diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index ed37e62..d7cc270 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -169,9 +169,11 @@ public static final class constShooter {
   }
 
   public static final class constTransfer {
-
     public static final boolean ENTRANCE_WHEEL_INVERTED = true;
 
+    public static final boolean BOTTOM_LIMIT_SWITCH_INVERT = true;
+    public static final boolean TOP_LIMIT_SWITCH_INVERT = true;
+
   }
 
   public static final class constTurret {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b3da438..ad38576 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.cameraserver.CameraServer;
@@ -60,6 +61,8 @@ public void robotPeriodic() {
     // robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+
+    SmartDashboard.putString("Cargo State", RobotContainer.cargoState.toString());
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d35a11d..7645c29 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -70,7 +70,7 @@ public RobotContainer() {
     subDrivetrain.setDefaultCommand(
         new RunCommand(
             () -> subDrivetrain.arcadeDrive(
-                driveSlewRateLimiter.calculate(conDriver.getArcadeMove()), conDriver.getArcadeRotate()),
+                driveSlewRateLimiter.calculate(conDriver.getArcadeMove()), -conDriver.getArcadeRotate()),
             subDrivetrain));
 
     subClimber.setDefaultCommand(comMoveClimber);
@@ -123,7 +123,7 @@ private void configureButtonBindings() {
     conOperator.btn_RTrig
         .whileTrue(comShootCargo);
 
-    conOperator.btn_RBump.onTrue(new RunCommand(() -> subShooter.setMotorSpeedToGoalSpeed(), subShooter));
+    conOperator.btn_RBump.onTrue(new RunCommand(() -> subShooter.setMotorSpeed(1), subShooter));
     conOperator.btn_Start.onTrue(new InstantCommand(() -> subShooter.neutralOutput(), subShooter));
 
     // Turret
@@ -133,22 +133,32 @@ private void configureButtonBindings() {
     conOperator.btn_RStick
         .onTrue(Commands.runOnce(() -> subTurret.setAngle(prefTurret.turretFacingAwayFromIntakeDegrees)));
 
-    // Intake
+    // Hood
+    conOperator.btn_A.whileTrue(Commands.runOnce(() -> subHood.setSpeed(0.15)))
+        .onFalse(Commands.runOnce(() -> subHood.setSpeed(0)))
+        .onFalse(Commands.runOnce(() -> subHood.setAngle(subHood.getAngleDegrees())));
+    conOperator.btn_Y.whileTrue(Commands.runOnce(() -> subHood.setSpeed(-0.15)))
+        .onFalse(Commands.runOnce(() -> subHood.setSpeed(0)))
+        .onFalse(Commands.runOnce(() -> subHood.setAngle(subHood.getAngleDegrees())));
 
+    // Intake
     conOperator.btn_LTrig.whileTrue(comCollectCargo);
     conOperator.btn_B.whileTrue(comDiscardCargo);
 
     // Presets
     conOperator.POV_North
-        .onTrue(Commands.runOnce(() -> subShooter.setGoalSpeed(prefPreset.presetFenderShooterSpeed)))
+        // .onTrue(Commands.runOnce(() ->
+        // subShooter.setGoalSpeed(prefPreset.presetFenderShooterSpeed)))
         .onTrue(Commands.runOnce(() -> subHood.setAngle(prefPreset.presetFenderHoodDegrees)));
 
     conOperator.POV_South
-        .onTrue(Commands.runOnce(() -> subShooter.setGoalSpeed(prefPreset.presetLaunchpadShooterSpeed)))
+        // .onTrue(Commands.runOnce(() ->
+        // subShooter.setGoalSpeed(prefPreset.presetLaunchpadShooterSpeed)))
         .onTrue(Commands.runOnce(() -> subHood.setAngle(prefPreset.presetLaunchpadHoodDegrees)));
 
     conOperator.POV_West
-        .onTrue(Commands.runOnce(() -> subShooter.setGoalSpeed(prefPreset.presetTarmacShooterSpeed)))
+        // .onTrue(Commands.runOnce(() ->
+        // subShooter.setGoalSpeed(prefPreset.presetTarmacShooterSpeed)))
         .onTrue(Commands.runOnce(() -> subHood.setAngle(prefPreset.presetTarmacHoodDegrees)));
   }
 
