diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index a7391b8..f0a4400 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -20,6 +20,12 @@ import edu.wpi.first.wpilibj.DigitalInput;
 //import frc4388.robot.constants.Constants.ElevatorConstants;
 import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.robot.constants.Constants.VisionConstants;
+import frc4388.robot.subsystems.intake.IntakeConstants;
+import frc4388.robot.subsystems.intake.IntakeIO;
+import frc4388.robot.subsystems.intake.IntakeReal;
+import frc4388.robot.subsystems.shooter.ShooterConstants;
+import frc4388.robot.subsystems.shooter.ShooterIO;
+import frc4388.robot.subsystems.shooter.ShooterReal;
 // import frc4388.robot.subsystems.elevator.ElevatorIO;
 // import frc4388.robot.subsystems.elevator.ElevatorReal;
 import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
@@ -56,7 +62,8 @@ public class RobotMap {
     public final SwerveIO swerveDrivetrain;
 
     // /* Elevator Subsystem */
-    // public final ElevatorIO elevatorIO;
+    public final ShooterIO shooterIO;
+    public final IntakeIO intakeIO;
 
     public RobotMap(SimConstants.Mode mode) {
         switch (mode) {
@@ -84,25 +91,33 @@ public class RobotMap {
 
                 swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
 
-                // Configure elevator
+                // Configure Shooter
 
-                // TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
-                // TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
+                TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id);
+                TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id);
+                TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id);
                 
+                //Configure Intake
+                TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
+                TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id);
 
                 // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
                 // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
                 // DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
 
-                // elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
-
+                shooterIO = new ShooterReal(shooter1, shooter2, indexer);
 
+                intakeIO = new IntakeReal(arm, roller);
 
                 // Fault
                 FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
 
-                // FaultTalonFX.addDevice(elevator, "Elevator");
-                // FaultTalonFX.addDevice(endeffector, "Endeffector");
+                
+                FaultTalonFX.addDevice(shooter1, "Shooter1");
+                FaultTalonFX.addDevice(shooter2, "Shooter2");
+                FaultTalonFX.addDevice(indexer, "Indexer");
+                FaultTalonFX.addDevice(arm, "Arm");
+                FaultTalonFX.addDevice(roller, "Roller");
                 
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
@@ -123,10 +138,9 @@ public class RobotMap {
             default:
                 leftCamera = new VisionIO() {};
                 rightCamera = new VisionIO() {};
-                // reefLidar = new LidarIO() {};
-                // reverseLidar = new LidarIO() {};
                 swerveDrivetrain = new SwerveIO() {};
-                // elevatorIO = new ElevatorIO() {};
+                intakeIO = new IntakeIO() {};
+                shooterIO = new ShooterIO() {};
                 break;
         }
     }
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index f7e73de..a6c72ad 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 = 15;
-  public static final String GIT_SHA = "ba16f53d6d8155249e7ca767b54fbfa1f17ce68e";
-  public static final String GIT_DATE = "2026-01-20 19:23:14 MST";
-  public static final String GIT_BRANCH = "Intake-boilerplate";
-  public static final String BUILD_DATE = "2026-01-27 18:56:30 MST";
-  public static final long BUILD_UNIX_TIME = 1769565390510L;
+  public static final int GIT_REVISION = 22;
+  public static final String GIT_SHA = "e2797ab77871b91d546e6e9793852cf94d8b712f";
+  public static final String GIT_DATE = "2026-01-27 19:28:57 MST";
+  public static final String GIT_BRANCH = "Subsystem-Boilerplate";
+  public static final String BUILD_DATE = "2026-01-29 16:59:21 MST";
+  public static final long BUILD_UNIX_TIME = 1769731161482L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index 2e3477d..48600d5 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -20,6 +20,13 @@ public class IntakeConstants {
     public static final double ARM_MOTOR_GEAR_RATIO = 1.;
     public static final double ROLLER_MOTOR_GEAR_RATIO = 1.;
 
+
+    //IDs
+
+
+    public static final CanDevice ARM_ID   = new CanDevice("SHOOTER 1", 20);
+    public static final CanDevice ROLLER_ID   = new CanDevice("SHOOTER 2", 21);
+        
     // Limits
 
     // 0 is the forward angle on the robot.
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index e938be4..1e80500 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -48,9 +48,10 @@ public class ShooterConstants {
     //                 .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
     // );
 
-    public static final class IDs {
-        public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
-    }
+        public static final CanDevice SHOOTER1_ID   = new CanDevice("SHOOTER 1", 22);
+        public static final CanDevice SHOOTER2_ID   = new CanDevice("SHOOTER 2", 23);
+        public static final CanDevice INDEXER_ID = new CanDevice("INDEXER",24);
+        
 
     public static final TalonFXConfiguration SHOOTER1_MOTOR_CONFIG = new TalonFXConfiguration()
         .withCurrentLimits(