diff --git a/864-robot-config.json b/864-robot-config.json
index a2822ae..b4390c0 100644
--- a/864-robot-config.json
+++ b/864-robot-config.json
@@ -7,10 +7,10 @@
   },
   "drivetrain": {
     "ports": {
-      "rightBack": 13,
-      "rightFront": 12,
       "leftBack": 11,
-      "leftFront": 10
+      "leftFront": 10,
+      "rightBack": 13,
+      "rightFront": 12
     },
     "properties": {
       "maxLeftVelocity": [
@@ -37,7 +37,7 @@
       "turnControlGains": {
         "kp": {
           "num": [
-            50,
+            60,
             "Percent$"
           ],
           "den": [
@@ -69,7 +69,7 @@
       "forwardPositionControlGains": {
         "kp": {
           "num": [
-            100,
+            50,
             "Percent$"
           ],
           "den": [
@@ -101,7 +101,7 @@
       "turnPositionControlGains": {
         "kp": {
           "num": [
-            100,
+            85,
             "Percent$"
           ],
           "den": [
@@ -133,7 +133,7 @@
       "leftControlGains": {
         "kp": {
           "num": [
-            30,
+            50,
             "Percent$"
           ],
           "den": [
@@ -165,7 +165,7 @@
       "rightControlGains": {
         "kp": {
           "num": [
-            30,
+            50,
             "Percent$"
           ],
           "den": [
@@ -204,26 +204,16 @@
       ]
     }
   },
-  "agitator": {
-    "ports": {
-      "motor": 2
-    },
-    "properties": {
-      "spinSpeed": [
-        -50,
-        "Percent$"
-      ]
-    }
-  },
+  "agitator": null,
   "camSelect": {
     "port": {
       "leftCamPort": 5804,
       "rightCamPort": 5805,
-      "driveCamPort": 5803
+      "driveCamPort": 5811
     },
     "properties": {
-      "coprocessorHostname": "10.8.46.19",
-      "mjpegPath": "/stream.mjpg"
+      "coprocessorHostname": "10.8.64.20",
+      "mjpegPath": "/?action=stream"
     }
   },
   "climberPuller": {
@@ -238,176 +228,38 @@
       ]
     }
   },
-  "collectorElevator": {
-    "port": {
-      "motor": 1
-    },
-    "properties": {
-      "collectSpeed": [
-        100,
-        "Percent$"
-      ]
-    }
-  },
-  "collectorExtender": {
-    "port": {
-      "pneumatic": 3
-    }
-  },
-  "collectorRollers": {
+  "collectorElevator": null,
+  "collectorExtender": null,
+  "collectorRollers": null,
+  "gearRoller": {
     "ports": {
-      "rollerChannel": 0
+      "motor": 16
     },
-    "properties": {
-      "lowRollerSpeedOutput": [
-        0,
+    "props": {
+      "defaultHoldingPower": [
+        10,
         "Percent$"
       ],
-      "highRollerSpeedOutput": [
+      "intakeGearPower": [
         100,
         "Percent$"
-      ]
-    }
-  },
-  "gearGrabber": {
-    "port": {
-      "pneumatic": 1,
-      "proximitySensor": 0
-    },
-    "props": {
-      "detectingDistance": [
-        2.2,
-        "Volts$"
-      ]
-    }
-  },
-  "gearTilter": {
-    "port": {
-      "pneumatic": 0
-    }
-  },
-  "shooterFlywheel": {
-    "ports": {
-      "leftMotor": 3,
-      "rightMotor": 4,
-      "leftHall": 0,
-      "rightHall": 1
-    },
-    "props": {
-      "maxVelocityLeft": [
-        6500,
-        "RevolutionsPerMinute$"
-      ],
-      "maxVelocityRight": [
-        6500,
-        "RevolutionsPerMinute$"
       ],
-      "velocityGainsLeft": {
-        "kp": {
-          "num": [
-            100,
-            "Percent$"
-          ],
-          "den": [
-            3000,
-            "RevolutionsPerMinute$"
-          ]
-        },
-        "ki": {
-          "num": [
-            0,
-            "Percent$"
-          ],
-          "den": [
-            1000,
-            "Each$"
-          ]
-        },
-        "kd": {
-          "num": [
-            0,
-            "Percent$"
-          ],
-          "den": [
-            1000,
-            "RevolutionsPerMinute$ / s"
-          ]
-        }
-      },
-      "velocityGainsRight": {
-        "kp": {
-          "num": [
-            100,
-            "Percent$"
-          ],
-          "den": [
-            3000,
-            "RevolutionsPerMinute$"
-          ]
-        },
-        "ki": {
-          "num": [
-            0,
-            "Percent$"
-          ],
-          "den": [
-            1000,
-            "Each$"
-          ]
-        },
-        "kd": {
-          "num": [
-            0,
-            "Percent$"
-          ],
-          "den": [
-            1000,
-            "RevolutionsPerMinute$ / s"
-          ]
-        }
-      },
-      "lowShootSpeedLeft": [
-        3650,
-        "RevolutionsPerMinute$"
-      ],
-      "lowShootSpeedRight": [
-        3650,
-        "RevolutionsPerMinute$"
-      ],
-      "midShootSpeedLeft": [
-        3700,
-        "RevolutionsPerMinute$"
-      ],
-      "midShootSpeedRight": [
-        3700,
-        "RevolutionsPerMinute$"
-      ],
-      "fastShootSpeedLeft": [
-        3750,
-        "RevolutionsPerMinute$"
-      ],
-      "fastShootSpeedRight": [
-        3750,
-        "RevolutionsPerMinute$"
-      ],
-      "currentLimit": [
-        50,
+      "emitGearPower": [
+        -50,
         "Percent$"
       ],
-      "speedTolerance": [
-        75,
-        "RevolutionsPerMinute$"
+      "gearDetectionCurrent": [
+        10,
+        "Amperes$"
       ]
     }
   },
-  "shooterShifter": {
-    "ports": {
-      "pneumatic": 2
-    }
-  },
-  "loadTray": {
+  "gearTilter": {
     "port": {
-      "pneumatic": 4
+      "pneumatic": 0
     }
-  }
+  },
+  "shooterFlywheel": null,
+  "shooterShifter": null,
+  "loadTray": null
 }
diff --git a/build.sbt b/build.sbt
index d8a039a..1ad05eb 100644
--- a/build.sbt
+++ b/build.sbt
@@ -1,7 +1,7 @@
 enablePlugins(FRCPlugin)
 
 organization := "com.lynbrookrobotics"
-teamNumber := 846
+teamNumber := 864
 
 scalaVersion := "2.12.3"
 
diff --git a/project/Versions.scala b/project/Versions.scala
index 9c6f249..7aba6fe 100644
--- a/project/Versions.scala
+++ b/project/Versions.scala
@@ -1,3 +1,3 @@
 object Versions {
-  val potassiumVersion = "0.1.0-feacaab8"
+  val potassiumVersion = "0.1.0-2481b217"
 }
\ No newline at end of file
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/AutoGenerator.scala b/src/main/scala/com/lynbrookrobotics/seventeen/AutoGenerator.scala
index e55ba7a..b21cbba 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/AutoGenerator.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/AutoGenerator.scala
@@ -9,7 +9,8 @@ import com.lynbrookrobotics.seventeen.collector.extender.CollectorExtender
 import com.lynbrookrobotics.seventeen.collector.rollers.CollectorRollers
 import com.lynbrookrobotics.seventeen.drivetrain.Drivetrain
 import com.lynbrookrobotics.seventeen.drivetrain.unicycleTasks._
-import com.lynbrookrobotics.seventeen.gear.grabber.{GearGrabber, OpenGrabber}
+import com.lynbrookrobotics.seventeen.gear.GearTasks
+import com.lynbrookrobotics.seventeen.gear.roller.GearRoller
 import com.lynbrookrobotics.seventeen.gear.tilter.{ExtendTilter, GearTilter}
 import com.lynbrookrobotics.seventeen.loadtray.LoadTray
 import com.lynbrookrobotics.seventeen.shooter.ShooterTasks
@@ -26,10 +27,7 @@ class AutoGenerator(r: CoreRobot) {
 
   private val gearPegDistance = Inches(109)
 
-  private val midShootSpeedLeft = r.coreTicks.map(_ => shooterFlywheelProps.get.midShootSpeedLeft)
-  private val midShootSpeedRight = r.coreTicks.map(_ => shooterFlywheelProps.get.midShootSpeedRight)
-
-  def slowCrossLine(drivetrain: Drivetrain): FiniteTask = {
+  def  slowCrossLine(drivetrain: Drivetrain): FiniteTask = {
     new DriveDistanceStraight(
       Inches(107) - robotLength,
       Inches(3),
@@ -38,54 +36,64 @@ class AutoGenerator(r: CoreRobot) {
     )(drivetrain).withTimeout(Seconds(8))
   }
 
