diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6f93fdb..d4c201a 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -102,10 +102,10 @@ public final class Constants {
   
   public static class HopperConstants {
     public static final int KICKER_MOTOR_ID = 9;
-    public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
+    public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
 
     public static final int SPINDEXER_MOTOR_ID = 8;
-    public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
-    public static final double SPINDEXER_MOTOR_SPEED = 0;
+    public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
+    public static final double SPINDEXER_MOTOR_SPEED = .6;
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cf42547..15afb32 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -77,7 +77,7 @@ public class RobotContainer {
 
     m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
     m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
-    m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
+    //m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
 
     intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));
   }
diff --git a/src/main/java/frc/robot/commands/ManualHopperCommand.java b/src/main/java/frc/robot/commands/ManualHopperCommand.java
index ac28df7..e9b4cea 100644
--- a/src/main/java/frc/robot/commands/ManualHopperCommand.java
+++ b/src/main/java/frc/robot/commands/ManualHopperCommand.java
@@ -23,7 +23,10 @@ public class ManualHopperCommand extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
+    if(m_xboxController.getRightBumper())
+    {
+      m_subsystem.spin(Constants.HopperConstants.SPINDEXER_MOTOR_SPEED);
+    }
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java
index 8a23efb..d88a933 100644
--- a/src/main/java/frc/robot/commands/ManualShootCommand.java
+++ b/src/main/java/frc/robot/commands/ManualShootCommand.java
@@ -6,6 +6,7 @@ package frc.robot.commands;
 
 import frc.robot.subsystems.TurretSubsystem;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 
 /** An example command that uses an example subsystem. */
@@ -23,14 +24,25 @@ public class ManualShootCommand extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5)
+    if(m_controller.getRightTriggerAxis()>.4)
+    {
+      m_subsystem.setLauncher(.6);
+      m_controller.setRumble(RumbleType.kBothRumble, .33);
+    }
+    else if(m_controller.getRightTriggerAxis()>.6)
+    {
+      m_subsystem.setLauncher(.8);
+      m_controller.setRumble(RumbleType.kBothRumble, .67);
+    }
+    else if(m_controller.getRightTriggerAxis()>.8)
     {
       m_subsystem.setLauncher(1);
-      System.out.println("Test");
+      m_controller.setRumble(RumbleType.kBothRumble, 1);
     }
     else
     {
       m_subsystem.setLauncher(0);
+      m_controller.setRumble(RumbleType.kBothRumble, 0);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 26af31d..875f303 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -84,7 +84,7 @@ public class IntakeSubsystem extends TestableSubsystem {
 
   public Command startSpeedCommand()
   {
-    return this.runOnce(() -> setSpeed(.5));
+    return this.runOnce(() -> setSpeed(-.5));
   }
 
   public Command killSpeedCommand()
@@ -94,6 +94,6 @@ public class IntakeSubsystem extends TestableSubsystem {
 
   public Command revSpeedCommand()
   {
-    return this.runOnce(() -> setSpeed(-.5));
+    return this.runOnce(() -> setSpeed(.5));
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 57f181a..4a70432 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -67,21 +67,21 @@ public class TurretSubsystem extends TestableSubsystem {
   public void startHoming()
   {
     //turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
-    currentState = TurretState.HOMING;
+    //currentState = TurretState.HOMING;
   }
 
   public void startRotate(double speed)
   {
-    turretGoingPos=speed>0;
+    /*turretGoingPos=speed>0;
 
     if(!passedLimit())
     {
-      //turretMotor.set(speed);
+      turretMotor.set(speed);
     }
     else
     {
-      //turretMotor.set(0);
-    }
+      turretMotor.set(0);
+    }*/
   }
 
   public boolean passedLimit(){
@@ -128,7 +128,5 @@ public class TurretSubsystem extends TestableSubsystem {
     {
       //turretMotor.set(0);
     }*/
-
-
   }
 }