diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index e9c899c..e788406 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -70,11 +70,11 @@ public final class Constants {
     }
   
     public static final class LevelerConstants {
-        public static final int LEVELER_TALON_ID = 9;
+        public static final int LEVELER_CAN_ID = 9;
     }
   
     public static final class StorageConstants {
-        public static final int STORAGE_CAN_ID = 9;
+        public static final int STORAGE_CAN_ID = -1;
         public static final int BEAM_SENSOR_DIO_0 = 0;
         public static final int BEAM_SENSOR_DIO_1 = 1;
         public static final int BEAM_SENSOR_DIO_2 = 2;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e7ae628..cf5b717 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -60,7 +60,7 @@ public class RobotContainer {
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
-        // drives the robot with an axis input from the driver controller
+        // drives the leveler with an axis input from the driver controller
         m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
         m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
diff --git a/src/main/java/frc4388/robot/subsystems/Leveler.java b/src/main/java/frc4388/robot/subsystems/Leveler.java
index 613a8cb..02df406 100644
--- a/src/main/java/frc4388/robot/subsystems/Leveler.java
+++ b/src/main/java/frc4388/robot/subsystems/Leveler.java
@@ -10,22 +10,23 @@ package frc4388.robot.subsystems;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.LevelerConstants;
 
 public class Leveler extends SubsystemBase {
-  WPI_TalonSRX m_levelerMotor = new WPI_TalonSRX(LevelerConstants.LEVELER_TALON_ID);
+  CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
 
   /**
    * Creates a new Leveler.
    */
   public Leveler() {
-    m_levelerMotor.configFactoryDefault();
-
-    m_levelerMotor.setNeutralMode(NeutralMode.Brake);
-
+    m_levelerMotor.restoreFactoryDefaults();
+    m_levelerMotor.setIdleMode(IdleMode.kCoast);
     m_levelerMotor.setInverted(false);
   }