-  def toGearAndDrop(drivetrain: Drivetrain, gearGrabber: GearGrabber, gearTilter: GearTilter): FiniteTask = {
+  def toGearAndDrop(drivetrain: Drivetrain, gearRoller: GearRoller, gearTilter: GearTilter): FiniteTask = {
     val dropAndBack = new WaitTask(Seconds(1)).then(new DriveDistanceStraight(
       -Feet(2),
       Inches(3),
       Degrees(10),
       Percent(30)
-    )(drivetrain)).withTimeout(Seconds(5)).andUntilDone(
-      new OpenGrabber(gearGrabber) and new ExtendTilter(gearTilter)
+    )(drivetrain)).withTimeout(Seconds(2)).andUntilDone(
+      GearTasks.scoreGear(gearTilter, gearRoller)
     )
 
     dropAndBack
   }
 
-  def centerGear(drivetrain: Drivetrain, gearGrabber: GearGrabber, gearTilter: GearTilter): FiniteTask = {
+  def centerGear(drivetrain: Drivetrain, gearRoller: GearRoller, gearTilter: GearTilter): FiniteTask = {
     new DriveDistanceStraight(
-      gearPegDistance - robotLength,
+      gearPegDistance - robotLength + Inches(10.5 / 2) /* gear peg */ + Inches(3.5) /* bumper */,
       Inches(3),
       Degrees(10),
-      Percent(30)
+      Percent(25),
+      minStableTicks = 1
     )(drivetrain).withTimeout(Seconds(8)).then(
-      toGearAndDrop(drivetrain, gearGrabber, gearTilter)
+      toGearAndDrop(drivetrain, gearRoller, gearTilter)
     )
   }
 
-  def rightGear(drivetrain: Drivetrain, gearGrabber: GearGrabber, gearTilter: GearTilter): FiniteTask = {
+  def rightGear(drivetrain: Drivetrain, gearRoller: GearRoller, gearTilter: GearTilter): FiniteTask = {
     new DriveDistanceStraight(
-      Inches(90.5),
-      Inches(3),
+      Inches(91.8 - 4 /* going too long in tests */),
+      Inches(1),
+      Degrees(5),
+      Percent(30)
+    )(drivetrain).withTimeout(Seconds(3)).then(new RotateByAngle(
+      Degrees(-58),
+      Degrees(1),
+      20
+    )(drivetrain).withTimeout(Seconds(2))).then(new DriveDistanceStraight(
+      Inches(19.75 + 3.5 /* for bumpers */ + 6 /* go in more */),
+      Inches(2),
       Degrees(10),
       Percent(30)
-    )(drivetrain).withTimeout(Seconds(8)).then(new RotateByAngle(
-      Degrees(-57.61),
-      Degrees(5),
-      5
-    )(drivetrain).withTimeout(Seconds(5))).then(new DriveDistanceStraight(
-      Inches(19.75),
-      Inches(3),
+    )(drivetrain).withTimeout(Seconds(2))).then(
+      toGearAndDrop(drivetrain, gearRoller, gearTilter)
+    ).then(new RotateByAngle(
+      Degrees(58),
+      Degrees(1),
+      20
+    )(drivetrain).withTimeout(Seconds(2))).then(new DriveDistanceStraight(
+      Feet(3),
+      Inches(2),
       Degrees(10),
       Percent(30)
-    )(drivetrain).withTimeout(Seconds(5))).then(
-      toGearAndDrop(drivetrain, gearGrabber, gearTilter)
-    )
+    )(drivetrain).withTimeout(Seconds(3)))
   }
 
-  def leftGear(drivetrain: Drivetrain, gearGrabber: GearGrabber, gearTilter: GearTilter): FiniteTask = {
+  def leftGear(drivetrain: Drivetrain, gearRoller: GearRoller, gearTilter: GearTilter): FiniteTask = {
     new DriveDistanceStraight(
       Inches(90.5),
-      Inches(3),
+      Inches(1),
       Degrees(10),
       Percent(30)
     )(drivetrain).withTimeout(Seconds(8)).then(new RotateByAngle(
@@ -98,12 +106,12 @@ class AutoGenerator(r: CoreRobot) {
       Degrees(10),
       Percent(30)
     )(drivetrain).withTimeout(Seconds(5))).then(
-      toGearAndDrop(drivetrain, gearGrabber, gearTilter)
+      toGearAndDrop(drivetrain, gearRoller, gearTilter)
     )
   }
 
   def leftGearPurePursuit(drivetrain: Drivetrain,
-                          gearGrabber: GearGrabber,
+                          gearRoller: GearRoller,
                           gearTilter: GearTilter): FiniteTask = {
     val relativeTurn = drivetrainHardware.turnPosition.relativize((init, curr) => {
       curr - init
@@ -130,12 +138,12 @@ class AutoGenerator(r: CoreRobot) {
       turnPosition = relativeTurn,
       steadyOutput = Percent(50)
     )(drivetrain).withTimeout(Seconds(5)).then(
-      toGearAndDrop(drivetrain, gearGrabber, gearTilter)
+      toGearAndDrop(drivetrain, gearRoller, gearTilter)
     )
   }
   def rightGearPurePursuit(drivetrain: Drivetrain,
-                          gearGrabber: GearGrabber,
-                          gearTilter: GearTilter): FiniteTask = {
+                           gearRoller: GearRoller,
+                           gearTilter: GearTilter): FiniteTask = {
     val relativeTurn = drivetrainHardware.turnPosition.relativize((init, curr) => {
       curr - init
     })
@@ -161,7 +169,7 @@ class AutoGenerator(r: CoreRobot) {
       turnPosition = relativeTurn,
       steadyOutput = Percent(50)
     )(drivetrain).withTimeout(Seconds(5)).then(
-      toGearAndDrop(drivetrain, gearGrabber, gearTilter)
+      toGearAndDrop(drivetrain, gearRoller, gearTilter)
     )
   }
 
@@ -202,10 +210,10 @@ class AutoGenerator(r: CoreRobot) {
                             collectorExtender: CollectorExtender,
                             loadTray: LoadTray): FiniteTask = {
     val shooting = ShooterTasks.continuousShoot(
-      midShootSpeedLeft,
-      midShootSpeedRight
+      shooterFlywheel.midShootSpeedLeft,
+      shooterFlywheel.midShootSpeedRight
     )(collectorElevator, collectorRollers, agitator, shooterFlywheel, collectorExtender, loadTray).and(
-      new ShiftShooter(midShootSpeedLeft.mapToConstant(ShooterShiftLeft))(shooterShifter)
+      new ShiftShooter(shooterFlywheel.midShootSpeedLeft.mapToConstant(ShooterShiftLeft))(shooterShifter)
     )
 
     new WaitTask(Seconds(5)).andUntilDone(shooting).then(new DriveDistanceStraight(
@@ -215,6 +223,7 @@ class AutoGenerator(r: CoreRobot) {
       Percent(30)
     )(drivetrain).withTimeout(Seconds(3)))
   }
+
   def leftHopperAndShoot(drivetrain: Drivetrain,
                          collectorElevator: CollectorElevator,
                          collectorRollers: CollectorRollers,
@@ -225,10 +234,10 @@ class AutoGenerator(r: CoreRobot) {
                          loadTray: LoadTray): ContinuousTask = {
 
     val shooting = ShooterTasks.continuousShoot(
-      midShootSpeedLeft,
-      midShootSpeedRight
+      shooterFlywheel.midShootSpeedLeft,
+      shooterFlywheel.midShootSpeedRight
     )(collectorElevator, collectorRollers, agitator, shooterFlywheel, collectorExtender, loadTray).and(
-      new ShiftShooter(midShootSpeedLeft.mapToConstant(ShooterShiftLeft))(shooterShifter)
+      new ShiftShooter(shooterFlywheel.midShootSpeedLeft.mapToConstant(ShooterShiftLeft))(shooterShifter)
     )
 
     hopperForward(drivetrain).then(new RotateByAngle(
@@ -249,10 +258,10 @@ class AutoGenerator(r: CoreRobot) {
                           collectorExtender: CollectorExtender,
                           loadTray: LoadTray): ContinuousTask = {
     val shooting = ShooterTasks.continuousShoot(
-      midShootSpeedLeft,
-      midShootSpeedRight
+      shooterFlywheel.midShootSpeedLeft,
+      shooterFlywheel.midShootSpeedRight
     )(collectorElevator, collectorRollers, agitator, shooterFlywheel, collectorExtender, loadTray).and(
-      new ShiftShooter(midShootSpeedLeft.mapToConstant(ShooterShiftRight))(shooterShifter)
+      new ShiftShooter(shooterFlywheel.midShootSpeedLeft.mapToConstant(ShooterShiftRight))(shooterShifter)
     )
 
     hopperForward(drivetrain).then(new RotateByAngle(
@@ -284,7 +293,7 @@ class AutoGenerator(r: CoreRobot) {
     ).toContinuous
   }
 