diff --git a/src/main/java/frc/robot/RobotMap.java b/src/main/java/frc/robot/RobotMap.java
index fdc875a..0b7cab0 100644
--- a/src/main/java/frc/robot/RobotMap.java
+++ b/src/main/java/frc/robot/RobotMap.java
@@ -10,8 +10,8 @@ public static final class mapClimber {
 
     public static final int CLIMBER_MOTOR_CAN = 10;
     public static final int CLIMBER_MINIMUM_SWITCH_DIO = 6;
-    public static final int CLIMBER_MAXIMUM_SWITCH_DIO = 0;
-
+    public static final int CLIMBER_MAXIMUM_SWITCH_DIO = 9;
+    // TODO: Physically Plug in Climber Limit Switch
   }
 
   public static final class mapControllers {
@@ -34,7 +34,7 @@ public static final class mapHood {
 
     public static final int HOOD_MOTOR_CAN = 25;
 
-    public static final int HOOD_BOTTOM_SWITCH_DIO = 5;
+    public static final int HOOD_BOTTOM_SWITCH_DIO = 1;
 
   }
 
@@ -57,10 +57,8 @@ public static final class mapTransfer {
     public static final int BOTTOM_MOTOR_CAN = 51;
     public static final int TOP_MOTOR_CAN = 52;
 
-    public static final int TOP_LEFT_SWITCH_DIO = 4;
-    public static final int TOP_RIGHT_SWITCH_DIO = 1;
-    public static final int BOTTOM_RIGHT_SWITCH_DIO = 2;
-    public static final int BOTTOM_LEFT_SWITCH_DIO = 3;
+    public static final int TOP_SWITCH_DIO = 2;
+    public static final int BOTTOM_SWITCH_DIO = 0;
 
   }
 
diff --git a/src/main/java/frc/robot/RobotPreferences.java b/src/main/java/frc/robot/RobotPreferences.java
index 10d9a95..4766850 100644
--- a/src/main/java/frc/robot/RobotPreferences.java
+++ b/src/main/java/frc/robot/RobotPreferences.java
@@ -73,19 +73,10 @@ public static final class prefDrivetrain {
   }
 
   public static final class prefHood {
-
-    public static final SN_DoublePreference hoodArbitraryFeedForward = new SN_DoublePreference(
-        "hoodArbitraryFeedForward", 0.040078);
-
-    public static final SN_DoublePreference hoodP = new SN_DoublePreference("hoodP", 0.09);
+    public static final SN_DoublePreference hoodP = new SN_DoublePreference("hoodP", 0.05);
     public static final SN_DoublePreference hoodI = new SN_DoublePreference("hoodI", 0);
     public static final SN_DoublePreference hoodD = new SN_DoublePreference("hoodD", 0);
 
-    public static final SN_DoublePreference hoodAllowableClosedLoopErrorDegrees = new SN_DoublePreference(
-        "hoodAllowableClosedLoopErrorDegrees", 0.0001);
-    public static final SN_DoublePreference hoodClosedLoopPeakOutput = new SN_DoublePreference(
-        "hoodClosedLoopPeakOutput", .25);
-
     public static final SN_DoublePreference hoodMinDegrees = new SN_DoublePreference("hoodMinDegrees", 4.89);
     public static final SN_DoublePreference hoodMaxDegrees = new SN_DoublePreference("hoodMaxDegrees", 37);
 
@@ -94,9 +85,8 @@ public static final class prefHood {
   }
 
   public static final class prefIntake {
-
     public static final SN_DoublePreference intakeRollerSpeed = new SN_DoublePreference("intakeRollerSpeed", 0.8);
-
+    public static final SN_DoublePreference intakeSpitSpeed = new SN_DoublePreference("intakeSpitSpeed", -0.8);
   }
 
   public static final class prefPreset {
@@ -119,17 +109,10 @@ public static final class prefPreset {
   }
 
