diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index 6b35036..e878d85 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
 import com.revrobotics.CANDigitalInput;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -17,18 +18,20 @@ import frc4388.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
   CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
-  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
   /**
    * Creates a new Climber.
    */
   public Climber() {
     m_climberMotor.restoreFactoryDefaults();
-    
-    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
-    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
 
-    m_forwardLimit.enableLimitSwitch(false);
-    m_reverseLimit.enableLimitSwitch(false);
+    m_climberMotor.setIdleMode(IdleMode.kBrake);
+    m_climberMotor.setInverted(false);
+    
+    m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_climberForwardLimit.enableLimitSwitch(false);
+    m_climberReverseLimit.enableLimitSwitch(false);
   }
 
   @Override
diff --git a/src/main/java/frc4388/robot/subsystems/Leveler.java b/src/main/java/frc4388/robot/subsystems/Leveler.java
index 02df406..aa93f13 100644
--- a/src/main/java/frc4388/robot/subsystems/Leveler.java
+++ b/src/main/java/frc4388/robot/subsystems/Leveler.java
@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
    */
   public Leveler() {
     m_levelerMotor.restoreFactoryDefaults();
-    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+
+    m_levelerMotor.setIdleMode(IdleMode.kBrake);
     m_levelerMotor.setInverted(false);
   }
 
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 169e36f..f8649ae 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -31,8 +31,7 @@ public class Shooter extends SubsystemBase {
     m_shooterFalcon.configFactoryDefault();
 
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
-
-    m_shooterFalcon.setInverted(true);
+    m_shooterFalcon.setInverted(false);
     
     setShooterGains();