diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ad4807d..deccbe3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,6 +6,7 @@
 
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 
+import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
@@ -17,6 +18,7 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
 import frc.robot.statemachines.DriveState;
 import frc.robot.statemachines.LaunchState;
 import frc.robot.subsystems.drive.DriveConstants;
@@ -174,9 +176,6 @@ public void configureTestBindings() {
     RobotModeTriggers.disabled()
         .whileTrue(drivetrain.applyRequest(() -> idle).ignoringDisable(true));
 
-    // driverJoystick.rightBumper().onTrue(Commands.runOnce(SignalLogger::start));
-    // driverJoystick.leftBumper().onTrue(Commands.runOnce(SignalLogger::stop));
-
     // operatorJoystick.y().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
     // operatorJoystick.a().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
     // operatorJoystick.b().whileTrue(shooter.sysIdDynamic(SysIdRoutine.Direction.kForward));
@@ -309,6 +308,15 @@ public void configureTeleopBindings() {
     operatorJoystick.rightBumper().onTrue(shooter.stopFlywheelOutputCommand());
 
     drivetrain.registerTelemetry(logger::telemeterize);
+
+    SmartDashboard.putData(
+        "Shooter/SysIdForwardQuasistatic", shooter.sysIdQuasistatic(Direction.kForward));
+    SmartDashboard.putData(
+        "Shooter/SysIdReverseQuasistatic", shooter.sysIdQuasistatic(Direction.kReverse));
+    SmartDashboard.putData("Shooter/SysIdForwardDynamic", shooter.sysIdDynamic(Direction.kForward));
+    SmartDashboard.putData("Shooter/SysIdReverseDynamic", shooter.sysIdDynamic(Direction.kReverse));
+    SmartDashboard.putData("Start Logger", Commands.runOnce(SignalLogger::start));
+    SmartDashboard.putData("Stop Logger", Commands.runOnce(SignalLogger::stop));
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
index f0a1fb5..206d4e1 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
@@ -70,9 +70,10 @@ public static OpenLoopRampsConfigs createRollerMotorRampConfigs() {
   // Extension Motor
   public static final double ALLOWABLE_EXTENSION_ERROR = 1;
 
-  public static final double EXTENSION_KS = 0.456;
-  public static final double EXTENSION_KP = 6.8;
-  public static final double EXTENSION_KD = 0.2;
+  public static final double EXTENSION_KS = 0.468;
+  public static final double EXTENSION_KP = 7.5;
+  public static final double EXTENSION_KI = 1.75;
+  public static final double EXTENSION_KD = 0.3;
 
   public static Slot0Configs createExtensionMotorSlot0Configs() {
     Slot0Configs slot = new Slot0Configs();
@@ -105,8 +106,8 @@ public static Slot2Configs createExtensionMotorSlot2Configs() {
     return slot;
   }
 
-  public static final double INTAKE_FORWARD_LIMIT = 14.55;
-  public static final double INTAKE_REVERSE_LIMIT = 0.1;
+  public static final double INTAKE_FORWARD_LIMIT = 14.6;
+  public static final double INTAKE_REVERSE_LIMIT = 3.5;
 
   public static SoftwareLimitSwitchConfigs createExtensionSoftwareLimitSwitchConfigs() {
     SoftwareLimitSwitchConfigs configs = new SoftwareLimitSwitchConfigs();
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
index 11b8682..5881ae3 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
@@ -29,7 +29,7 @@ public static MotorOutputConfigs createRightFlywheelMotorOutputConfigs() {
 
   public static MotorOutputConfigs createLeftFlywheelLeaderMotorOutputConfigs() {
     MotorOutputConfigs newConfigs = new MotorOutputConfigs();
-    newConfigs.Inverted = InvertedValue.Clockwise_Positive;
+    newConfigs.Inverted = InvertedValue.CounterClockwise_Positive;
     newConfigs.NeutralMode = NeutralModeValue.Coast;
     return newConfigs;
   }
@@ -90,18 +90,16 @@ public static Slot0Configs createHoodMotorSlot0Configs() {
     return slot;
   }
 
-  /*
+
   // TODO: Tune Flywheel and Hood Motor
 
   // Flywheel motor
-  public static final double FLYWHEEL_KS = 0.11239;
-  public static final double FLYWHEEL_KV = 0.11589;
-  public static final double FLYWHEEL_KA = 0.0034356;
-  public static final double FLYWHEEL_KP = 0.066945 * 2;
+  public static final double FLYWHEEL_KV = 0.12807;
+  public static final double FLYWHEEL_KA = 0.020039;
+  public static final double FLYWHEEL_KP = 0.17969;
 
   public static Slot0Configs createFlywheelMotorSlot0Configs() {
     Slot0Configs slot = new Slot0Configs();
-    slot.kS = FLYWHEEL_KS;
     slot.kV = FLYWHEEL_KV;
     slot.kP = FLYWHEEL_KP;
     slot.kA = FLYWHEEL_KA;
@@ -109,6 +107,7 @@ public static Slot0Configs createFlywheelMotorSlot0Configs() {
   }
 
 
+  /* 
   public static final double ALLOWABLE_HOOD_ERROR = 0.1;
   public static final double HOOD_FORWARD_LIMIT = 6.2;
   public static final double HOOD_REVERSE_LIMIT = 0;
@@ -128,6 +127,7 @@ public static MotorOutputConfigs createHoodMotorOutputConfigs() {
     newConfigs.NeutralMode = NeutralModeValue.Brake;
     return newConfigs;
   }
+  
 
   public static final DutyCycleOut SAFE_HOMING_EFFORT = new DutyCycleOut(-0.2);
   public static final Current SAFE_STATOR_LIMIT = Amp.of(0.8);