diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index abb9af2..7b5ba85 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -164,7 +164,7 @@ public final class Constants {
         public static final int INTAKE_MOTOR_ID = 18; //TODO:
         public static final int PIVOT_MOTOR_ID = 17; //TODO:
         public static final double INTAKE_SPEED = 0.75; //TODO:
-        public static final double INTAKE_OUT_SPEED = 0.7;
+        public static final double INTAKE_OUT_SPEED = 0.1;
         public static final double HANDOFF_SPEED = 0.4; //TODO:
         public static final double PIVOT_SPEED = 0.2; //TODO:
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1fe331f..3fda500 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -79,7 +79,7 @@ public class RobotContainer {
     private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
         new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
-        new InstantCommand(() -> m_robotShooter.idle(), m_robotShooter)
+        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
     );
 
     private SequentialCommandGroup i = new SequentialCommandGroup(
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 6ec6a16..4bf31f6 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -6,6 +6,7 @@ package frc4388.robot.subsystems;
 
 import java.util.function.BooleanSupplier;
 
+import com.revrobotics.CANSparkBase;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.SparkLimitSwitch;
 import com.revrobotics.SparkPIDController;
@@ -52,6 +53,8 @@ public class Intake extends SubsystemBase {
     reverseLimit.enableLimitSwitch(true);
 
     intakeMotor.restoreFactoryDefaults();
+    intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast);
+    
 
     
     intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 004a70c..8d340ed 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -25,8 +25,8 @@ public class Shooter extends SubsystemBase {
     leftShooter  = leftTalonFX;
     rightShooter = rightTalonFX;
 
-    leftShooter.setNeutralMode(NeutralModeValue.Brake);
-    rightShooter.setNeutralMode(NeutralModeValue.Brake);
+    leftShooter.setNeutralMode(NeutralModeValue.Coast);
+    rightShooter.setNeutralMode(NeutralModeValue.Coast);
   }
 
   public void spin() {