,16 @@ public class RobotContainer {
             )
         );
 
+        driver.povCenter().onFalse(
+            drivetrain.driveCardinal(
+                driver::getLeftY, 
+                driver::getLeftX, 
+                driver.getHID()::getPOV,
+                OIConstants.kTeleopDriveDeadband).until(
+                    () -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
+            )
+        );
+
         // This was originally a run while held, not sure that's really necessary, change it if need be
         driver.y().onTrue(drivetrain.zeroHeadingCommand());
 
@@ -205,9 +195,48 @@ public class RobotContainer {
         */
         driver.start().onTrue(drivetrain.toggleFieldRelativeControl());
 
-        driver.leftBumper().toggleOnTrue(intake.intakeDownCommand());
+        //intake.setDefaultCommand(intake.intakeUpCommand());
+        //Intake rollers intentionally disabled at the moment
+        intake.setDefaultCommand(
+            intake.manualPivot(
+                () -> { return operator.getRightY() / 2; }, 
+                () -> { return 0; }
+            )
+        );
 
-        operator.y().onTrue(climber.setSpeedWithSupplier(operator::getRightTriggerAxis));
+       // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
+        shooter.setDefaultCommand(
+            shooter.manualPivot(
+                () -> { return operator.getLeftY() / 2; }, 
+                () -> {
+                    if (MathUtil.applyDeadband(driver.getLeftTriggerAxis(), OIConstants.kTeleopDriveDeadband) != 0) {
+                        return driver.getLeftTriggerAxis();
+                    } else {
+                        return -operator.getLeftTriggerAxis();
+                    }
+                }
+            )
+        );
+
+        indexer.setDefaultCommand(
+            indexer.shootNote(
+                () -> {
+                    if (MathUtil.applyDeadband(driver.getLeftTriggerAxis(), OIConstants.kTeleopDriveDeadband) != 0) {
+                        return driver.getLeftTriggerAxis();
+                    } else {
+                        return -operator.getLeftTriggerAxis();
+                    }
+                }
+            )
+        );
+
+        climber.setDefaultCommand(climber.stop());
+
+        operator.rightBumper().whileTrue(
+            climber.setSpeedWithSupplier(
+                operator::getRightTriggerAxis
+            )
+        );
         
   }