diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a02106d..fc79c8d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -232,7 +232,7 @@ public class RobotContainer {
                 // full shooting system including linear actuators
                 //driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.shootFuelCommand().andThen(new WaitCommand(1.5)));
                                 //.andThen(m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly()));
-                driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.setShooterMotorsRPMCommand(-3400));
+                driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.shootFuelCommand());
                 driverXbox.leftBumper().onTrue(m_IntakeSubsystem
                                 .startIntakeMotorCommand(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM_SLOW));
                 // driverXbox.rightBumper().onTrue(m_IntakeSubsystem.assistFuelIntakeCommand(Constants.IntakeConstants.INTAKE_THROUGHBORE_ENCODER_MIDDLE,
@@ -258,15 +258,12 @@ public class RobotContainer {
                 // driverXbox.b().whileTrue(m_TargetingSubsystems.aimAndRangeToPose(Constants.TargetingConstants.LEFT_CLIMB_POSE));
 
                 
-                  operatorXbox.x().whileTrue(m_ShooterSubsystem.testLeftShooterCommand())
+                topButtons.button(12).whileTrue(m_ShooterSubsystem.testLeftShooterCommand())
                   .onFalse(m_ShooterSubsystem.stopLeftShooterCommand());
-                  operatorXbox.y().whileTrue(m_ShooterSubsystem.testCenterShooterCommand())
+                topButtons.button(11).whileTrue(m_ShooterSubsystem.testCenterShooterCommand())
                   .onFalse(m_ShooterSubsystem.stopCenterShooterCommand());
-                  operatorXbox.b().whileTrue(m_ShooterSubsystem.testRightShooterCommand())
+                topButtons.button(10).whileTrue(m_ShooterSubsystem.testRightShooterCommand())
                   .onFalse(m_ShooterSubsystem.stopRightShooterCommand());
-                 operatorXbox.a().whileTrue(m_ShooterSubsystem.
-                  setIndexerAndRampMotorRPMCommand())
-                  .onFalse(m_ShooterSubsystem.stopIndexerAndRampMotorCommand());
                  
 
                 topButtons.axisGreaterThan(1, 0.3)
@@ -386,7 +383,7 @@ public class RobotContainer {
         }
 
         public Command setIdleShooterRPMCommand() {
-                return Commands.runOnce(() -> m_ShooterSubsystem
+                return Commands.runOnce(() -> ShooterSubsystem
                                 .setShooterMotorsRPM(Constants.ShooterConstants.IDLE_SHOOTER_RPM))
                                 .andThen(m_ShooterSubsystem.stopIndexerAndRampMotorCommand());
         }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index dcbd473..b53b21f 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -85,8 +85,8 @@ public class IntakeSubsystem extends SubsystemBase {
 
                 // Slot 2
                 .p(.8, ClosedLoopSlot.kSlot2)
-                .i(.001, ClosedLoopSlot.kSlot2)
-                .d(0.3, ClosedLoopSlot.kSlot2);
+                .i(.0, ClosedLoopSlot.kSlot2)
+                .d(0.8, ClosedLoopSlot.kSlot2);
 
         intakeRotatorConfig.smartCurrentLimit(80);
         intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 06743a2..2f80b32 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -111,13 +111,6 @@ public class ShooterSubsystem extends SubsystemBase {
         indexerAndRampMotorPIDController = indexerAndRampMotor.getClosedLoopController();
     }
 
-    // private static SparkMax leftActuatorMotor = new
-    // SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT,
-    // MotorType.kBrushless);
-
-    // private static SparkMax rightActuatorMotor = new
-    // SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT,
-    // MotorType.kBrushless);
 
     public void setShooterMotorsRPM() {
         centerShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM, ControlType.kVelocity);
@@ -267,7 +260,10 @@ public class ShooterSubsystem extends SubsystemBase {
     @Override
     public void periodic() {
 
-        SmartDashboard.putNumber("Shooter Velocity", leftShooterMotor.getEncoder().getVelocity());
+        SmartDashboard.putString("Shooter Velocity", "Left: " 
+        + leftShooterMotor.getEncoder().getVelocity() 
+        + "  Center:" + centerShooterMotor.getEncoder().getVelocity() 
+        + "  Right: " + rightShooterMotor.getEncoder().getVelocity());
 
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/TargetingSubsystems.java b/src/main/java/frc/robot/subsystems/TargetingSubsystems.java
index 0602c5a..8671b66 100644
--- a/src/main/java/frc/robot/subsystems/TargetingSubsystems.java
+++ b/src/main/java/frc/robot/subsystems/TargetingSubsystems.java
@@ -56,15 +56,9 @@ public class TargetingSubsystems extends SubsystemBase {
 
     public static Rotation2d hubThetaPose = new Rotation2d();
     public static Optional<Alliance> alliance = DriverStation.getAlliance();
-    private static ShuffleboardTab cameras;
 
     public TargetingSubsystems() {
         photonAimPIDController.enableContinuousInput(-Math.PI, Math.PI);
-        cameras = Shuffleboard.getTab("Vision");
-        // cameras.addCamera("Rear Left Camera","Rear Left
-        // Camera","http://photonvision.local:5800/#/cameras");
-        // cameras.addCamera("Rear Right Camera", "Rear Right Camera",
-        // "http://photonvision.local:5800/#/cameras");
 
     }