diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 42c6f2c..31054f1 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -15,6 +15,8 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import com.ctre.phoenix6.SignalLogger;
+
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -50,6 +52,9 @@ public class Robot extends LoggedRobot {
     // Start logging with AdvantageKit
     startLogging();
 
+    com.revrobotics.util.StatusLogger.disableAutoLogging();
+    SignalLogger.enableAutoLogging(false);
+
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 7f3e6b2..93a48fb 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 190;
-  public static final String GIT_SHA = "3fe5d0e5a1cfe24710b755b489fa61255e307095";
-  public static final String GIT_DATE = "2026-03-30 16:15:43 MDT";
+  public static final int GIT_REVISION = 191;
+  public static final String GIT_SHA = "9021f480beaf35912eb54a845ec87522fef5337a";
+  public static final String GIT_DATE = "2026-03-30 18:57:14 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-03-30 18:15:12 MDT";
-  public static final long BUILD_UNIX_TIME = 1774916112363L;
+  public static final String BUILD_DATE = "2026-03-30 19:50:05 MDT";
+  public static final long BUILD_UNIX_TIME = 1774921805228L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index a837396..9cc56af 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -129,12 +129,13 @@ public class Intake extends SubsystemBase {
                 break;
             
             case Bouncing:
-                io.setRollerOutput(state, 0);
+                // io.setRollerOutput(state, 0);
 
                 if(
-                    state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get() &&
-                    state.armMotorVelocity.in(RotationsPerSecond) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
+                    state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
+                    // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
                 ) {
+                    System.out.println("RESET BOUNCE");
                     this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
                 }
 
@@ -143,11 +144,11 @@ public class Intake extends SubsystemBase {
                 // Get the percentage through the bounce period (0 output means one half period has passed)
                 double percentOutput = (currentTime / IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get()) * IntakeConstants.INTAKE_BOUNCE_OUTPUT.get();
                 // Clamp the output of the motor to some value
-                percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
+                percentOutput = -Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
 
                 io.armOutput(percentOutput);
 
-                if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
+                if(percentOutput < 0) {
                     io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
                 } else {
                     io.setRollerOutput(state, 0);
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index 238786d..cc5216c 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -19,10 +19,10 @@ public class IntakeConstants {
 
 
     public static final ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
-    public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.2);
-    public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.5);
-    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 20);
-    public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 20);
+    public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
+    public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.2);
+    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 16);
+    public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 4);
 
 
 
@@ -44,8 +44,8 @@ public class IntakeConstants {
 
     public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
     public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.5);
-    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.5);
-    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.5);
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
+    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
 
     public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);