   public static final class prefShooter {
-
-    public static final SN_DoublePreference shooterF = new SN_DoublePreference("shooterF", 0.04609);
-    public static final SN_DoublePreference shooterP = new SN_DoublePreference("shooterP", 0.21);
-    public static final SN_DoublePreference shooterI = new SN_DoublePreference("shooterI", 0.006);
-    public static final SN_DoublePreference shooterD = new SN_DoublePreference("shooterD", 10);
-
-    public static final SN_DoublePreference shooterIZone = new SN_DoublePreference("shooterIZone", 200);
-
-    public static final SN_DoublePreference shooterClosedLoopRamp = new SN_DoublePreference(
-        "shooterClosedLoopRamp", 0.2);
-
+    public static final SN_DoublePreference shooterF = new SN_DoublePreference("shooterF", 0);
+    public static final SN_DoublePreference shooterP = new SN_DoublePreference("shooterP", 1);
+    public static final SN_DoublePreference shooterI = new SN_DoublePreference("shooterI", 0);
+    public static final SN_DoublePreference shooterD = new SN_DoublePreference("shooterD", 0);
   }
 
   public static final class prefTransfer {
@@ -142,7 +125,6 @@ public static final class prefTransfer {
         "transferBeltSpeed", 0.5);
     public static final SN_DoublePreference transferBeltReverseSpeed = new SN_DoublePreference(
         "transferBeltReverseSpeed", -0.5);
-
   }
 
   public static final class prefTurret {
@@ -150,9 +132,9 @@ public static final class prefTurret {
     public static final SN_DoublePreference turretArbitraryFeedForward = new SN_DoublePreference(
         "turretArbitraryFeedForward", 0.01);
 
-    public static final SN_DoublePreference turretP = new SN_DoublePreference("turretP", 0.2);
+    public static final SN_DoublePreference turretP = new SN_DoublePreference("turretP", 1);
     public static final SN_DoublePreference turretI = new SN_DoublePreference("turretI", 0);
-    public static final SN_DoublePreference turretD = new SN_DoublePreference("turretD", 3.4);
+    public static final SN_DoublePreference turretD = new SN_DoublePreference("turretD", 0);
 
     public static final SN_DoublePreference turretAllowableClosedloopErrorDegrees = new SN_DoublePreference(
         "turretAllowableClosedloopErrorDegrees", 0.5);
@@ -161,15 +143,16 @@ public static final class prefTurret {
 
     public static final SN_DoublePreference turretOpenLoopSpeed = new SN_DoublePreference("turretOpenLoopSpeed",
         0.3);
-    public static final SN_DoublePreference turretMinDegrees = new SN_DoublePreference("turretMinDegrees", -270);
-    public static final SN_DoublePreference turretMaxDegrees = new SN_DoublePreference("turretMaxDegrees", 110);
+    public static final SN_DoublePreference turretMinDegrees = new SN_DoublePreference("turretMinDegrees", 0);
+    public static final SN_DoublePreference turretMaxDegrees = new SN_DoublePreference("turretMaxDegrees", 360);
     public static final SN_DoublePreference turretFacingTowardsIntakeDegrees = new SN_DoublePreference(
-        "turretFacingTowardsIntakeDegrees", -90);
+        "turretFacingTowardsIntakeDegrees", 270);
     public static final SN_DoublePreference turretFacingAwayFromIntakeDegrees = new SN_DoublePreference(
         "turretFacingAwayFromIntakeDegrees", 90);
 
     public static final SN_DoublePreference turretClimberThreshold = new SN_DoublePreference(
         "turretClimberThreshold", -269);
+    // TODO: Update if we want climber functionality
 
     public static final SN_DoublePreference turretDeadzoneSmall = new SN_DoublePreference("turretDeadzoneMin", -205);
     public static final SN_DoublePreference turretDeadzoneLarge = new SN_DoublePreference("turretDeadzoneMax", 25);
diff --git a/src/main/java/frc/robot/commands/Cargo/CollectCargo.java b/src/main/java/frc/robot/commands/Cargo/CollectCargo.java
index d71647f..8042b8b 100644
--- a/src/main/java/frc/robot/commands/Cargo/CollectCargo.java
+++ b/src/main/java/frc/robot/commands/Cargo/CollectCargo.java
@@ -92,13 +92,9 @@ public void execute() {
       subTransfer.setEntranceWheelSpeed(outputEntrance);
       subTransfer.setBottomBeltSpeed(outputBottom);
       subTransfer.setTopBeltSpeed(outputTop);
-
+      subIntake.setRollerSpeed(outputIntake);
     }
 