-  def centerGearAndCrossLine(drivetrain: Drivetrain, gearGrabber: GearGrabber, gearTilter: GearTilter): FiniteTask = {
+  def centerGearAndCrossLine(drivetrain: Drivetrain, gearRoller: GearRoller, gearTilter: GearTilter): FiniteTask = {
     val relativeTurn = drivetrainHardware.turnPosition.relativize((init, curr) => {
       curr - init
     })
@@ -301,7 +310,7 @@ class AutoGenerator(r: CoreRobot) {
       Degrees(10),
       Percent(30)
     )(drivetrain).withTimeout(Seconds(8)).then(
-      toGearAndDrop(drivetrain, gearGrabber, gearTilter)
+      toGearAndDrop(drivetrain, gearRoller, gearTilter)
     ).then(new FollowWayPointsWithPosition(
       Seq(
         new Point(
@@ -333,7 +342,7 @@ class AutoGenerator(r: CoreRobot) {
   }
 
   def shootCenterGear(drivetrain: Drivetrain,
-                      gearGrabber: GearGrabber,
+                      gearRoller: GearRoller,
                       gearTilter: GearTilter,
                       collectorElevator: CollectorElevator,
                       collectorRollers: CollectorRollers,
@@ -343,9 +352,9 @@ class AutoGenerator(r: CoreRobot) {
                       loadTray: LoadTray): FiniteTask = {
     new WaitTask(Seconds(3)).andUntilDone(
       ShooterTasks.continuousShoot(
-        midShootSpeedLeft,
-        midShootSpeedRight
+        shooterFlywheel.midShootSpeedLeft,
+        shooterFlywheel.midShootSpeedRight
       )(collectorElevator, collectorRollers, agitator, shooterFlywheel, collectorExtender, loadTray)
-    ).then(centerGear(drivetrain, gearGrabber, gearTilter))
+    ).then(centerGear(drivetrain, gearRoller, gearTilter))
   }
 }
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/ButtonMappings.scala b/src/main/scala/com/lynbrookrobotics/seventeen/ButtonMappings.scala
index 1d6722e..56a40e2 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/ButtonMappings.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/ButtonMappings.scala
@@ -8,7 +8,8 @@ import com.lynbrookrobotics.seventeen.camselect._
 import com.lynbrookrobotics.seventeen.climber.puller.RunPuller
 import com.lynbrookrobotics.seventeen.collector.CollectorTasks
 import com.lynbrookrobotics.seventeen.collector.extender.CollectorExtenderExtended
-import com.lynbrookrobotics.seventeen.gear.grabber.OpenGrabber
+import com.lynbrookrobotics.seventeen.gear.GearTasks
+import com.lynbrookrobotics.seventeen.gear.roller.RollInwards
 import com.lynbrookrobotics.seventeen.gear.tilter.ExtendTilter
 import com.lynbrookrobotics.seventeen.loadtray.ExtendTray
 import com.lynbrookrobotics.seventeen.shooter.ShooterTasks
@@ -18,7 +19,6 @@ import squants.Percent
 import squants.time._
 
 class ButtonMappings(r: CoreRobot) {
-
   import r._
 
   var curFlywheelTargetLeft: Frequency = if (config.get.shooterFlywheel != null) {
@@ -138,37 +138,34 @@ class ButtonMappings(r: CoreRobot) {
   }
 
   for {
-    gearGrabber <- gearGrabber
+    gearRoller <- gearRoller
     gearTilter <- gearTilter
   } {
-    val bothPressed = Signal(driverHardware.operatorJoystick.getRawButton(JoystickButtons.RightFour)
-      && driverHardware.operatorJoystick.getRawButton(JoystickButtons.RightFive)).filter(identity)
-
-    val onlyRightFourPressed = Signal(driverHardware.operatorJoystick.getRawButton(JoystickButtons.RightFour)
-      && !driverHardware.operatorJoystick.getRawButton(JoystickButtons.RightFive)).filter(identity)
-
-    val onlyRightFivePressed = Signal(!driverHardware.operatorJoystick.getRawButton(JoystickButtons.RightFour)
-      && driverHardware.operatorJoystick.getRawButton(JoystickButtons.RightFive)).filter(identity)
+    val rightFourPressed = driverHardware.operatorJoystick.buttonPressed(JoystickButtons.RightFour)
+    val rightFivePressed = driverHardware.operatorJoystick.buttonPressed(JoystickButtons.RightFive)
+    val rightSixPressed = driverHardware.operatorJoystick.buttonPressed(JoystickButtons.RightSix)
 
     /**
-      * Releases gear
+      * Collects gear
       * only RightFour pressed
       */
-    onlyRightFourPressed.foreach(new OpenGrabber(gearGrabber))
+    rightFourPressed.foreach(new RollInwards(gearRoller) and new ExtendTilter(gearTilter))
 
     /**
       * Extends tilter
       * only RightFive pressed
       */
-    onlyRightFivePressed.foreach(new ExtendTilter(gearTilter))
+    rightFivePressed.foreach(GearTasks.scoreGear(gearTilter, gearRoller))
 
-    /**
-      * Extends tilter and opens grabber
-      * both RightFour and RightFive pressed
-      */
-    bothPressed.foreach(
-      new OpenGrabber(gearGrabber).and(new ExtendTilter(gearTilter))
-    )
+    rightSixPressed.onStart.foreach(() => {
+      println("DISABLING AUTO RUN")
+      gearRoller.disabledAutoRun = true
+    })
+
+    if (collectorRollers.isEmpty) {
+      driverHardware.driverJoystick.buttonPressed(JoystickButtons.Trigger)
+        .foreach(GearTasks.collectGear(gearTilter, gearRoller).toContinuous)
+    }
   }
 
   for {
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/CoreRobot.scala b/src/main/scala/com/lynbrookrobotics/seventeen/CoreRobot.scala
index 2d7ceb9..1cfe861 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/CoreRobot.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/CoreRobot.scala
@@ -13,7 +13,7 @@ import com.lynbrookrobotics.seventeen.collector.elevator.CollectorElevator
 import com.lynbrookrobotics.seventeen.collector.extender.CollectorExtender
 import com.lynbrookrobotics.seventeen.collector.rollers.CollectorRollers
 import com.lynbrookrobotics.seventeen.drivetrain._
-import com.lynbrookrobotics.seventeen.gear.grabber.GearGrabber
+import com.lynbrookrobotics.seventeen.gear.roller.GearRoller
 import com.lynbrookrobotics.seventeen.gear.tilter.GearTilter
 import com.lynbrookrobotics.seventeen.lighting.{SerialComms, StatusLightingComponent}
 import com.lynbrookrobotics.seventeen.loadtray.LoadTray
@@ -77,20 +77,23 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
     if (config.get.collectorRollers != null) Some(new CollectorRollers(coreTicks)) else None
 
   // Gear Grabber
-  implicit val gearGrabberHardware = hardware.gearGrabber
-  implicit val gearGrabberProps = config.map(_.gearGrabber.props)
-  val gearGrabber: Option[GearGrabber] = {
-    implicit val gt = () => gearTilter
-    if (config.get.gearGrabber != null) Some(new GearGrabber(coreTicks)) else None
+  implicit val gearRollerHardware = hardware.gearRoller
+  implicit val gearGrabberProps = config.map(_.gearRoller.props)
+  val gearRoller: Option[GearRoller] = {
+    if (config.get.gearRoller != null) Some(new GearRoller(coreTicks)) else None
   }
 
+  println(gearRoller)
+
   // Gear Tilter
   implicit val gearTilterHardware = hardware.gearTilter
   val gearTilter: Option[GearTilter] =
     if (config.get.gearTilter != null) {
-      Some(new GearTilter(coreTicks, gearGrabber, collectorExtender))
+      Some(new GearTilter(coreTicks, collectorExtender))
     } else None
 
