diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 52cf52e..49c27b9 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -95,10 +95,10 @@ public class RobotContainer {
   private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
   // private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
   // private final LED m_robotLED = new LED(m_robotMap.LEDController);
-  private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
+  /*private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
   private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
   private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
-  private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
+  private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);*/
   
   /* Controllers */
   private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -147,7 +147,7 @@ public class RobotContainer {
         m_robotStorage).withName("Storage manageStorage defaultCommand"));*/
       // Serializer Management
     m_robotSerializer.setDefaultCommand(
-        new RunCommand(() -> m_robotSerializer.setSerializer(0.25),//m_robotSerializer.setSerializerStateWithBeam(), 
+        new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(), 
         m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
       // Turret Manual
     /*m_robotTurret.setDefaultCommand(
@@ -223,11 +223,11 @@ public class RobotContainer {
     //     .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
     //     .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
       // A > Shoot with Odo
-    new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
+    /*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
         .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
       // B > Shoot with Lime
     new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
-        .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
+        .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));*/
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 9cb587a..a0d2201 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -54,13 +54,13 @@ public class Intake extends SubsystemBase {
    * @param rightTrigger Right Trigger to Run +
    */
   public void runWithTriggers(double leftTrigger, double rightTrigger) {
-    m_intakeMotor.set((rightTrigger - leftTrigger) * 0.25);
+    m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
   }
   /**
-   * Runs The Extender
+   * Runs The Extender-
    * @param extended Wether the Extender Is Extended
    */
-  public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
+  public void runExtender(boolean extended) {
     if (!m_serializer.getBeam() && !extended) return;
     double extenderMotorSpeed = extended ? 0.25d : -0.25d;
     m_extenderMotor.set(extenderMotorSpeed);