diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index dd5bd18..bc06117 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -120,7 +120,7 @@ public static final class Mod0 {
       public static final int driveMotorID = 2;
       public static final int angleMotorID = 3;
       public static final int canCoderID = 0;
-      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(223); //43
+      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(0); //43
       public static final SwerveModuleConstants constants =
           new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
     }
@@ -130,7 +130,7 @@ public static final class Mod1 {
       public static final int driveMotorID = 8;
       public static final int angleMotorID = 1;
       public static final int canCoderID = 1;
-      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(344); //344
+      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(0); //344
       public static final SwerveModuleConstants constants =
           new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
     }
@@ -140,7 +140,7 @@ public static final class Mod2 {
       public static final int driveMotorID = 4;
       public static final int angleMotorID = 5;
       public static final int canCoderID = 2;
-      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(87);
+      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(0);
       public static final SwerveModuleConstants constants =
           new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
     }
@@ -150,7 +150,7 @@ public static final class Mod3 {
       public static final int driveMotorID = 6;
       public static final int angleMotorID = 7;
       public static final int canCoderID = 3;
-      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(73.5);
+      public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(0);
       public static final SwerveModuleConstants constants =
           new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
     }
@@ -199,6 +199,7 @@ public static class IntakeConstants{
     public static final double intakeUpSpeed = 0.1;
     public static final double intakeDownSpeed = -0.1;
     public static final double rollerSpeed = 0.1;
+    public static final int IRport = 1;
   }
 
   // Shooter constants
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b76cb06..bcce282 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -115,6 +115,8 @@ private void configureButtonBindings() {
     ControlMap.m_gunnerController.x().whileTrue(m_moveRollers);
     ControlMap.m_gunnerController.y().whileTrue(m_shootSpeaker);
     ControlMap.m_gunnerController.leftTrigger().whileTrue(m_shootAmp);
+
+    // FOR TESTING, REMOVE FOR COMP
     ControlMap.m_gunnerController.leftBumper().whileTrue(m_shootLeftMotor);
     ControlMap.m_gunnerController.rightBumper().whileTrue(m_shootRightMotor);
   }
diff --git a/src/main/java/frc/robot/commands/IntakeCommands/MoveRollers.java b/src/main/java/frc/robot/commands/IntakeCommands/MoveRollers.java
index 8f45061..67101ee 100644
--- a/src/main/java/frc/robot/commands/IntakeCommands/MoveRollers.java
+++ b/src/main/java/frc/robot/commands/IntakeCommands/MoveRollers.java
@@ -36,6 +36,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return m_Intake.getIRSensor();
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 1b4329a..f14bd43 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -4,6 +4,7 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
@@ -18,6 +19,7 @@ public class Intake extends SubsystemBase {
   private static final double DEADZONE = 0.05;
   private CANSparkMax m_IntakePivotMotor;
   private TalonSRX m_IntakeRollerMotor;
+  private DigitalInput IRSensor = new DigitalInput(Constants.IntakeConstants.IRport);
   static Intake instance = null;
   /** Creates a new Intake. */
   public Intake() {
@@ -51,6 +53,10 @@ public void moveRollers(double rotate){
     m_IntakeRollerMotor.set(TalonSRXControlMode.PercentOutput, rotate);
   }
 
+  public boolean getIRSensor(){
+    return IRSensor.get();
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index f2b6b12..b902063 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -31,8 +31,8 @@ public static Shooter getInstance(){
   public void shoot(double rotateLeft, double rotateRight){
     if(rotateLeft < DEADZONE) rotateLeft = 0;
     if(rotateRight < DEADZONE) rotateRight = 0;
-    m_ShooterMotorLeft.set(TalonSRXControlMode.PercentOutput, rotateLeft);
-    m_ShooterMotorRight.set(TalonSRXControlMode.PercentOutput, rotateRight);
+    moveLeftMotor(rotateLeft);
+    moveRightMotor(rotateRight);
   }
 
   // move left motor