-    // intake doesn't affect other commands so it gets set regardless of this
-    // command taking precedence
-    subIntake.setRollerSpeed(outputIntake);
-
   }
 
   @Override
diff --git a/src/main/java/frc/robot/commands/Cargo/DiscardCargo.java b/src/main/java/frc/robot/commands/Cargo/DiscardCargo.java
index 936c45f..8055521 100644
--- a/src/main/java/frc/robot/commands/Cargo/DiscardCargo.java
+++ b/src/main/java/frc/robot/commands/Cargo/DiscardCargo.java
@@ -8,6 +8,7 @@
 import frc.robot.RobotContainer;
 import frc.robot.RobotPreferences;
 import frc.robot.Constants.CargoState;
+import frc.robot.RobotPreferences.prefIntake;
 import frc.robot.RobotPreferences.prefTransfer;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Transfer;
@@ -60,12 +61,13 @@ public void execute() {
       subTransfer.setTopBeltSpeed(prefTransfer.transferBeltReverseSpeed);
       subTransfer.setBottomBeltSpeed(prefTransfer.transferBeltReverseSpeed);
       subTransfer.setEntranceWheelSpeed(prefTransfer.transferEntranceReverseSpeed);
-
+      subIntake.setRollerSpeed(prefIntake.intakeSpitSpeed);
     }
   }
 
   @Override
   public void end(boolean interrupted) {
+    subIntake.setRollerSpeed(RobotPreferences.zeroDoublePref);
 
     if (precedence) {
 
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
index a97a6ab..c48b480 100644
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -52,7 +52,9 @@ public void setClimberSpeed(double speed) {
     if ((isMinSwitch() && speed < 0) || (isMaxSwitch() && speed > 0)) {
       speed = 0;
     }
-    climberMotor.set(speed);
+    // climberMotor.set(speed);
+    // TODO: Climber Functionality
+    climberMotor.set(0);
   }
 
   public double getClimberEncoderCounts() {
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index b9b6d72..95f98a5 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -223,7 +223,6 @@ public void periodic() {
       SmartDashboard.putNumber("Drivetrain Right Meters", getRightMeters());
 
       SmartDashboard.putNumber("Drivetrain Heading Degrees", navx.getRotation2d().getDegrees());
-
     }
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Hood.java b/src/main/java/frc/robot/subsystems/Hood.java
index 18587ed..fa0c1a0 100644
--- a/src/main/java/frc/robot/subsystems/Hood.java
+++ b/src/main/java/frc/robot/subsystems/Hood.java
@@ -27,8 +27,9 @@ public class Hood extends SubsystemBase {
 
   boolean displayOnDashboard;
 
-  public Hood() {
+  double desiredAngle;
 
+  public Hood() {
     hoodMotor = new CANSparkMax(mapHood.HOOD_MOTOR_CAN, MotorType.kBrushless);
     bottomSwitch = new DigitalInput(mapHood.HOOD_BOTTOM_SWITCH_DIO);
     hoodPIDController = hoodMotor.getPIDController();
@@ -48,19 +49,21 @@ public void configure() {
     hoodMotor.setInverted(constHood.INVERTED);
     hoodMotor.setIdleMode(IdleMode.kBrake);
 
+    hoodMotor.getEncoder().setPositionConversionFactor(360 / constHood.GEAR_RATIO);
+
     hoodMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
     hoodMotor.setSoftLimit(SoftLimitDirection.kForward,
-        (float) ((prefHood.hoodMaxDegrees.getValue() / 360) * constHood.GEAR_RATIO));
+        (float) prefHood.hoodMaxDegrees.getValue());
 
     hoodMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
     hoodMotor.setSoftLimit(SoftLimitDirection.kReverse,
-        (float) ((prefHood.hoodMinDegrees.getValue() / 360) * constHood.GEAR_RATIO));
+        (float) prefHood.hoodMinDegrees.getValue());
 
     resetAngleToBottom();
   }
 
   public double getAngleDegrees() {
-    return (hoodMotor.getEncoder().getPosition()) * 360;
+    return (hoodMotor.getEncoder().getPosition());
   }
 
   public double getRawAngle() {
@@ -70,20 +73,24 @@ public double getRawAngle() {
   public void setAngle(double a_degrees) {
 
     double degrees = MathUtil.clamp(a_degrees, prefHood.hoodMinDegrees.getValue(), prefHood.hoodMaxDegrees.getValue());
-
-    hoodPIDController.setReference((degrees / 360), CANSparkMax.ControlType.kPosition);
+    desiredAngle = degrees;
+    hoodPIDController.setReference(degrees, CANSparkMax.ControlType.kPosition);
   }
 
   public void setAngle(SN_DoublePreference degrees) {
     setAngle(degrees.getValue());
   }
 
