diff --git a/src/main/java/com/team1816/season/subsystems/Climber.java b/src/main/java/com/team1816/season/subsystems/Climber.java
index 21cc82e..810fc1d 100644
--- a/src/main/java/com/team1816/season/subsystems/Climber.java
+++ b/src/main/java/com/team1816/season/subsystems/Climber.java
@@ -24,8 +24,8 @@ public class Climber extends SubsystemBase implements ITestableSubsystem {
     private CLIMBER_STATE previousWantedState = CLIMBER_STATE.IDLING;
 
     //MOTORS
-    private final IMotor flipMotor = (IMotor)factory.getDevice(NAME, "flipMotor");
-    private final IMotor linearSlideMotor = (IMotor)factory.getDevice(NAME, "linearSlideMotor");
+    private final IMotor flipMotor;
+    private final IMotor linearSlideMotor;
 
     private final PositionVoltage positionReq = new PositionVoltage(0);
 
@@ -45,6 +45,9 @@ public class Climber extends SubsystemBase implements ITestableSubsystem {
     public Climber () {
         super();
         SmartDashboard.putData("Climber", climberMech);
+
+        flipMotor = (IMotor)factory.getDevice(NAME, "flipMotor");
+        linearSlideMotor = (IMotor)factory.getDevice(NAME, "linearSlideMotor");
     }
 
     @Override
diff --git a/src/main/java/com/team1816/season/subsystems/Feeder.java b/src/main/java/com/team1816/season/subsystems/Feeder.java
index f8cf235..a691b96 100644
--- a/src/main/java/com/team1816/season/subsystems/Feeder.java
+++ b/src/main/java/com/team1816/season/subsystems/Feeder.java
@@ -19,7 +19,7 @@ public class Feeder extends SubsystemBase implements ITestableSubsystem {
     private FEEDER_STATE previousWantedState = FEEDER_STATE.IDLING;
 
     //MOTORS
-    private final IMotor feedMotor = (IMotor)factory.getDevice(NAME, "feedMotor");
+    private final IMotor feedMotor;
 
     private final VelocityVoltage velocityReq = new VelocityVoltage(0);
 
@@ -27,6 +27,9 @@ public class Feeder extends SubsystemBase implements ITestableSubsystem {
     private static final double MIN_FEED_MOTOR_CLAMP = -80;
     private static final double MAX_FEED_MOTOR_CLAMP = 80;
 
+    public Feeder () {
+        feedMotor = (IMotor)factory.getDevice(NAME, "feedMotor");
+    }
     @Override
     public void periodic() {
         readFromHardware();
diff --git a/src/main/java/com/team1816/season/subsystems/Gatekeeper.java b/src/main/java/com/team1816/season/subsystems/Gatekeeper.java
index 7a7f9ed..17955de 100644
--- a/src/main/java/com/team1816/season/subsystems/Gatekeeper.java
+++ b/src/main/java/com/team1816/season/subsystems/Gatekeeper.java
@@ -18,8 +18,8 @@ public class Gatekeeper extends SubsystemBase implements ITestableSubsystem {
     private GATEKEEPER_STATE previousWantedState = GATEKEEPER_STATE.CLOSED;
 
     //MOTORS
-    private final IMotor topMotor = (IMotor)factory.getDevice(NAME, "topMotor");
-    private final IMotor bottomMotor = (IMotor)factory.getDevice(NAME, "bottomMotor");
+    private final IMotor topMotor;
+    private final IMotor bottomMotor;
 
     private final VelocityVoltage voltageReq = new VelocityVoltage(0);
 
@@ -29,6 +29,11 @@ public class Gatekeeper extends SubsystemBase implements ITestableSubsystem {
     private static final double MIN_BOTTOM_MOTOR_CLAMP = 0;
     private static final double MAX_BOTTOM_MOTOR_CLAMP = 80;
 