+  println(gearTilter)
+
   // Shooter Flywheel
   implicit val shooterFlywheelHardware = hardware.shooterFlywheel
   implicit val shooterFlywheelProps = config.map(_.shooterFlywheel.props)
@@ -114,7 +117,7 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
     * Function to determine what lighting effect should be displayed
     */
   val lightingStatus: () => Int = () => {
-    val gearState = gearGrabber.isDefined && gearGrabberHardware.proximitySensor.getVoltage > gearGrabberProps.get.detectingDistance.value
+    val gearState = gearRoller.isDefined && false
     if (climberPuller.isDefined && climberPullerHardware.motorA.get() > 0) {
       9
     } else if (gearState) {
@@ -148,7 +151,7 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
     collectorElevator,
     collectorExtender,
     collectorRollers,
-    gearGrabber,
+    gearRoller,
     gearTilter,
     shooterFlywheel,
     shooterShifter,
@@ -181,37 +184,37 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
 
   for {
     drivetrain <- drivetrain
-    gearGrabber <- gearGrabber
+    gearRoller <- gearRoller
     gearTilter <- gearTilter
   } {
     addAutonomousRoutine(1)(
-      generator.centerGear(drivetrain, gearGrabber, gearTilter).toContinuous
+      generator.centerGear(drivetrain, gearRoller, gearTilter).toContinuous
     )
 
     addAutonomousRoutine(2)(
-      generator.leftGear(drivetrain, gearGrabber, gearTilter).toContinuous
+      generator.leftGear(drivetrain, gearRoller, gearTilter).toContinuous
     )
 
     addAutonomousRoutine(3)(
-      generator.rightGear(drivetrain, gearGrabber, gearTilter).toContinuous
+      generator.rightGear(drivetrain, gearRoller, gearTilter).toContinuous
     )
 
     addAutonomousRoutine(4)(
-      generator.centerGearAndCrossLine(drivetrain, gearGrabber, gearTilter).toContinuous
+      generator.centerGearAndCrossLine(drivetrain, gearRoller, gearTilter).toContinuous
     )
 
     addAutonomousRoutine(11) {
-      generator.leftGearPurePursuit(drivetrain, gearGrabber, gearTilter).toContinuous
+      generator.leftGearPurePursuit(drivetrain, gearRoller, gearTilter).toContinuous
     }
 
     addAutonomousRoutine(12) {
-      generator.rightGearPurePursuit(drivetrain, gearGrabber, gearTilter).toContinuous
+      generator.rightGearPurePursuit(drivetrain, gearRoller, gearTilter).toContinuous
     }
   }
 
   for {
     drivetrain <- drivetrain
-    gearGrabber <- gearGrabber
+    gearGrabber <- gearRoller
     gearTilter <- gearTilter
     collectorElevator <- collectorElevator
     collectorRollers <- collectorRollers
@@ -301,7 +304,7 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
   }
 
   val dashboard = Future {
-    val dashboard = new FunkyDashboard(100, 8080)
+    val dashboard = new FunkyDashboard(10, 8080)
     dashboard.start()
     dashboard
   }
@@ -312,10 +315,6 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
     import CoreRobot.ToTimeSeriesNumeric
 
     println("Funky Dashboard is up!")
-    Runtime.getRuntime.addShutdownHook(new Thread(() => {
-      println("Shutting down Funky Dashboard")
-      board.stop()
-    }))
 
     board.datasetGroup("Config").addDataset(new JsonEditor("Robot Config")(
       configFileValue.get,
@@ -382,9 +381,9 @@ class CoreRobot(configFileValue: Signal[String], updateConfigFile: String => Uni
       ))
     }
 
-    gearGrabber.foreach { g =>
-      board.datasetGroup("Grabber").addDataset(new TimeSeriesNumeric("IR Distance")(
-        hardware.gearGrabber.proximitySensor.getVoltage
+    gearRoller.foreach { g =>
+      board.datasetGroup("Grabber").addDataset(new TimeSeriesNumeric("Motor Current")(
+        hardware.gearRoller.motor.getOutputCurrent
       ))
     }
   }
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/DefaultConfig.scala b/src/main/scala/com/lynbrookrobotics/seventeen/DefaultConfig.scala
index c5bd325..23b487a 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/DefaultConfig.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/DefaultConfig.scala
@@ -10,18 +10,18 @@ object DefaultConfig {
                         |  },
                         |  "drivetrain": {
                         |    "ports": {
-                        |      "rightBack": 11,
+                        |      "rightBack": 13,
                         |      "rightFront": 12,
-                        |      "leftBack": 14 ,
-                        |      "leftFront": 13
+                        |      "leftBack": 11,
+                        |      "leftFront": 10
                         |    },
                         |    "properties": {
                         |      "maxLeftVelocity": [
-                        |        15,
+                        |        21.9,
                         |        "FeetPerSecond$"
                         |      ],
                         |      "maxRightVelocity": [
-                        |        15,
+                        |        23.1,
                         |        "FeetPerSecond$"
                         |      ],
                         |      "maxAcceleration": [
@@ -36,15 +36,15 @@ object DefaultConfig {
                         |        21.75,
                         |        "Inches$"
                         |      ],
-                        |      "gearRatio": 0.3125,
+                        |      "gearRatio": 0.5,
                         |      "turnControlGains": {
                         |        "kp": {
                         |          "num": [
-                        |            0,
+                        |            50,
                         |            "Percent$"
                         |          ],
                         |          "den": [
-                        |            1,
+                        |            360,
                         |            "DegreesPerSecond$"
                         |          ]
                         |        },
@@ -136,7 +136,7 @@ object DefaultConfig {
                         |      "leftControlGains": {
                         |        "kp": {
                         |          "num": [
-                        |            10,
+                        |            30,
                         |            "Percent$"
                         |          ],
                         |          "den": [
@@ -168,7 +168,7 @@ object DefaultConfig {
                         |      "rightControlGains": {
                         |        "kp": {
                         |          "num": [
-                        |            10,
+                        |            30,
                         |            "Percent$"
                         |          ],
                         |          "den": [
@@ -207,32 +207,22 @@ object DefaultConfig {
                         |      ]
                         |    }
                         |  },
-                        |  "agitator": {
-                        |    "ports": {
-                        |      "motor": 4
-                        |    },
-                        |    "properties": {
-                        |      "spinSpeed": [
-                        |        -100,
-                        |        "Percent$"
-                        |      ]
-                        |    }
-                        |  },
+                        |  "agitator": null,
                         |  "camSelect": {
                         |    "port": {
                         |      "leftCamPort": 5804,
                         |      "rightCamPort": 5805,
-                        |      "driveCamPort": 5803
+                        |      "driveCamPort": 5811
                         |    },
                         |    "properties": {
-                        |      "coprocessorHostname": "10.8.46.19",
-                        |      "mjpegPath": "/stream.mjpg"
+                        |      "coprocessorHostname": "10.8.64.20",
+                        |      "mjpegPath": "/?action=stream"
                         |    }
                         |  },
                         |  "climberPuller": {
                         |    "ports": {
-                        |      "motorChannelA": 15,
-                        |      "motorChannelB": 16
+                        |      "motorChannelA": 14,
+                        |      "motorChannelB": 15
                         |    },
                         |    "props": {
                         |      "climbSpeed": [
@@ -241,178 +231,39 @@ object DefaultConfig {
                         |      ]
                         |    }
                         |  },
-                        |  "collectorElevator": {
-                        |    "port": {
-                        |      "motor": 1
-                        |    },
-                        |    "properties": {
-                        |      "collectSpeed": [
-                        |        100,
-                        |        "Percent$"
-                        |      ]
-                        |    }
-                        |  },
-                        |  "collectorExtender": {
-                        |    "port": {
-                        |      "pneumatic": 3
-                        |    }
-                        |  },
-                        |  "collectorRollers": {
-                        |    "ports": {
-                        |      "rollerChannel": 0
+                        |  "collectorElevator": null,
+                        |  "collectorExtender": null,
+                        |  "collectorRollers": null,
+                        |  "gearRoller": {
+                        |    "ports":{
+                        |      "motor": 16
                         |    },
-                        |    "properties": {
-                        |      "lowRollerSpeedOutput": [
-                        |        0,
+                        |    "props": {
+                        |      "defaultHoldingPower": [
+                        |        10,
                         |        "Percent$"
                         |      ],
-                        |      "highRollerSpeedOutput": [
+                        |      "intakeGearPower": [
                         |        100,
                         |        "Percent$"
-                        |      ]
-                        |    }
-                        |  },
-                        |  "gearGrabber": {
-                        |    "port": {
-                        |      "pneumatic": 1,
-                        |      "proximitySensor": 0
-                        |    },
-                        |    "props": {
-                        |      "detectingDistance": [
-                        |        2.2,
-                        |        "Volts$"
-                        |      ]
-                        |    }
-                        |  },
-                        |  "gearTilter": {
-                        |    "port": {
-                        |      "pneumatic": 2
-                        |    }
-                        |  },
-                        |  "shooterFlywheel": {
-                        |    "ports": {
-                        |      "leftMotor": 2,
-                        |      "rightMotor": 3,
-                        |      "leftHall": 0,
-                        |      "rightHall": 1
-                        |    },
-                        |    "props": {
-                        |      "maxVelocityLeft": [
-                        |        6500,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "maxVelocityRight": [
-                        |        6500,
-                        |        "RevolutionsPerMinute$"
                         |      ],
-                        |      "velocityGainsLeft": {
-                        |        "kp": {
-                        |          "num": [
-                        |            100,
-                        |            "Percent$"
-                        |          ],
-                        |          "den": [
-                        |            3000,
-                        |            "RevolutionsPerMinute$"
-                        |          ]
-                        |        },
-                        |        "ki": {
-                        |          "num": [
-                        |            0,
-                        |            "Percent$"
-                        |          ],
-                        |          "den": [
-                        |            1000,
-                        |            "Each$"
-                        |          ]
-                        |        },
-                        |        "kd": {
-                        |          "num": [
-                        |            0,
-                        |            "Percent$"
-                        |          ],
-                        |          "den": [
-                        |            1000,
-                        |            "RevolutionsPerMinute$ / s"
-                        |          ]
-                        |        }
-                        |      },
-                        |      "velocityGainsRight": {
-                        |        "kp": {
-                        |          "num": [
-                        |            100,
-                        |            "Percent$"
-                        |          ],
-                        |          "den": [
-                        |            3000,
-                        |            "RevolutionsPerMinute$"
-                        |          ]
-                        |        },
-                        |        "ki": {
-                        |          "num": [
-                        |            0,
-                        |            "Percent$"
-                        |          ],
-                        |          "den": [
-                        |            1000,
-                        |            "Each$"
-                        |          ]
-                        |        },
-                        |        "kd": {
-                        |          "num": [
-                        |            0,
-                        |            "Percent$"
-                        |          ],
-                        |          "den": [
-                        |            1000,
-                        |            "RevolutionsPerMinute$ / s"
-                        |          ]
-                        |        }
-                        |      },
-                        |      "lowShootSpeedLeft": [
-                        |        2000,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "lowShootSpeedRight": [
-                        |        2000,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "midShootSpeedLeft": [
-                        |        4300,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "midShootSpeedRight": [
-                        |        4300,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "fastShootSpeedLeft": [
-                        |        6000,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "fastShootSpeedRight": [
-                        |        6000,
-                        |        "RevolutionsPerMinute$"
-                        |      ],
-                        |      "currentLimit": [
-                        |        40,
+                        |      "emitGearPower": [
+                        |        -50,
                         |        "Percent$"
                         |      ],
-                        |      "speedTolerance": [
-                        |        75,
-                        |        "RevolutionsPerMinute$"
+                        |      "gearDetectionCurrent": [
+                        |        10,
+                        |        "Amperes$"
                         |      ]
                         |    }
                         |  },
-                        |  "shooterShifter": {
-                        |    "ports": {
+                        |  "gearTilter": {
+                        |    "port": {
                         |      "pneumatic": 0
                         |    }
                         |  },
-                        |  "loadTray": {
-                        |    "port": {
-                        |      "pneumatic": 4
-                        |    }
-                        |  }
-                        |}
-                        |""".stripMargin
+                        |  "shooterFlywheel": null,
+                        |  "shooterShifter": null,
+                        |  "loadTray": null
+                        |}""".stripMargin
 }
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/LaunchRobot.scala b/src/main/scala/com/lynbrookrobotics/seventeen/LaunchRobot.scala
index 5ebfe70..050ae93 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/LaunchRobot.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/LaunchRobot.scala
@@ -1,52 +1,63 @@
 package com.lynbrookrobotics.seventeen
 
