diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index fec2730..4853c5c 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -33,17 +33,18 @@ public final class Constants {
 
   public static final class CANIds {
     // SPARK MAX CAN IDs
-    public static final int kFrontLeftDrivingCanId = 13;
-    public static final int kRearLeftDrivingCanId = 7;
+    public static final int kFrontLeftDrivingCanId = 20;
+    public static final int kFrontLeftTurningCanId = 13;
 
     public static final int kFrontRightDrivingCanId = 40;
-    public static final int kRearRightDrivingCanId = 55;
+    public static final int kRearRightTurningCanId = 12;
 
-    public static final int kFrontLeftTurningCanId = 20;
+    public static final int kRearLeftDrivingCanId = 7;
     public static final int kRearLeftTurningCanId = 23;
 
+    public static final int kRearRightDrivingCanId = 55;
     public static final int kFrontRightTurningCanId = 36;
-    public static final int kRearRightTurningCanId = 12;
+
 
     // Intake CAN IDs
 
@@ -51,7 +52,9 @@ public static final class CANIds {
     public static final int kIntakeTurnPitchCanID = 10;
 
     // Shooter IDs
-    public static final int kShooterTopMotorCanId = 29;
+    public static final int kShooterAngleMotorCanId = 29;
+    public static final int kShooterLeftMotorCanId = 59;
+    public static final int kShooterRightMotorCanId = 62;
 
     //
   }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 90f4f66..1ed1996 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,6 +20,7 @@
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
@@ -118,6 +119,14 @@ private void configureButtonBindings() {
   /*◇─◇──◇─◇
   ✨FloopIntake✨
   ◇─◇──◇─◇*/
+  driverController.rightBumper()
+        .whileTrue(new RunCommand(
+            () -> intake.setIntakeSpeed(0.2),
+            intake ));
+  driverController.leftBumper()
+        .whileTrue(new RunCommand(
+            () -> intake.setIntakeSpeed(-0.2),
+            intake ));
 /* 
     secondaryController.x()
             .onTrue(new RunCommand( () -> intake.set) )
diff --git a/src/main/java/frc/robot/subsystems/FloopIntake.java b/src/main/java/frc/robot/subsystems/FloopIntake.java
index 018a37f..52a8615 100644
--- a/src/main/java/frc/robot/subsystems/FloopIntake.java
+++ b/src/main/java/frc/robot/subsystems/FloopIntake.java
@@ -45,7 +45,7 @@
 import frc.robot.Constants.FloopIntakeConstants;
 import frc.robot.Constants.CANIds;
 
-public class FloopIntake{
+public class FloopIntake extends SubsystemBase implements Loggable{
   private final CANSparkMax intake = new CANSparkMax(CANIds.kIntakeCanID, MotorType.kBrushless);
   private final CANSparkMax intakeTurnPitch = new CANSparkMax(CANIds.kIntakeTurnPitchCanID, MotorType.kBrushless);
 
@@ -100,6 +100,11 @@ public void setPitchSetpoint(double setpoint) {
     intakePIDController.setGoal(setpoint);
   }
 
+  @Config
+  public void setIntakeSpeed(double speed){
+    intake.set(speed);
+  }
+
 
   
 }
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 09f5580..3ff0fa9 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -43,8 +43,13 @@
 
 
 public class Shooter extends SubsystemBase implements Loggable{
-  private final CANSparkFlex shooterMotor = new CANSparkFlex(CANIds.kShooterTopMotorCanId, MotorType.kBrushless);
-  private final RelativeEncoder shooterEncoder = shooterMotor.getEncoder();
+  private final CANSparkFlex shooterAngleMotor = new CANSparkFlex(CANIds.kShooterAngleMotorCanId, MotorType.kBrushless);
+  private final CANSparkFlex shooterLeft = new CANSparkFlex(CANIds.kShooterLeftMotorCanId, MotorType.kBrushless);
+  private final CANSparkFlex shooterRight = new CANSparkFlex(CANIds.kShooterRightMotorCanId, MotorType.kBrushless);
+
+  private final RelativeEncoder shooterEncoder = shooterAngleMotor.getEncoder();
+  private final RelativeEncoder shooterLeftEncoder = shooterAngleMotor.getEncoder();
+  private final RelativeEncoder shooterRightEncoder = shooterAngleMotor.getEncoder();
   
   private final PIDController shooterRPMController = new PIDController(
     ShooterConstants.shooterTopP,
@@ -53,9 +58,18 @@ public class Shooter extends SubsystemBase implements Loggable{
   );
   
   public Shooter(){
-    shooterMotor.restoreFactoryDefaults();
-    shooterMotor.setIdleMode(IdleMode.kCoast);
-    shooterMotor.burnFlash();
+    shooterAngleMotor.restoreFactoryDefaults();
+    shooterLeft.restoreFactoryDefaults();
+    shooterRight.restoreFactoryDefaults();
+    
+
+    shooterAngleMotor.setIdleMode(IdleMode.kCoast);
+    shooterLeft.setIdleMode(IdleMode.kCoast);
+    shooterRight.setIdleMode(IdleMode.kCoast);
+
+    shooterAngleMotor.burnFlash();
+    shooterLeft.burnFlash();
+    shooterRight.burnFlash();
 
   }
 
@@ -74,7 +88,8 @@ public double shooterRPM(){
 
   @Config
   public void setShooterSpeed(double speed){
-    shooterMotor.set(speed);
+    shooterLeft.set(speed);
+    shooterRight.set(speed);
   }
 
   @Config
@@ -82,8 +97,7 @@ public void setRPMSetpoint(double rpm){
     shooterRPMController.setSetpoint(rpm);
   }
 
-
-
+  
    /*◇─◇──◇─◇
   ✨Commands✨
   ◇─◇──◇─◇*/