diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index 3732073..fce9bcd 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -120,23 +120,23 @@ public class Intake extends SubsystemBase {
 
         switch (mode) {
             case ExtendingIdle:
-                io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                // io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, 0);
                 break;
         
                 
             case ExtendingRolling:
-                io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                // io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); //getTargetRollerSpeed(ChassisOverallSpeed));
                 break;
 
             case EncoderFix:
-                io.armFix(IntakeConstants.FIX_ARM_PERCENT_OUTPUT.get());
+                // io.armFix(IntakeConstants.FIX_ARM_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, 0);
                 break;
 
             case Retracting:
-                io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
+                // io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
 
                 // if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
                 io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
@@ -145,41 +145,41 @@ public class Intake extends SubsystemBase {
                 // }
                 break;
             case ArmIdleRollingNot:
-                io.armOutput(0);
+                // io.armOutput(0);
                 io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
                 break;
             case Bouncing:
                 // io.setRollerOutput(state, 0);
 
-                if(
-                    state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
-                    // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
-                ) {
-                    this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
-                }
+            //     if(
+            //         state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
+            //         // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
+            //     ) {
+            //         this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
+            //     }
 
-                // Get the time delta from the last bounce time update
-                double currentTime = Utils.getSystemTimeSeconds() - state.currentBounceTime;
-                // 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());
+            //     // Get the time delta from the last bounce time update
+            //     double currentTime = Utils.getSystemTimeSeconds() - state.currentBounceTime;
+            //     // 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());
 
-                io.armOutput(percentOutput);
+            //     io.armOutput(percentOutput);
 
-                if(percentOutput < 0) {
-                    io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
-                } else {
-                    io.setRollerOutput(state, 0);
-                }
-                break;
-            case RectractTorque:
-                io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
-                if (!overCompressed){
-                    io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
-                } else {
-                    io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
-                }
+            //     if(percentOutput < 0) {
+            //         io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+            //     } else {
+            //         io.setRollerOutput(state, 0);
+            //     }
+            //     break;
+            // case RectractTorque:
+            //     io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+            //     if (!overCompressed){
+            //         io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
+            //     } else {
+            //         io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
+            //     }
 
                 // if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
                 // io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
@@ -189,19 +189,19 @@ public class Intake extends SubsystemBase {
                 break;
             case RectractAuto:
                 io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
-                io.armOutput(IntakeConstants.ARM_AUTO_OUTPUT.get());
+                // io.armOutput(IntakeConstants.ARM_AUTO_OUTPUT.get());
                 break;
             case Idle:
-                io.armOutput(0);
+                // io.armOutput(0);
                 io.setRollerOutput(state, 0);
                 break;
                 
             case ExpelBalls:
-                io.armOutput(0);
+                // io.armOutput(0);
                 io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
                 break;
             case LabubuGrowl:
-                io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                // io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerOutput(state, IntakeConstants.ROLLER_LABUBU_GROWL_PERCENT_OUTPUT.get());
                 break;
         }
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index 72d2c34..35819cb 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -27,6 +27,7 @@ public class    ShooterConstants {
     
     
     public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
+    public static final ConfigurableDouble DEMO_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
     // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
     // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);
 
@@ -55,31 +56,31 @@ public class    ShooterConstants {
 
     // 
     public static AngularVelocity getTargetShooterSpeed(double hubDistMeters, double chassisXSpeed) {
-            double speed = 0;
+        double speed = DEMO_PERCENT_OUTPUT.get();
 
-        if (Math.abs(chassisXSpeed) < 0.1){
-            speed = 0.0593402*hubDistMeters*hubDistMeters +
-            4.90561*hubDistMeters +
-            30.35696 + MODEL_TRIM.get();
-        } else if (chassisXSpeed > 0){
-            speed = 0.0593402*hubDistMeters*hubDistMeters +
-            4.90561*hubDistMeters +
-            30.35696 + chassisXSpeed * POS_OFFSET.get() + MODEL_TRIM.get();
+        // if (Math.abs(chassisXSpeed) < 0.1){
+        //     speed = 0.0593402*hubDistMeters*hubDistMeters +
+        //     4.90561*hubDistMeters +
+        //     30.35696 + MODEL_TRIM.get();
+        // } else if (chassisXSpeed > 0){
+        //     speed = 0.0593402*hubDistMeters*hubDistMeters +
+        //     4.90561*hubDistMeters +
+        //     30.35696 + chassisXSpeed * POS_OFFSET.get() + MODEL_TRIM.get();
             
-        } else { // Negative is closer to hub
-            speed = 0.0593402*hubDistMeters*hubDistMeters +
-            4.90561*hubDistMeters +
-            30.35696 + chassisXSpeed * NEG_OFFSET.get() + MODEL_TRIM.get();
-        }
+        // } else { // Negative is closer to hub
+        //     speed = 0.0593402*hubDistMeters*hubDistMeters +
+        //     4.90561*hubDistMeters +
+        //     30.35696 + chassisXSpeed * NEG_OFFSET.get() + MODEL_TRIM.get();
+        // }
         
-        double max = SHOOTER_MAX_VELOCITY.get();
+        // double max = SHOOTER_MAX_VELOCITY.get();
 
-        // Clamp speed to max
-        if(speed > max) {
-            speed = max;
-        } else if(speed < -max) {
-            speed = -max;
-        }
+        // // Clamp speed to max
+        // if(speed > max) {
+        //     speed = max;
+        // } else if(speed < -max) {
+        //     speed = -max;
+        // }
 
         // double speed = SHOOTER_MAX_VELOCITY.get();