-import java.io.File
+import java.io.{File, PrintWriter}
 
 import com.google.common.reflect.ClassPath
-
 import com.lynbrookrobotics.potassium.Signal
-import com.lynbrookrobotics.potassium.config.TwoWayFile
 import com.lynbrookrobotics.potassium.config.SquantsPickling._
-
 import com.lynbrookrobotics.potassium.events.ImpulseEventSource
 import com.lynbrookrobotics.potassium.frc.WPIClock
 import com.lynbrookrobotics.potassium.streams.Stream
-
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.hal.HAL
-
 import squants.time.Seconds
-
 import upickle.default._
 
+import scala.io.Source
+
 class LaunchRobot extends RobotBase {
   val targetFile = new File("/home/lvuser/robot-config.json")
   if (!targetFile.exists()) {
     targetFile.createNewFile()
   }
 
-  protected val configFile = new TwoWayFile(targetFile)
-  protected val parsedConfig = configFile.map { string =>
-    val ret: RobotConfig = try {
-      read[RobotConfig](string)
+  def writeConfigFileValue(v: String): Unit = {
+    try {
+      val writer = new PrintWriter(targetFile)
+      writer.println(v)
+      writer.close()
     } catch {
       case e: Throwable =>
-        println(s"Exception when reading config: $e")
-        read[RobotConfig](DefaultConfig.defaultConfig)
+        e.printStackTrace()
     }
+  }
 
-    ret
-  }(
-    (_, newValue) => write(newValue)
-  )
+  private var latestConfigString: String = {
+    try {
+      Source.fromFile(targetFile).getLines().mkString("\n")
+    } catch {
+      case e: Throwable =>
+        e.printStackTrace()
+        writeConfigFileValue(DefaultConfig.defaultConfig)
+        DefaultConfig.defaultConfig
+    }
+  }
 
-  private implicit val config = Signal {
-    parsedConfig.value
+  private var latestConfig: RobotConfig = {
+    try {
+      read[RobotConfig](latestConfigString)
+    } catch {
+      case e: Throwable =>
+        e.printStackTrace()
+        writeConfigFileValue(DefaultConfig.defaultConfig)
+        latestConfigString = DefaultConfig.defaultConfig
+        read[RobotConfig](latestConfigString)
+    }
   }
 
-  implicit val clock = WPIClock
+  private implicit val config = Signal(latestConfig)
 
-  private implicit val hardware = RobotHardware(config.get)
+  implicit val clock = WPIClock
 
   private var coreRobot: CoreRobot = null
 
@@ -62,18 +73,22 @@ class LaunchRobot extends RobotBase {
   }
 
   override def startCompetition(): Unit = {
-    WakeOnLan.awaken("B8:AE:ED:7E:78:E1")
+//    WakeOnLan.awaken("B8:AE:ED:7E:78:E1")
+
+    implicit val hardware = RobotHardware(config.get)
 
     coreRobot = new CoreRobot(
-      Signal(configFile.value),
+      Signal(latestConfigString),
       newS => {
-        val oldS = configFile.value
         try {
-          configFile.value = newS
+          val readValue = read[RobotConfig](newS)
+          val writtenValue = write[RobotConfig](readValue)
+          writeConfigFileValue(writtenValue)
+          latestConfigString = writtenValue
+          latestConfig = readValue
         } catch {
-          case e: Throwable =>
-            println(s"Unable to set new value for config, exception $e")
-            configFile.value = oldS
+          case e: Exception =>
+            e.printStackTrace()
         }
       },
       Stream.periodic(Seconds(0.01))(())
@@ -87,12 +102,14 @@ class LaunchRobot extends RobotBase {
 
     coreRobot.comms.foreach(_.connect())
 
-    HAL.observeUserProgramStarting()
-
     println("------------------------------------------\n" +
       "Finished preloading and establishing connections. " +
       "Wait 5 seconds to allow for sensor calibration\n")
 