+  public void setSpeed(double speed) {
+    hoodMotor.set(speed);
+  }
+
   public boolean isBottomSwitch() {
     return !bottomSwitch.get();
   }
 
   public void resetAngleToBottom() {
-    hoodMotor.getEncoder().setPosition((prefHood.hoodMinDegrees.getValue()) / 360);
+    hoodMotor.getEncoder().setPosition(prefHood.hoodMinDegrees.getValue());
   }
 
   public void neutralOutput() {
@@ -104,8 +111,11 @@ public void periodic() {
     if (displayOnDashboard) {
 
       SmartDashboard.putNumber("Hood Angle Degrees", getAngleDegrees());
-      SmartDashboard.putNumber("Hood Raw Angle", getRawAngle());
-      SmartDashboard.putBoolean("Hood Is Bottom Switch", isBottomSwitch());
+
+      // SmartDashboard.putNumber("Hood Desired Angle Degrees", desiredAngle);
+
+      // SmartDashboard.putNumber("Hood Raw Angle", getRawAngle());
+      // SmartDashboard.putBoolean("Hood Is Bottom Switch", isBottomSwitch());
 
     }
 
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 282d9ff..f8bc88a 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -16,8 +16,8 @@
 public class Intake extends SubsystemBase {
 
   TalonSRX roller;
-
   boolean displayOnDashboard;
+  double desiredPercentOutput = 0;
 
   public Intake() {
 
@@ -32,10 +32,10 @@ public void configure() {
     roller.configFactoryDefault();
 
     roller.setInverted(constIntake.ROLLER_INVERTED);
-
   }
 
   public void setRollerSpeed(SN_DoublePreference speed) {
+    desiredPercentOutput = speed.getValue();
     roller.set(ControlMode.PercentOutput, speed.getValue());
   }
 
@@ -49,10 +49,10 @@ public void hideValuesOnDashboard() {
 
   @Override
   public void periodic() {
-
     if (displayOnDashboard) {
-
       SmartDashboard.putNumber("Intake Roller Percent Output", roller.getMotorOutputPercent());
+      SmartDashboard.putNumber("Intake Roller Desired Percent Output", desiredPercentOutput);
+
     }
 
   }
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index d491700..c18a17b 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -41,11 +41,10 @@ public void configure() {
     followMotor.restoreFactoryDefaults();
 
     leadMotor.setInverted(constShooter.LEAD_INVERTED);
-    followMotor.setInverted(constShooter.FOLLOW_INVERTED);
 
     leadMotor.setIdleMode(IdleMode.kCoast);
 
-    followMotor.follow(leadMotor);
+    followMotor.follow(leadMotor, true);
   }
 
   public void setMotorSpeed(double speed) {
@@ -56,21 +55,21 @@ public void neutralOutput() {
     leadMotor.set(0);
   }
 
-  public void setGoalSpeed(double goalSpeed) {
-    this.goalSpeed = goalSpeed;
-  }
+  // public void setGoalSpeed(double goalSpeed) {
+  // this.goalSpeed = goalSpeed;
+  // }
 
-  public void setGoalSpeed(SN_DoublePreference goalSpeed) {
-    setGoalSpeed(goalSpeed.getValue());
-  }
+  // public void setGoalSpeed(SN_DoublePreference goalSpeed) {
+  // setGoalSpeed(goalSpeed.getValue());
+  // }
 
-  public double getGoalSpeed() {
-    return goalSpeed;
-  }
+  // public double getGoalSpeed() {
+  // return goalSpeed;
+  // }
 
