diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index e9c5391..9771c38 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -98,6 +98,11 @@ public final class Constants {
     }
 
     public static class IntakeConstants {
+        private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.65)
+                .withWidget(BuiltInWidgets.kNumberBar).getEntry();
+
+        public static double INTAKE_WHEELS_MOTOR_SPEED;
+
         private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
                 .withWidget(BuiltInWidgets.kNumberBar).getEntry();
         public static double INTAKE_WHEELS_MOTOR_RPM;
@@ -108,20 +113,31 @@ public final class Constants {
 
         public static final int INTAKE_WHEELS_MOTOR_ID = 50;
         public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
+    
+
+        public static class IntakeRotatorPID {
+            public static final double INTAKE_ROTATOR_P = 0.01;
+            public static final double INTAKE_ROTATOR_I = 0;
+            public static final double INTAKE_ROTATOR_D = 0;
+        }
+
         public static final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535;
         public static final double INTAKE_MIDDLE_ENCODER_VALUE = 1.2550222873687744;
         public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
-
-        public static class IntakeRotatorPID {
-            public static final double INTAKE_ROTATOR_P = 0.05;
-            public static final double INTAKE_ROTATOR_I = 0;
-            public static final double INTAKE_ROTATOR_D = 0.001;
         }
 
-    }
-
     public static class RampConstants {
         public static final int RAMP_MOTOR_ID = 45;
+        // create object and a new widget under programming tab in Elastic where object
+        // retrieves value from widget
+        private static GenericEntry rampSpeed = programmingTab.add("Desired Ramp Speed", 0.4)
+                .withWidget(BuiltInWidgets.kNumberBar).getEntry();
+
+        // this method called in robot periodic so values updated in elastic are
+        // constantly read and applied to RAMP_MOTOR_SPEED
+        public static void getRampMotorSpeed() {
+            RAMP_MOTOR_SPEED = rampSpeed.getDouble(0.4);
+        }
         public static double RAMP_MOTOR_SPEED = .6;
 
         // create object and a new widget under programming tab in Elastic where object
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 138cc6c..bec6a7c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -300,5 +300,4 @@ public class RobotContainer {
                         // m_ShooterSubsystem.moveActuatorCommand(Constants.ShooterConstants.DESIRED_POTENTIOMETER_DISTANCE),
                         m_ShooterSubsystem.shootFuelCommand(),
                         m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly());
-
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 9f48536..e7e04e0 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -80,7 +80,7 @@ public class IntakeSubsystem extends SubsystemBase {
     }
 
     public void retractIntake() {
-        intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
+        intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_RETRACT_ENCODER_VALUE, ControlType.kPosition);
     }
 
     public Command retractIntakeCommand() {
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index d8ba7ce..5e93833 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,7 +1,11 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
+<<<<<<< HEAD
+    "version": "2026.0.1",
+=======
     "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
     "frcYear": "2026",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +16,22 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
+<<<<<<< HEAD
+            "version": "2026.0.1"
+=======
             "version": "2026.0.2"
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -34,7 +46,11 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -49,7 +65,11 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -66,7 +86,11 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -83,7 +107,11 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -100,7 +128,11 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "libName": "BackendDriver",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -116,7 +148,11 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
+<<<<<<< HEAD
+            "version": "2026.0.1",
+=======
             "version": "2026.0.2",
+>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
             "libName": "REVLibWpi",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,