diff --git a/src/main/java/competition/electrical_contract/Contract2026.java b/src/main/java/competition/electrical_contract/Contract2026.java
index ca2cb33c..453c5495 100644
--- a/src/main/java/competition/electrical_contract/Contract2026.java
+++ b/src/main/java/competition/electrical_contract/Contract2026.java
@@ -192,7 +192,8 @@ public CANMotorControllerInfo getIntakeDeployMotor() {
                 new TalonFxMotorControllerOutputConfig()
                         .withSupplyCurrentLimit(Amps.of(15), Amps.of(30), Seconds.of(1))
                         .withStatorCurrentLimit(Amps.of(50))
-                        .withRemoteCanCoderFeedback(getIntakeDeployAbsoluteEncoder().channel));
+                        .withRemoteCanCoderFeedback(getIntakeDeployAbsoluteEncoder().channel)
+                        .withInversionType(CANMotorControllerOutputConfig.InversionType.Inverted));
     }
 
     @Override
@@ -200,7 +201,7 @@ public CANMotorControllerInfo getIntakeDeployMotor() {
 
     @Override
     public DeviceInfo getIntakeDeployAbsoluteEncoder() {
-        return new DeviceInfo("IntakeDeployAbsoluteEncoderReady", CANBusId.Canivore, 58);
+        return new DeviceInfo("IntakeDeployAbsoluteEncoderReady", CANBusId.Canivore, 58, true);
     }
 
     @Override
diff --git a/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java b/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java
index 0baaf3aa..ffda2e55 100644
--- a/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java
+++ b/src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java
@@ -80,13 +80,13 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan
             this.intakeDeployEncoder = null;
         }
 
-        this.retractedPosition = propertyFactory.createPersistentProperty("RetractedPosition", -10.0);
-        this.extendedPosition = propertyFactory.createPersistentProperty("ExtendedPosition", -145.0);
+        this.retractedPosition = propertyFactory.createPersistentProperty("RetractedPosition", 10.0);
+        this.extendedPosition = propertyFactory.createPersistentProperty("ExtendedPosition", 145.0);
 
         this.manualControlPower = propertyFactory.createPersistentProperty("ManualControlPower", 0.2);
 
         this.mechanismDegreePerMotorRotation = propertyFactory.createPersistentProperty("MechanismDegreePerMotorRotation", 360);
-        this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(-10));
+        this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(10));
 
         this.maxPidVelocity = propertyFactory.createPersistentProperty("PidMaxMotorVelocity-RotationsPerSecond", 200);
         this.maxPidAcceleration = propertyFactory.createPersistentProperty("PidMaxMotorAcceleration-RotationsPerSecondPerSecond", 200);
@@ -103,7 +103,7 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan
     @Override
     public Angle getCurrentValue() {
         if (intakeDeployEncoder != null) {
-            return intakeDeployEncoder.getAbsolutePosition();
+            return intakeDeployEncoder.getAbsolutePosition().times(-1);
         }
 
         return Degrees.zero();