-  public void setMotorSpeedToGoalSpeed() {
-    setMotorSpeed(getGoalSpeed());
-  }
+  // public void setMotorSpeedToGoalSpeed() {
+  // setMotorSpeed(getGoalSpeed());
+  // }
 
   public void displayValuesOnDashboard() {
     displayOnDashboard = true;
@@ -86,7 +85,7 @@ public void periodic() {
     if (displayOnDashboard) {
 
       SmartDashboard.putNumber("Shooter Motor Percent Output", leadMotor.getAppliedOutput());
-      SmartDashboard.putNumber("Shooter Goal Speed", getGoalSpeed());
+      // SmartDashboard.putNumber("Shooter Goal Speed", getGoalSpeed());
 
     }
 
diff --git a/src/main/java/frc/robot/subsystems/Transfer.java b/src/main/java/frc/robot/subsystems/Transfer.java
index 59ec4d9..fb410e3 100644
--- a/src/main/java/frc/robot/subsystems/Transfer.java
+++ b/src/main/java/frc/robot/subsystems/Transfer.java
@@ -8,36 +8,36 @@
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.frcteam3255.preferences.SN_DoublePreference;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.constTransfer;
 import frc.robot.RobotMap.mapTransfer;
+import frc.robot.RobotPreferences.prefTransfer;
 
 public class Transfer extends SubsystemBase {
 
-  TalonSRX entranceWheel;
+  CANSparkMax entranceWheel;
   TalonSRX bottomBelt;
   TalonSRX topBelt;
 
-  DigitalInput bottomLeftSwitch;
-  DigitalInput bottomRightSwitch;
-  DigitalInput topLeftSwitch;
-  DigitalInput topRightSwitch;
+  DigitalInput bottomSwitch;
+  DigitalInput topSwitch;
 
   boolean displayOnDashboard;
 
   public Transfer() {
 
-    entranceWheel = new TalonSRX(mapTransfer.ENTRANCE_MOTOR_CAN);
+    entranceWheel = new CANSparkMax(mapTransfer.ENTRANCE_MOTOR_CAN, MotorType.kBrushless);
     bottomBelt = new TalonSRX(mapTransfer.BOTTOM_MOTOR_CAN);
     topBelt = new TalonSRX(mapTransfer.TOP_MOTOR_CAN);
 
-    bottomLeftSwitch = new DigitalInput(mapTransfer.BOTTOM_LEFT_SWITCH_DIO);
-    bottomRightSwitch = new DigitalInput(mapTransfer.BOTTOM_RIGHT_SWITCH_DIO);
-    topLeftSwitch = new DigitalInput(mapTransfer.TOP_LEFT_SWITCH_DIO);
-    topRightSwitch = new DigitalInput(mapTransfer.TOP_RIGHT_SWITCH_DIO);
+    bottomSwitch = new DigitalInput(mapTransfer.BOTTOM_SWITCH_DIO);
+    topSwitch = new DigitalInput(mapTransfer.TOP_SWITCH_DIO);
 
     displayOnDashboard = true;
 
@@ -45,11 +45,11 @@ public Transfer() {
   }
 
   public void configure() {
-    entranceWheel.configFactoryDefault();
+    entranceWheel.restoreFactoryDefaults();
     bottomBelt.configFactoryDefault();
     topBelt.configFactoryDefault();
 
-    entranceWheel.setNeutralMode(NeutralMode.Brake);
+    entranceWheel.setIdleMode(IdleMode.kBrake);
     bottomBelt.setNeutralMode(NeutralMode.Brake);
     topBelt.setNeutralMode(NeutralMode.Brake);
 
@@ -65,15 +65,15 @@ public void setBottomBeltSpeed(SN_DoublePreference speed) {
   }
 
   public void setEntranceWheelSpeed(SN_DoublePreference speed) {
-    entranceWheel.set(ControlMode.PercentOutput, speed.getValue());
+    entranceWheel.set(speed.getValue());
   }
 
   public boolean isTopBallCollected() {
-    return !topLeftSwitch.get() || !topRightSwitch.get();
+    return (constTransfer.TOP_LIMIT_SWITCH_INVERT) ? !topSwitch.get() : topSwitch.get();
   }
 
   public boolean isBottomBallCollected() {
-    return !bottomLeftSwitch.get() || !bottomRightSwitch.get();
+    return (constTransfer.BOTTOM_LIMIT_SWITCH_INVERT) ? !bottomSwitch.get() : bottomSwitch.get();
   }
 
   public void displayValuesOnDashboard() {
@@ -91,16 +91,13 @@ public void periodic() {
 
