diff --git a/src/main/deploy/YAGSL/real/modules/backleft.json b/src/main/deploy/YAGSL/real/modules/backleft.json
index 68fe824..fb1bf98 100644
--- a/src/main/deploy/YAGSL/real/modules/backleft.json
+++ b/src/main/deploy/YAGSL/real/modules/backleft.json
@@ -3,7 +3,7 @@
     "front": -9,
     "left": 9
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 163.523681640625,
   "drive": {
     "type": "sparkmax_neo",
     "id": 58,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 14,
+    "id": 39,
     "canbus": null
   },
   "inverted": {
-    "drive": false,
+    "drive": true,
     "angle": false
   },
   "absoluteEncoderInverted": false
diff --git a/src/main/deploy/YAGSL/real/modules/backright.json b/src/main/deploy/YAGSL/real/modules/backright.json
index 5def9fc..951e851 100644
--- a/src/main/deploy/YAGSL/real/modules/backright.json
+++ b/src/main/deploy/YAGSL/real/modules/backright.json
@@ -3,7 +3,7 @@
     "front": -9,
     "left": -9
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 173.1658477783203,
   "drive": {
     "type": "sparkmax_neo",
     "id": 59,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 13,
+    "id": 38,
     "canbus": null
   },
   "inverted": {
-    "drive": false,
+    "drive": true,
     "angle": false
   },
   "absoluteEncoderInverted": false
diff --git a/src/main/deploy/YAGSL/real/modules/frontleft.json b/src/main/deploy/YAGSL/real/modules/frontleft.json
index ba408ec..2619662 100644
--- a/src/main/deploy/YAGSL/real/modules/frontleft.json
+++ b/src/main/deploy/YAGSL/real/modules/frontleft.json
@@ -3,7 +3,7 @@
     "front": 9,
     "left": 9
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 30.09307861328125,
   "drive": {
     "type": "sparkmax_neo",
     "id": 57,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 11,
+    "id": 37,
     "canbus": null
   },
   "inverted": {
-    "drive": false,
+    "drive": true,
     "angle": false
   },
   "absoluteEncoderInverted": false
diff --git a/src/main/deploy/YAGSL/real/modules/frontright.json b/src/main/deploy/YAGSL/real/modules/frontright.json
index 57a9348..ae03e76 100644
--- a/src/main/deploy/YAGSL/real/modules/frontright.json
+++ b/src/main/deploy/YAGSL/real/modules/frontright.json
@@ -3,7 +3,7 @@
     "front": 9,
     "left": -9
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 182.8125,
   "drive": {
     "type": "sparkmax_neo",
     "id": 60,
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 12,
+    "id": 40,
     "canbus": null
   },
   "inverted": {
-    "drive": false,
+    "drive": true,
     "angle": false
   },
   "absoluteEncoderInverted": false
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 59209e0..46e3078 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -25,6 +25,7 @@
 import frc.robot.commands.feeder.SpinFeeder;
 import frc.robot.commands.drive.FakeVision;
 import frc.robot.commands.intake.SpinIntake;
+import frc.robot.commands.intake.StopIntake;
 import frc.robot.commands.intakeDeployment.InitialRunDeployment;
 import frc.robot.commands.intakeDeployment.RunDeployer;
 import frc.robot.commands.intakeDeployment.SetDeploymentState;
@@ -439,6 +440,9 @@ public void putShuffleboardCommands() {
                         SmartDashboard.putData(
                                         "Spin Intake",
                                         new SpinIntake(intakeSubsystem));
+                        SmartDashboard.putData(
+                                        "Stop Intake",
+                                        new StopIntake(intakeSubsystem));
 
                         SmartDashboard.putData(
                                         "Start Hopper",
@@ -489,7 +493,6 @@ public void putShuffleboardCommands() {
                                         "intakedeployer/Deployment State: STOPPED",
                         new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED));
 
-
                 }
 
         //basic drive command
@@ -531,7 +534,7 @@ public AutoChooser getAutoChooser() {
     public IntakeSubsystem getIntakeSubsystem() {
         return intakeSubsystem;
     }
-
+    
     public SwerveSubsystem getDriveBase() {
         return drivebase;
     }
diff --git a/src/main/java/frc/robot/commands/climber/ClimberDown.java b/src/main/java/frc/robot/commands/climber/ClimberDown.java
index 60f5d72..0ec3f13 100644
--- a/src/main/java/frc/robot/commands/climber/ClimberDown.java
+++ b/src/main/java/frc/robot/commands/climber/ClimberDown.java
@@ -26,7 +26,7 @@ public void initialize() {
 
     @Override
     public void execute() {
-        subsystem.setSpeed(1 * Constants.CLIMBER_SPEED_DOWN);
+        subsystem.setSpeed(Constants.CLIMBER_SPEED_DOWN);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/commands/climber/ClimberUp.java b/src/main/java/frc/robot/commands/climber/ClimberUp.java
index b095408..cf73f89 100644
--- a/src/main/java/frc/robot/commands/climber/ClimberUp.java
+++ b/src/main/java/frc/robot/commands/climber/ClimberUp.java
@@ -26,7 +26,7 @@ public void initialize() {
 
     @Override
     public void execute() {
-        subsystem.setSpeed(1 * Constants.CLIMBER_SPEED_UP);
+        subsystem.setSpeed(Constants.CLIMBER_SPEED_UP);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java
index 5e9cf45..03005f4 100644
--- a/src/main/java/frc/robot/constants/GameConstants.java
+++ b/src/main/java/frc/robot/constants/GameConstants.java
@@ -46,22 +46,22 @@ public enum Mode {
     public static final double ROLLER_SPEED = 0.25;
     public static final double TILT_SPEED = -0.5; // Arm motor is inverted - use negative speed
     public static final double INTAKE_SPEED = -0.5;
-    public static final double HOPPER_SPEED = 0.1;
-    public static final double CLIMBER_SPEED_UP = 0.5;
-    public static final double CLIMBER_SPEED_DOWN = -0.25;
-    public static final double FEEDER_SPEED = 0.5;
+    public static final double HOPPER_SPEED = 0.1;//Want to increase this later
+    public static final double CLIMBER_SPEED_UP = 0.1;
+    public static final double CLIMBER_SPEED_DOWN = -0.1;
+    public static final double FEEDER_SPEED = 0.5;//Might make veolcity PID
     public static final double MAX_SPEED = Units.feetToMeters(14.5);
     public static final double SHOOTER_SPEED = 100;
-    public static final double INTAKE_DEPLOYER_SPEED = 0.5;
-    public static final double INTAKE_RETRACTION_SPEED = -0.5;
-    public static final double INITIAL_INTAKE_DEPLOYER_SPEED = 10;
-    public static final double INITIAL_INTAKE_RETRACTION_SPEED = -10;
+    public static final double INTAKE_DEPLOYER_SPEED = 0.25;
+    public static final double INTAKE_RETRACTION_SPEED = -0.1;
+    public static final double INITIAL_INTAKE_DEPLOYER_SPEED = 0.25;
+    public static final double INITIAL_INTAKE_RETRACTION_SPEED = -0.1;
 
 
     //Timeouts
     public static final double SPIN_TIMEOUT = 5;
     public static final double TILT_TIMEOUT = 5;
-    public static final double HOPPER_TIMEOUT = 60;
+    public static final double HOPPER_TIMEOUT = 5;
     public static final double CLIMBER_TIMEOUT = 10;
     public static final double FEEDER_TIMEOUT = 60;
     public static final double ANGLER_TIMEOUT = 5;