+    Thread.sleep(5000)
+
+    HAL.observeUserProgramStarting()
+
     while (true) {
       ds.waitForData()
       eventPollingSource.fire()
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/RobotConfig.scala b/src/main/scala/com/lynbrookrobotics/seventeen/RobotConfig.scala
index 60b12ed..7b63f7d 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/RobotConfig.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/RobotConfig.scala
@@ -8,7 +8,7 @@ import com.lynbrookrobotics.seventeen.collector.extender.CollectorExtenderConfig
 import com.lynbrookrobotics.seventeen.collector.rollers.CollectorRollersConfig
 import com.lynbrookrobotics.seventeen.driver.DriverConfig
 import com.lynbrookrobotics.seventeen.drivetrain.DrivetrainConfig
-import com.lynbrookrobotics.seventeen.gear.grabber.GearGrabberConfig
+import com.lynbrookrobotics.seventeen.gear.roller.GearRollerConfig
 import com.lynbrookrobotics.seventeen.gear.tilter.GearTilterConfig
 import com.lynbrookrobotics.seventeen.loadtray.LoadTrayConfig
 import com.lynbrookrobotics.seventeen.shooter.flywheel.ShooterFlywheelConfig
@@ -22,7 +22,7 @@ case class RobotConfig(driver: DriverConfig,
                        collectorElevator: CollectorElevatorConfig,
                        collectorExtender: CollectorExtenderConfig,
                        collectorRollers: CollectorRollersConfig,
-                       gearGrabber: GearGrabberConfig,
+                       gearRoller: GearRollerConfig,
                        gearTilter: GearTilterConfig,
                        shooterFlywheel: ShooterFlywheelConfig,
                        shooterShifter: ShooterShifterConfig,
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/RobotHardware.scala b/src/main/scala/com/lynbrookrobotics/seventeen/RobotHardware.scala
index 93abb99..5be5975 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/RobotHardware.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/RobotHardware.scala
@@ -9,7 +9,7 @@ import com.lynbrookrobotics.seventeen.collector.extender.CollectorExtenderHardwa
 import com.lynbrookrobotics.seventeen.collector.rollers.CollectorRollersHardware
 import com.lynbrookrobotics.seventeen.driver.DriverHardware
 import com.lynbrookrobotics.seventeen.drivetrain.DrivetrainHardware
-import com.lynbrookrobotics.seventeen.gear.grabber.GearGrabberHardware
+import com.lynbrookrobotics.seventeen.gear.roller.GearRollerHardware
 import com.lynbrookrobotics.seventeen.gear.tilter.GearTilterHardware
 import com.lynbrookrobotics.seventeen.loadtray.LoadTrayHardware
 import com.lynbrookrobotics.seventeen.shooter.flywheel.ShooterFlywheelHardware
@@ -24,7 +24,7 @@ case class RobotHardware(driver: DriverHardware,
                          collectorElevator: CollectorElevatorHardware,
                          collectorExtender: CollectorExtenderHardware,
                          collectorRollers: CollectorRollersHardware,
-                         gearGrabber: GearGrabberHardware,
+                         gearRoller: GearRollerHardware,
                          gearTilter: GearTilterHardware,
                          shooterFlywheel: ShooterFlywheelHardware,
                          shooterShifter: ShooterShifterHardware,
@@ -46,7 +46,7 @@ object RobotHardware {
       collectorElevator = if (collectorElevator != null) CollectorElevatorHardware(collectorElevator) else null,
       collectorExtender = if (collectorExtender != null) CollectorExtenderHardware(collectorExtender) else null,
       collectorRollers = if (collectorRollers != null) CollectorRollersHardware(collectorRollers) else null,
-      gearGrabber = if (gearGrabber != null) GearGrabberHardware(gearGrabber) else null,
+      gearRoller = if (gearRoller != null) GearRollerHardware(gearRoller) else null,
       gearTilter = if (gearTilter != null) GearTilterHardware(gearTilter) else null,
       shooterFlywheel = if (shooterFlywheel != null) ShooterFlywheelHardware(shooterFlywheel) else null,
       shooterShifter = if (shooterShifter != null) ShooterShifterHardware(shooterShifter) else null,
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/camselect/CamSelectHardware.scala b/src/main/scala/com/lynbrookrobotics/seventeen/camselect/CamSelectHardware.scala
index 66f3eac..936be0a 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/camselect/CamSelectHardware.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/camselect/CamSelectHardware.scala
@@ -20,7 +20,7 @@ object CamSelectHardware {
 
     camSelectHardware.mjpegServer.setSource(camSelectHardware.driverCam)
 
-    val cam = new HttpCamera("usbDriverCam", "http://10.8.46.2:1180/stream.mjpg")
+    val cam = new HttpCamera("usbDriverCam", "http://10.8.64.2:1180/stream.mjpg")
     CameraServer.getInstance.startAutomaticCapture(cam)
 
     camSelectHardware
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/driver/DriverHardware.scala b/src/main/scala/com/lynbrookrobotics/seventeen/driver/DriverHardware.scala
index 47a88df..7701f51 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/driver/DriverHardware.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/driver/DriverHardware.scala
@@ -26,7 +26,7 @@ object DriverHardware {
       new Joystick(config.operatorPort),
       new Joystick(config.driverWheelPort),
       new Joystick(config.launchpadPort),
-      DriverStation.getInstance()
+      Iterator.continually(DriverStation.getInstance()).find(_ != null).get
     )
   }
 }
\ No newline at end of file
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/drivetrain/package.scala b/src/main/scala/com/lynbrookrobotics/seventeen/drivetrain/package.scala
index 8eaa3ea..4296dba 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/drivetrain/package.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/drivetrain/package.scala
@@ -4,6 +4,7 @@ import com.lynbrookrobotics.potassium.commons.drivetrain._
 import com.lynbrookrobotics.potassium.frc.Implicits._
 import com.lynbrookrobotics.potassium.streams.Stream
 import com.lynbrookrobotics.potassium.{Component, Signal}
+import edu.wpi.first.wpilibj.hal.PowerJNI
 import squants.Each
 import squants.electro.Volts
 import squants.time.Milliseconds
@@ -54,10 +55,10 @@ package object drivetrain extends TwoSidedDrive(Milliseconds(5)) { self =>
 
     override def defaultController: Stream[TwoSidedSignal] = self.defaultController
 
-    val normalDrivetrainVoltage = Volts(12)
-
     override def applySignal(signal: TwoSidedSignal): Unit = {
-      val compFactor = normalDrivetrainVoltage / Volts(hardware.driverHardware.station.getBatteryVoltage)
+      val normalDrivetrainVoltage = Volts(12)
+
+      val compFactor = normalDrivetrainVoltage / Volts(PowerJNI.getVinVoltage)
       output(hardware, TwoSidedSignal(signal.left * compFactor, signal.right * compFactor))
     }
   }
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/GearTasks.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/GearTasks.scala
index edbe1f5..6a42cee 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/GearTasks.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/GearTasks.scala
@@ -3,45 +3,20 @@ package com.lynbrookrobotics.seventeen.gear
 import com.lynbrookrobotics.potassium.Signal
 import com.lynbrookrobotics.potassium.clock.Clock
 import com.lynbrookrobotics.potassium.events.ImpulseEvent
-import com.lynbrookrobotics.potassium.tasks.{FiniteTask, WaitTask}
+import com.lynbrookrobotics.potassium.tasks.{ContinuousTask, FiniteTask, WaitTask}
 import com.lynbrookrobotics.seventeen.driver.DriverHardware
-import com.lynbrookrobotics.seventeen.gear.grabber._
+import com.lynbrookrobotics.seventeen.gear.roller._
 import com.lynbrookrobotics.seventeen.gear.tilter.{ExtendTilter, GearTilter, RetractTilter}
 import squants.time.Seconds
 
 object GearTasks {
-  def loadGearFromGroundAbortable(buttonTrigger: Int)
-                                 (tilter: GearTilter,
-                                  grabber: GearGrabber)
-                                 (implicit props: Signal[GearGrabberProperties],
-                                  hardware: GearGrabberHardware,
-                                  clock: Clock,
-                                  driverHardware: DriverHardware, polling: ImpulseEvent): FiniteTask = {
-    val pickUpGear = new OpenGrabberUntilGearAbortable(buttonTrigger)(grabber).andUntilDone(
-      new ExtendTilter(tilter)
-    )
-
-    val liftGear = new WaitTask(Seconds(0.3)).andUntilDone(
-      new CloseGrabber(grabber) and new ExtendTilter(tilter)
-    ).then(new WaitTask(Seconds(0.3)).andUntilDone(new RetractTilter(tilter)))
-
-    pickUpGear.then(liftGear)
+  def collectGear(tilter: GearTilter, roller: GearRoller)
+                 (implicit clock: Clock): FiniteTask = {
+    new CollectUntilGear(roller).andUntilDone(new ExtendTilter(tilter))
   }
 