       SmartDashboard.putNumber("Transfer Top Belt Speed", topBelt.getMotorOutputPercent());
       SmartDashboard.putNumber("Transfer Bottom Belt Speed", bottomBelt.getMotorOutputPercent());
-      SmartDashboard.putNumber("Transfer Entrance Wheel Speed", entranceWheel.getMotorOutputPercent());
+      SmartDashboard.putNumber("Transfer Entrance Wheel Speed", entranceWheel.getAppliedOutput());
 
       SmartDashboard.putBoolean("Transfer Is Top Ball Collected", isTopBallCollected());
       SmartDashboard.putBoolean("Transfer Is Bottom Ball Collected", isBottomBallCollected());
 
-      SmartDashboard.putBoolean("Transfer Is Top Left Switch", topLeftSwitch.get());
-      SmartDashboard.putBoolean("Transfer Is Top Right Switch", topRightSwitch.get());
-      SmartDashboard.putBoolean("Transfer Is Bottom Left Switch", bottomLeftSwitch.get());
-      SmartDashboard.putBoolean("Transfer Is Bottom Right Switch", bottomRightSwitch.get());
-
+      SmartDashboard.putBoolean("Transfer Top Switch RAW", topSwitch.get());
+      SmartDashboard.putBoolean("Transfer Bottom Switch RAW", bottomSwitch.get());
     }
 
   }
diff --git a/src/main/java/frc/robot/subsystems/Turret.java b/src/main/java/frc/robot/subsystems/Turret.java
index 85f96cb..645c433 100644
--- a/src/main/java/frc/robot/subsystems/Turret.java
+++ b/src/main/java/frc/robot/subsystems/Turret.java
@@ -23,6 +23,7 @@ public class Turret extends SubsystemBase {
   SparkPIDController turretPIDController;
 
   boolean displayOnDashboard;
+  final double conversionFactor = 360 / constTurret.GEAR_RATIO;
 
   public Turret() {
 
@@ -44,13 +45,15 @@ public void configure() {
 
     turretMotor.setInverted(constTurret.INVERTED);
 
+    turretMotor.getEncoder().setPositionConversionFactor(conversionFactor);
+
     turretMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
     turretMotor.setSoftLimit(SoftLimitDirection.kForward,
-        (float) ((prefTurret.turretMaxDegrees.getValue() / 360) * constTurret.GEAR_RATIO));
+        (float) prefTurret.turretMaxDegrees.getValue());
 
     turretMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
     turretMotor.setSoftLimit(SoftLimitDirection.kReverse,
-        (float) ((prefTurret.turretMinDegrees.getValue() / 360) * constTurret.GEAR_RATIO));
+        (float) prefTurret.turretMinDegrees.getValue());
 
     turretMotor.setIdleMode(IdleMode.kBrake);
   }
@@ -61,8 +64,7 @@ public void configure() {
    * @param degrees Degree count to set turret to
    */
   public void setAngle(double degrees) {
-    turretPIDController.setReference(degrees / 360, CANSparkMax.ControlType.kPosition);
-    // TODO: I don't know if the degrees are still accurate o.O so it might explode
+    turretPIDController.setReference(degrees, CANSparkMax.ControlType.kPosition);
   }
 
   /**
@@ -80,7 +82,7 @@ public void setAngle(SN_DoublePreference degrees) {
    * @return Turret angle in degrees
    */
   public double getAngleDegrees() {
-    return (turretMotor.getEncoder().getPosition()) * 360;
+    return turretMotor.getEncoder().getPosition();
   }
 
   public double getRawAngle() {
@@ -92,7 +94,7 @@ public void setSpeed(double speed) {
   }
 
   public void resetEncoderCounts() {
-    turretMotor.getEncoder().setPosition((prefTurret.turretFacingTowardsIntakeDegrees.getValue()) / 360);
+    turretMotor.getEncoder().setPosition(prefTurret.turretFacingTowardsIntakeDegrees.getValue());
   }
 
   public void displayValuesOnDashboard() {
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
index 4a58041..ec20844 100644
--- a/src/main/java/frc/robot/subsystems/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision.java
@@ -16,64 +16,67 @@
 