+    public Gatekeeper () {
+        topMotor = (IMotor) factory.getDevice(NAME, "topMotor");
+        bottomMotor = (IMotor) factory.getDevice(NAME, "bottomMotor");
+    }
+
     @Override
     public void periodic() {
         readFromHardware();
diff --git a/src/main/java/com/team1816/season/subsystems/Intake.java b/src/main/java/com/team1816/season/subsystems/Intake.java
index f91e9b8..10534c6 100644
--- a/src/main/java/com/team1816/season/subsystems/Intake.java
+++ b/src/main/java/com/team1816/season/subsystems/Intake.java
@@ -23,8 +23,8 @@ public class Intake extends SubsystemBase implements ITestableSubsystem {
     private INTAKE_STATE previousWantedState = INTAKE_STATE.INTAKE_UP;
 
     //MOTORS
-    private final IMotor intakeMotor = (IMotor) factory.getDevice(NAME, "intakeMotor");
-    private final IMotor flipperMotor = (IMotor) factory.getDevice(NAME, "flipperMotor");
+    private final IMotor intakeMotor;
+    private final IMotor flipperMotor;
 
     private final VelocityVoltage velocityControl = new VelocityVoltage(0);
     private final PositionVoltage positionControl = new PositionVoltage(0);
@@ -46,6 +46,8 @@ public class Intake extends SubsystemBase implements ITestableSubsystem {
     public Intake () {
         super();
         SmartDashboard.putData("Intake", intakeMech);
+        intakeMotor = (IMotor) factory.getDevice(NAME, "intakeMotor");
+        flipperMotor = (IMotor) factory.getDevice(NAME, "flipperMotor");
     }
 
     @Override
diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java
index 7452f33..99a1908 100644
--- a/src/main/java/com/team1816/season/subsystems/Shooter.java
+++ b/src/main/java/com/team1816/season/subsystems/Shooter.java
@@ -35,10 +35,10 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem {
     private SHOOTER_STATE previousWantedState = SHOOTER_STATE.IDLE;
 
     //MOTORS
-    private final IMotor topLaunchMotor = (IMotor) factory.getDevice(NAME, "topLaunchMotor");
-    private final IMotor bottomLaunchMotor = (IMotor) factory.getDevice(NAME, "bottomLaunchMotor");
-    private final IMotor launchAngleMotor = (IMotor) factory.getDevice(NAME, "launchAngleMotor");
-    private final IMotor rotationAngleMotor = (IMotor) factory.getDevice(NAME, "rotationAngleMotor");
+    private final IMotor topLaunchMotor;
+    private final IMotor bottomLaunchMotor;
+    private final IMotor launchAngleMotor;
+    private final IMotor rotationAngleMotor;
 
     private final VelocityVoltage velocityControl = new VelocityVoltage(0);
     private final PositionVoltage positionControl = new PositionVoltage(0);
@@ -138,6 +138,11 @@ public enum SHOOTER_STATE {
     public Shooter(){
         super();
 
+        topLaunchMotor = (IMotor) factory.getDevice(NAME, "topLaunchMotor");
+        bottomLaunchMotor = (IMotor) factory.getDevice(NAME, "bottomLaunchMotor");
+        launchAngleMotor = (IMotor) factory.getDevice(NAME, "launchAngleMotor");
+        rotationAngleMotor = (IMotor) factory.getDevice(NAME, "rotationAngleMotor");
+
         MOTOR_ROTATIONS_PER_LAUNCH_ANGLE_DEGREE = factory.getConstant(NAME, "motorRotationsPerLaunchAngleDegree", 0); //TODO WHEN PHYSICAL SUBSYSTEM EXISTS, set this.
         MOTOR_ROTATIONS_PER_ROTATION_ANGLE_DEGREE = factory.getConstant(NAME, "motorRotationsPerRotationAngleDegree", 0); //TODO WHEN PHYSICAL SUBSYSTEM EXISTS, set this.
         SHOOTER_OFFSET = new Translation3d(factory.getConstant(NAME, "initialShooterOffsetX",0), factory.getConstant(NAME, "initialShooterOffsetY",0), factory.getConstant(NAME, "initialShooterOffsetZ",0)); //TODO WHEN PHYSICAL SUBSYSTEM EXISTS, set this.