-  def slamDunk(tilter: GearTilter,
-               grabber: GearGrabber)
-              (implicit props: Signal[GearGrabberProperties],
-               hardware: GearGrabberHardware,
-               clock: Clock,
-               driverHardware: DriverHardware, polling: ImpulseEvent): FiniteTask = {
-    val pickUpGear = new WaitTask(Seconds(1)).andUntilDone(
-      new ExtendTilter(tilter) and new OpenGrabber(grabber)
-    )
-
-    val liftGear = new WaitTask(Seconds(0.3)).andUntilDone(
-      new CloseGrabber(grabber) and new ExtendTilter(tilter)
-    ).then(new WaitTask(Seconds(0.3)).andUntilDone(new RetractTilter(tilter)))
-
-    pickUpGear.then(liftGear)
+  def scoreGear(tilter: GearTilter, roller: GearRoller)
+               (implicit clock: Clock): ContinuousTask = {
+    new RollOutwards(roller) and new ExtendTilter(tilter)
   }
 }
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/CloseGrabber.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/CloseGrabber.scala
deleted file mode 100644
index d7ff22a..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/CloseGrabber.scala
+++ /dev/null
@@ -1,13 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.tasks.ContinuousTask
-
-class CloseGrabber(grabber: GearGrabber) extends ContinuousTask {
-  override protected def onStart(): Unit = {
-    grabber.setController(grabber.coreTicks.mapToConstant(GearGrabberClosed))
-  }
-
-  override protected def onEnd(): Unit = {
-    grabber.resetToDefault()
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabber.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabber.scala
deleted file mode 100644
index 17c5bfc..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabber.scala
+++ /dev/null
@@ -1,41 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.streams.Stream
-import com.lynbrookrobotics.potassium.{Component, Signal}
-import com.lynbrookrobotics.seventeen.gear.tilter.GearTilter
-import squants.time.Milliseconds
-
-sealed trait GearGrabberState
-
-case object GearGrabberOpen extends GearGrabberState
-
-case object GearGrabberClosed extends GearGrabberState
-
-class GearGrabber(val coreTicks: Stream[Unit])(implicit hardware: GearGrabberHardware, gearTilterF: () => Option[GearTilter])
-  extends Component[GearGrabberState](Milliseconds(5)) {
-
-  lazy val gearTilter = gearTilterF()
-
-  override def defaultController: Stream[GearGrabberState] = coreTicks.mapToConstant(GearGrabberClosed)
-
-  private var curLastOpenedTime: Long = 0
-  val lastOpenTime = Signal(curLastOpenedTime)
-
-  lazy val gearRetracted = gearTilter.map(_.lastRetractTime
-    .map(t => System.currentTimeMillis() - t <= 50/*1000*/))
-    .getOrElse(Signal.constant(true))
-
-  override def applySignal(signal: GearGrabberState): Unit = {
-    val outWithSafety = if (gearRetracted.get) {
-      GearGrabberClosed
-    } else {
-      signal
-    }
-
-    hardware.pneumatic.set(outWithSafety == GearGrabberOpen)
-
-    if (outWithSafety == GearGrabberOpen) {
-      curLastOpenedTime = System.currentTimeMillis()
-    }
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberConfig.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberConfig.scala
deleted file mode 100644
index 9fd768d..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberConfig.scala
+++ /dev/null
@@ -1,3 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-case class GearGrabberConfig(port: GearGrabberPorts, props: GearGrabberProperties)
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberHardware.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberHardware.scala
deleted file mode 100644
index 8516f94..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberHardware.scala
+++ /dev/null
@@ -1,16 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.frc.ProximitySensor
-import edu.wpi.first.wpilibj.Solenoid
-
-case class GearGrabberHardware(pneumatic: Solenoid,
-                               proximitySensor: ProximitySensor)
-
-object GearGrabberHardware {
-  def apply(config: GearGrabberConfig): GearGrabberHardware = {
-    GearGrabberHardware(
-      pneumatic = new Solenoid(config.port.pneumatic),
-      proximitySensor = new ProximitySensor(config.port.proximitySensor)
-    )
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberPorts.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberPorts.scala
deleted file mode 100644
index 0b44899..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberPorts.scala
+++ /dev/null
@@ -1,3 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-case class GearGrabberPorts(pneumatic: Int, proximitySensor: Int)
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberProperties.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberProperties.scala
deleted file mode 100644
index cdc5851..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/GearGrabberProperties.scala
+++ /dev/null
@@ -1,5 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import squants.electro.ElectricPotential
-
-case class GearGrabberProperties(detectingDistance: ElectricPotential)
\ No newline at end of file
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabber.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabber.scala
deleted file mode 100644
index 6e11a4b..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabber.scala
+++ /dev/null
@@ -1,13 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.tasks.ContinuousTask
-
-class OpenGrabber(grabber: GearGrabber) extends ContinuousTask {
-  override protected def onStart(): Unit = {
-    grabber.setController(grabber.coreTicks.mapToConstant(GearGrabberOpen))
-  }
-
-  override protected def onEnd(): Unit = {
-    grabber.resetToDefault()
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilGearAbortable.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilGearAbortable.scala
deleted file mode 100644
index 6e6b2aa..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilGearAbortable.scala
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.Signal
-import com.lynbrookrobotics.potassium.events.ImpulseEvent
-import com.lynbrookrobotics.potassium.tasks.FiniteTask
-import com.lynbrookrobotics.seventeen.driver.DriverHardware
-
-class OpenGrabberUntilGearAbortable(button: Int)
-                                   (grabber: GearGrabber)
-                                   (implicit hardware: GearGrabberHardware,
-                                    props: Signal[GearGrabberProperties], driverHardware: DriverHardware,
-                                    polling: ImpulseEvent) extends FiniteTask {
-  val proximitySensor = hardware.proximitySensor
-
-  override protected def onStart(): Unit = {
-    grabber.setController(grabber.coreTicks.mapToConstant[GearGrabberState](GearGrabberOpen).withCheck { _ =>
-      if (proximitySensor.getVoltage > props.get.detectingDistance.toVolts ||
-          !driverHardware.operatorJoystick.getRawButton(button)) {
-        finished()
-      }
-    })
-  }
-
-  override protected def onEnd(): Unit = {
-    grabber.resetToDefault()
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilHasGear.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilHasGear.scala
deleted file mode 100644
index 512a2f6..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilHasGear.scala
+++ /dev/null
@@ -1,21 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.Signal
-import com.lynbrookrobotics.potassium.tasks.FiniteTask
-
-class OpenGrabberUntilHasGear(implicit hardware: GearGrabberHardware, grabber: GearGrabber,
-                              props: Signal[GearGrabberProperties]) extends FiniteTask {
-  val proximitySensor = hardware.proximitySensor
-
-  override protected def onStart(): Unit = {
-    grabber.setController(grabber.coreTicks.mapToConstant[GearGrabberState](GearGrabberOpen).withCheck { _ =>
-      if (proximitySensor.getVoltage > props.get.detectingDistance.toVolts) {
-        finished()
-      }
-    })
-  }
-
-  override protected def onEnd(): Unit = {
-    grabber.resetToDefault()
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilReleased.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilReleased.scala
deleted file mode 100644
index 25d6b73..0000000
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/grabber/OpenGrabberUntilReleased.scala
+++ /dev/null
@@ -1,24 +0,0 @@
-package com.lynbrookrobotics.seventeen.gear.grabber
-
-import com.lynbrookrobotics.potassium.Signal
-import com.lynbrookrobotics.potassium.events.ImpulseEvent
-import com.lynbrookrobotics.potassium.tasks.FiniteTask
-import com.lynbrookrobotics.seventeen.driver.DriverHardware
-
-class OpenGrabberUntilReleased(implicit hardware: GearGrabberHardware, grabber: GearGrabber,
-                               props: Signal[GearGrabberProperties], driverHardware: DriverHardware,
-                               polling: ImpulseEvent) extends FiniteTask {
-  val proximitySensor = hardware.proximitySensor
-
-  override protected def onStart(): Unit = {
-    grabber.setController(grabber.coreTicks.mapToConstant[GearGrabberState](GearGrabberOpen).withCheck { _ =>
-      if (proximitySensor.getVoltage < props.get.detectingDistance.toVolts) {
-        finished()
-      }
-    })
-  }
-
-  override protected def onEnd(): Unit = {
-    grabber.resetToDefault()
-  }
-}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/CollectUntilGear.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/CollectUntilGear.scala
new file mode 100644
index 0000000..d3e80bd
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/CollectUntilGear.scala
@@ -0,0 +1,40 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+import com.lynbrookrobotics.potassium.commons.electronics.CurrentLimiting
+import com.lynbrookrobotics.potassium.tasks.{ContinuousTask, FiniteTask}
+import squants.Percent
+import squants.electro.Amperes
+import squants.time.Seconds
+
+class CollectUntilGear(roller: GearRoller) extends FiniteTask {
+  var cancelHandle: () => Unit = null
+  var ticksAboveLimit = 0
+
+  override protected def onStart(): Unit = {
+    roller.disabledAutoRun = false
+    val currentStream = roller.coreTicks.map(_ => Amperes(roller.hardware.motor.getOutputCurrent))
+
+    cancelHandle = currentStream.foreach { current =>
+      if (current >= roller.properties.get.gearDetectionCurrent) {
+        ticksAboveLimit += 1
+        if (ticksAboveLimit >= 15) {
+          finished()
+        }
+      } else {
+        ticksAboveLimit = 0
+      }
+    }
+
+    roller.setController(CurrentLimiting.slewRate(
+      roller.coreTicks.map(_ => roller.properties.get.intakeGearPower),
+      Percent(100) / Seconds(1)
+    ))
+  }
+
+  override protected def onEnd(): Unit = {
+    cancelHandle.apply()
+    cancelHandle = null
+    ticksAboveLimit = 0
+    roller.resetToDefault()
+  }
+}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRoller.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRoller.scala
new file mode 100644
index 0000000..f02d828
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRoller.scala
@@ -0,0 +1,25 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+import com.lynbrookrobotics.potassium.commons.electronics.CurrentLimiting
+import com.lynbrookrobotics.potassium.streams.Stream
+import com.lynbrookrobotics.potassium.{Component, Signal}
+import squants.{Dimensionless, Percent}
+import squants.time.{Milliseconds, Seconds}
+
+class GearRoller(val coreTicks: Stream[Unit])(implicit val properties: Signal[GearRollerProperties],
+                                              val hardware: GearRollerHardware)
+  extends Component[Dimensionless](Milliseconds(5)) {
+  var disabledAutoRun = false
+
+  override def setController(controller: Stream[Dimensionless]): Unit = {
+    super.setController(CurrentLimiting.slewRate(controller, Percent(100) / Seconds(0.3)))
+  }
+
+  override def defaultController: Stream[Dimensionless] = coreTicks.map(_ => {
+    if (disabledAutoRun) Percent(0) else properties.get.defaultHoldingPower
+  })
+
+  override def applySignal(signal: Dimensionless): Unit = {
+    hardware.motor.set(signal.toEach)
+  }
+}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerConfig.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerConfig.scala
new file mode 100644
index 0000000..2240b15
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerConfig.scala
@@ -0,0 +1,3 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+case class GearRollerConfig(ports: GearRollerPorts, props: GearRollerProperties)
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerHardware.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerHardware.scala
new file mode 100644
index 0000000..3b81db3
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerHardware.scala
@@ -0,0 +1,17 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+import com.ctre.CANTalon
+
+case class GearRollerHardware(motor: CANTalon)
+
+object GearRollerHardware {
+  def apply(config: GearRollerConfig): GearRollerHardware = {
+    GearRollerHardware(
+      motor = {
+        val talon = new CANTalon(config.ports.motor)
+        talon.setInverted(true)
+        talon
+      }
+    )
+  }
+}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerPorts.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerPorts.scala
new file mode 100644
index 0000000..21714c4
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerPorts.scala
@@ -0,0 +1,3 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+case class GearRollerPorts(motor: Int)
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerProperties.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerProperties.scala
new file mode 100644
index 0000000..6d7e2e2
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/GearRollerProperties.scala
@@ -0,0 +1,8 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+import squants.Dimensionless
+import squants.electro.{ElectricCurrent, ElectricPotential}
+
+case class GearRollerProperties(defaultHoldingPower: Dimensionless,
+                                intakeGearPower: Dimensionless, emitGearPower: Dimensionless,
+                                gearDetectionCurrent: ElectricCurrent)
\ No newline at end of file
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/RollInwards.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/RollInwards.scala
new file mode 100644
index 0000000..0c6a7b8
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/RollInwards.scala
@@ -0,0 +1,14 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+import com.lynbrookrobotics.potassium.tasks.ContinuousTask
+
+class RollInwards(roller: GearRoller) extends ContinuousTask {
+  override protected def onStart(): Unit = {
+    roller.disabledAutoRun = false
+    roller.setController(roller.coreTicks.map(_ => roller.properties.get.intakeGearPower))
+  }
+
+  override protected def onEnd(): Unit = {
+    roller.resetToDefault()
+  }
+}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/RollOutwards.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/RollOutwards.scala
new file mode 100644
index 0000000..1ab11f4
--- /dev/null
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/roller/RollOutwards.scala
@@ -0,0 +1,14 @@
+package com.lynbrookrobotics.seventeen.gear.roller
+
+import com.lynbrookrobotics.potassium.tasks.ContinuousTask
+
+class RollOutwards(roller: GearRoller) extends ContinuousTask {
+  override protected def onStart(): Unit = {
+    roller.disabledAutoRun = false
+    roller.setController(roller.coreTicks.map(_ => roller.properties.get.emitGearPower))
+  }
+
+  override protected def onEnd(): Unit = {
+    roller.resetToDefault()
+  }
+}
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/gear/tilter/GearTilter.scala b/src/main/scala/com/lynbrookrobotics/seventeen/gear/tilter/GearTilter.scala
index 9a4da38..9693761 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/gear/tilter/GearTilter.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/gear/tilter/GearTilter.scala
@@ -3,7 +3,6 @@ package com.lynbrookrobotics.seventeen.gear.tilter
 import com.lynbrookrobotics.potassium.streams.Stream
 import com.lynbrookrobotics.potassium.{Component, Signal}
 import com.lynbrookrobotics.seventeen.collector.extender.CollectorExtender
-import com.lynbrookrobotics.seventeen.gear.grabber.GearGrabber
 import squants.time.Milliseconds
 
