diff --git a/Competition/src/main/cpp/subsystems/Feeder.cpp b/Competition/src/main/cpp/subsystems/Feeder.cpp
index e91e707..cc7c19c 100644
--- a/Competition/src/main/cpp/subsystems/Feeder.cpp
+++ b/Competition/src/main/cpp/subsystems/Feeder.cpp
@@ -41,10 +41,7 @@ void Feeder::init()
     motor_stage.SetInverted(true);
     motor_stage.EnableVoltageCompensation(true);
     motor_stage.ConfigVoltageCompSaturation(10);
-
-    
-
-    
+ 
     motor_rotateMain.ConfigForwardSoftLimitThreshold(FeederConstants::rotateForwardLimit);
     motor_rotateMain.ConfigReverseSoftLimitThreshold(FeederConstants::rotateReverseLimit);
 
@@ -52,8 +49,8 @@ void Feeder::init()
     motor_rotateMain.ConfigReverseSoftLimitEnable(true);
 
     motor_rotateMain.SetSelectedSensorPosition(0);
-    motor_rotateMain.SetInverted(false); // needs to be tested
-    motor_rotateFollow.SetInverted(true); // needs to be tested
+    motor_rotateMain.SetInverted(true); // needs to be tested
+    motor_rotateFollow.SetInverted(false); // needs to be tested
     motor_rotateFollow.Follow(motor_rotateMain);   
 
     motor_rotateMain.SetNeutralMode(ctre::phoenix::motorcontrol::Brake);
@@ -110,7 +107,7 @@ void Feeder::assessInputs()
         state.feederState = FeederState::FEEDER_SHOOT; //intake and feeder run
         resetIntakeSensor();
     }
-    else if (driverController->GetBButton()) {
+    else if (driverController->GetXButton()) {
         state.feederState = FeederState::FEEDER_RETRACT; //Set Intake rotate  to upper setpoint
     }
     else if (driverController->GetLeftBumper()) {
@@ -144,6 +141,7 @@ void Feeder::analyzeDashboard()
     table->PutBoolean("Banner: ", debounceSensor.getSensor());
     table->PutNumber("current feeder state", state.feederState);
 
+    table->PutNumber("Intake Encoder Value", motor_rotateMain.GetSelectedSensorPosition());
 }
 
 void Feeder::assignOutputs()
diff --git a/Competition/src/main/cpp/subsystems/Shooter.cpp b/Competition/src/main/cpp/subsystems/Shooter.cpp
index 14ad4e4..ca80512 100644
--- a/Competition/src/main/cpp/subsystems/Shooter.cpp
+++ b/Competition/src/main/cpp/subsystems/Shooter.cpp
@@ -29,6 +29,7 @@ void Shooter::init()
 {
     limeTable = nt::NetworkTableInstance::GetDefault().GetTable("limelight");
     liftTable = nt::NetworkTableInstance::GetDefault().GetTable("Lift");
+    feederTable = nt::NetworkTableInstance::GetDefault().GetTable("Feeder");
     initTable("Shooter");
     
     table->PutBoolean("Zero Turret", false);
@@ -174,7 +175,7 @@ void Shooter::assessInputs()
             state.turretState = TurretState::TURRET_HOME_LEFT;
         }
         else {
-            state.turretState == TurretState::TURRET_HOME_RIGHT;
+            state.turretState = TurretState::TURRET_HOME_RIGHT;
         }
     }
     else if (operatorController->leftStickXActive()) {
diff --git a/Competition/src/main/cpp/subsystems/ValorSwerve.cpp b/Competition/src/main/cpp/subsystems/ValorSwerve.cpp
index a5e04a9..edba2cb 100644
--- a/Competition/src/main/cpp/subsystems/ValorSwerve.cpp
+++ b/Competition/src/main/cpp/subsystems/ValorSwerve.cpp
@@ -116,7 +116,7 @@ void ValorSwerve::loadAndSetAzimuthZeroReference()
     //azimuthSetpoint = fmod(azimuthSetpoint, SwerveConstants::AZIMUTH_COUNTS_PER_REV / SwerveConstants::AZIMUTH_GEAR_RATIO);
 
     // Set the azimuth offset to the calculated setpoint (which will take over in teleop)
-    azimuthFalcon->SetSelectedSensorPosition(azimuthSetpoint, 0, 10);
+    azimuthFalcon->SetSelectedSensorPosition(0, 0, 10);
     //std::cout << "pulled pospition from file" << std::endl;
 }
 
diff --git a/Competition/src/main/include/Constants.h b/Competition/src/main/include/Constants.h
index f1b1d22..2ff0e10 100644
--- a/Competition/src/main/include/Constants.h
+++ b/Competition/src/main/include/Constants.h
@@ -258,19 +258,16 @@ namespace FeederConstants{
 
     constexpr static double tickToDegree = ((4200.0 /144.0) * 2048.0 ) / 360.0; 
 
-    constexpr static double rotateForwardLimit = 10 * tickToDegree;
+    constexpr static double rotateForwardLimit = 20 * tickToDegree;
     constexpr static double rotateReverseLimit = 0;
 
-
-
-
     constexpr static double main_KF = 0.05;
     constexpr static double main_KD = 0.0;
     constexpr static double main_KI = 0.0;
     constexpr static double main_KP = 0.1;
 
-    constexpr static double MAIN_MOTION_CRUISE_VELOCITY = 4000;
-    constexpr static double MAIN_MOTION_ACCELERATION = MAIN_MOTION_CRUISE_VELOCITY * 1;
+    constexpr static double MAIN_MOTION_CRUISE_VELOCITY = 15000;
+    constexpr static double MAIN_MOTION_ACCELERATION = MAIN_MOTION_CRUISE_VELOCITY * 5;