 public class Vision extends SubsystemBase {
 
-  public SN_Limelight limelight;
-
-  int buttonTimerLoops;
-
-  public Vision() {
-    limelight = new SN_Limelight();
-  }
-
-  public void setLEDOn() {
-    limelight.setLEDMode(LEDMode.on);
-  }
-
-  public void setLEDOff() {
-    limelight.setLEDMode(LEDMode.off);
-  }
-
-  /**
-   * Get distance from hub using ty inputed to the lerp
-   * 
-   * @return Distance from limelight lens to center of hub
-   */
-  public double getDistanceFromHub() {
-    return constVision.tyDistanceTable.getOutput(limelight.getOffsetY());
-  }
-
-  /**
-   * Calculate Robot Position from Vision target. Specific to the Rapid React
-   * field.
-   * <p>
-   * Radian measures require counterclockwise rotation to be positive.
-   * 
-   * @param distanceFromHub Distance from hub in meters
-   * @param robotAngle      Robot angle in radians
-   * @param turretAngle     Turret angle in radians
-   * @param offsetToTarget  Angle offset to target in radians
-   * @return Calculated position of the robot
-   */
-  public Pose2d calculatePoseFromVision(
-      double distanceFromHub,
-      double robotAngle,
-      double turretAngle,
-      double offsetToTarget) {
-
-    double goalAngle = robotAngle + turretAngle + offsetToTarget;
-
-    double calculatedRobotXPosition = constField.HUB_POSITION.getX() - (distanceFromHub * Math.cos(goalAngle));
-    double calculatedRobotYPosition = constField.HUB_POSITION.getY() + (distanceFromHub * Math.sin(goalAngle));
-
-    return new Pose2d(calculatedRobotXPosition, calculatedRobotYPosition, new Rotation2d(-robotAngle));
-  }
+  // public SN_Limelight limelight;
+
+  // int buttonTimerLoops;
+
+  // public Vision() {
+  // limelight = new SN_Limelight();
+  // }
+
+  // public void setLEDOn() {
+  // limelight.setLEDMode(LEDMode.on);
+  // }
+
+  // public void setLEDOff() {
+  // limelight.setLEDMode(LEDMode.off);
+  // }
+
+  // /**
+  // * Get distance from hub using ty inputed to the lerp
+  // *
+  // * @return Distance from limelight lens to center of hub
+  // */
+  // public double getDistanceFromHub() {
+  // return constVision.tyDistanceTable.getOutput(limelight.getOffsetY());
+  // }
+
+  // /**
+  // * Calculate Robot Position from Vision target. Specific to the Rapid React
+  // * field.
+  // * <p>
+  // * Radian measures require counterclockwise rotation to be positive.
+  // *
+  // * @param distanceFromHub Distance from hub in meters
+  // * @param robotAngle Robot angle in radians
+  // * @param turretAngle Turret angle in radians
+  // * @param offsetToTarget Angle offset to target in radians
+  // * @return Calculated position of the robot
+  // */
+  // public Pose2d calculatePoseFromVision(
+  // double distanceFromHub,
+  // double robotAngle,
+  // double turretAngle,
+  // double offsetToTarget) {
+
+  // double goalAngle = robotAngle + turretAngle + offsetToTarget;
+
+  // double calculatedRobotXPosition = constField.HUB_POSITION.getX() -
+  // (distanceFromHub * Math.cos(goalAngle));
+  // double calculatedRobotYPosition = constField.HUB_POSITION.getY() +
+  // (distanceFromHub * Math.sin(goalAngle));
+
+  // return new Pose2d(calculatedRobotXPosition, calculatedRobotYPosition, new
+  // Rotation2d(-robotAngle));
+  // }
 
   @Override
   public void periodic() {
 
-    buttonTimerLoops++;
-    if (RobotController.getUserButton() && buttonTimerLoops > 25) {
-      limelight.toggleLEDs();
-      buttonTimerLoops = 0;
-    }
+    // buttonTimerLoops++;
+    // if (RobotController.getUserButton() && buttonTimerLoops > 25) {
+    // limelight.toggleLEDs();
+    // buttonTimerLoops = 0;
+    // }
   }
 }