 sealed trait GearTilterState
@@ -13,7 +12,7 @@ case object GearTilterExtended extends GearTilterState
 case object GearTilterRetracted extends GearTilterState
 
 class GearTilter(val coreTicks: Stream[Unit],
-                 gearGrabber: => Option[GearGrabber], collectorExtender: => Option[CollectorExtender])
+                 collectorExtender: => Option[CollectorExtender])
                 (implicit hardware: GearTilterHardware) extends Component[GearTilterState](Milliseconds(5)) {
   override def defaultController: Stream[GearTilterState] = coreTicks.mapToConstant(GearTilterRetracted)
 
@@ -29,14 +28,8 @@ class GearTilter(val coreTicks: Stream[Unit],
   private var curLastOpenTime: Long = 0
   val lastOpenTime = Signal(curLastOpenTime)
 
-  lazy val gearOpened = gearGrabber.map(_.lastOpenTime.
-    map(t => System.currentTimeMillis() - t <= 50)).
-    getOrElse(Signal.constant(false))
-
   override def applySignal(signal: GearTilterState): Unit = {
-    val outWithSafety = if (gearOpened.get) {
-      GearTilterExtended
-    } else if (collectorExtended.get) {
+    val outWithSafety = if (collectorExtended.get) {
       GearTilterRetracted
     } else {
       signal
diff --git a/src/main/scala/com/lynbrookrobotics/seventeen/shooter/flywheel/ShooterFlywheel.scala b/src/main/scala/com/lynbrookrobotics/seventeen/shooter/flywheel/ShooterFlywheel.scala
index 13f671e..77f3860 100644
--- a/src/main/scala/com/lynbrookrobotics/seventeen/shooter/flywheel/ShooterFlywheel.scala
+++ b/src/main/scala/com/lynbrookrobotics/seventeen/shooter/flywheel/ShooterFlywheel.scala
@@ -13,6 +13,9 @@ class ShooterFlywheel(val coreTicks: Stream[Unit])
   extends Component[DoubleFlywheelSignal](Milliseconds(5)) {
   val NominalVoltage = 11.9
 
+  val midShootSpeedLeft = coreTicks.map(_ => properties.get.midShootSpeedLeft)
+  val midShootSpeedRight = coreTicks.map(_ => properties.get.midShootSpeedRight)
+
   override def defaultController: Stream[DoubleFlywheelSignal] = coreTicks.mapToConstant {
     DoubleFlywheelSignal(Each(0), Each(0))
   }
diff --git a/src/test/scala/com/lynbrookrobotics/seventeen/ConfigGenerator.scala b/src/test/scala/com/lynbrookrobotics/seventeen/ConfigGenerator.scala
index 3adac5a..b249662 100644
--- a/src/test/scala/com/lynbrookrobotics/seventeen/ConfigGenerator.scala
+++ b/src/test/scala/com/lynbrookrobotics/seventeen/ConfigGenerator.scala
@@ -11,18 +11,17 @@ import com.lynbrookrobotics.seventeen.collector.extender.{CollectorExtenderConfi
 import com.lynbrookrobotics.seventeen.collector.rollers.{CollectorRollersConfig, CollectorRollersPorts, CollectorRollersProperties}
 import com.lynbrookrobotics.seventeen.driver.DriverConfig
 import com.lynbrookrobotics.seventeen.drivetrain.{DrivetrainConfig, DrivetrainPorts, DrivetrainProperties}
-import com.lynbrookrobotics.seventeen.gear.grabber.{GearGrabberConfig, GearGrabberPorts, GearGrabberProperties}
+import com.lynbrookrobotics.seventeen.gear.roller.{GearRollerConfig, GearRollerPorts, GearRollerProperties}
 import com.lynbrookrobotics.seventeen.gear.tilter.{GearTilterConfig, GearTilterPorts}
 import com.lynbrookrobotics.seventeen.loadtray.{LoadTrayConfig, LoadTrayPorts}
 import com.lynbrookrobotics.seventeen.shooter.flywheel.{ShooterFlywheelConfig, ShooterFlywheelPorts, ShooterFlywheelProperties}
 import com.lynbrookrobotics.seventeen.shooter.shifter.{ShooterShifterConfig, ShooterShifterPorts}
-import squants.electro.Volts
+import squants.electro.{Amperes, Volts}
 import squants.motion.{DegreesPerSecond, FeetPerSecond, MetersPerSecondSquared}
 import squants.space._
 import squants.time.{RevolutionsPerMinute, Seconds}
 import squants.{Each, Percent}
 import upickle.default._
-
 import com.lynbrookrobotics.potassium.config.SquantsPickling._
 
 object ConfigGenerator extends App {
@@ -126,13 +125,15 @@ object ConfigGenerator extends App {
         highRollerSpeedOutput = Percent(0)
       )
     ),
-    gearGrabber = GearGrabberConfig(
-      port = GearGrabberPorts(
-        pneumatic = 0,
-        proximitySensor = 0
+    gearRoller = GearRollerConfig(
+      ports = GearRollerPorts(
+        motor = 0
       ),
-      props = GearGrabberProperties(
-        detectingDistance = Volts(0)
+      props = GearRollerProperties(
+        defaultHoldingPower = Percent(10),
+        intakeGearPower = Percent(100),
+        emitGearPower = Percent(50),
+        gearDetectionCurrent = Amperes(1000)
       )
     ),
     gearTilter = GearTilterConfig(