diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e36da298..1226c612 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -104,30 +104,30 @@ private void configureBindings() {
           feederSubsystem.setFeederMotorSpeed(feederSubsystem.FEEDER_MOTOR_SPEED);
         }));
         
-        bButton.onTrue(new InstantCommand(() -> {
+        bButton.onFalse(new InstantCommand(() -> {
           feederSubsystem.setFeederMotorSpeed(0);
         }));
 
         pivotSubsystem.setDefaultCommand(new InstantCommand(() -> {
-            pivotSubsystem.setPivotMotorSpeed(mechController.getRightTriggerAxis() - mechController.getLeftTriggerAxis());
-        }));
+            pivotSubsystem.setPivotMotorSpeed(.3 * (mechController.getRightTriggerAxis() - mechController.getLeftTriggerAxis()));
+        }, pivotSubsystem));
 
         if(baseSwerveSubsystem instanceof SwerveSubsystem){
-        final SwerveSubsystem swerveSubsystem = (SwerveSubsystem) baseSwerveSubsystem;
-
-        swerveSubsystem.setDefaultCommand(new RunCommand(() -> {
-            swerveSubsystem.setDrivePowers(driveController.getLeftPower(), driveController.getForwardPower(), driveController.getRotatePower());//, 1 * (controller.getRightTriggerAxis() - controller.getLeftTriggerAxis()));
-            pivotSubsystem.setFieldPosition(swerveSubsystem.getRobotPosition());
-        }
-        , swerveSubsystem));
-
-        driveController.getFieldResetButton().onTrue(new InstantCommand(() -> {
-            swerveSubsystem.resetDriverHeading();
-        }
-        ));
-        
+          final SwerveSubsystem swerveSubsystem = (SwerveSubsystem) baseSwerveSubsystem;
+
+          swerveSubsystem.setDefaultCommand(new RunCommand(() -> {
+              // swerveSubsystem.setDrivePowers(driveController.getLeftPower(), driveController.getForwardPower(), driveController.getRotatePower());//, 1 * (controller.getRightTriggerAxis() - controller.getLeftTriggerAxis()));
+              // pivotSubsystem.setFieldPosition(swerveSubsystem.getRobotPosition());
+          }
+          , swerveSubsystem));
+
+          driveController.getFieldResetButton().onTrue(new InstantCommand(() -> {
+              swerveSubsystem.resetDriverHeading();
+          }
+          ));
+          
         } else if(baseSwerveSubsystem instanceof TestSingleModuleSwerveSubsystem){
-        final TestSingleModuleSwerveSubsystem testSwerveSubsystem = (TestSingleModuleSwerveSubsystem) baseSwerveSubsystem;
+          final TestSingleModuleSwerveSubsystem testSwerveSubsystem = (TestSingleModuleSwerveSubsystem) baseSwerveSubsystem;
         // LBumper.onTrue(new InstantCommand(() -> {
         //   testSwerveSubsystem.decrementTest();
         //   System.out.println(testSwerveSubsystem.getTest());
@@ -146,7 +146,7 @@ private void configureBindings() {
         // }));
 
         } else if (baseSwerveSubsystem instanceof SingleModuleSwerveSubsystem){
-        final SingleModuleSwerveSubsystem swerveSubsystem = (SingleModuleSwerveSubsystem) baseSwerveSubsystem;
+          final SingleModuleSwerveSubsystem swerveSubsystem = (SingleModuleSwerveSubsystem) baseSwerveSubsystem;
 
         // System.out.println("1");
 
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index ce1817a9..4d1c387b 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -5,6 +5,7 @@
 
 package frc.robot.subsystems;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.subsystems.shooter.ShooterState;
@@ -13,7 +14,7 @@ public class ShooterSubsystem extends SubsystemBase {
 
     //change later (ALL OF THEM ARE PLACEHOLDERS)
     int IDNUMBER = 10; //so I remember to change them later
-    public final double SHOOTER_MOTOR_SPEED = 0.1;
+    public final double SHOOTER_MOTOR_SPEED = 1;
 
     //motors
     private final CANSparkMax shooterMotor;
@@ -29,6 +30,10 @@ public ShooterSubsystem(){
         shooterMotor = new CANSparkMax(13, MotorType.kBrushless);
         shooterMotorTwo = new CANSparkMax(14, MotorType.kBrushless);
 
+        shooterMotor.setIdleMode(IdleMode.kCoast);
+        shooterMotorTwo.setIdleMode(IdleMode.kCoast);
+        
+
         //second motor shooter follows first
         shooterMotorTwo.follow(shooterMotor, true);
 
@@ -46,7 +51,7 @@ public void setShooterState(ShooterState newState){
     }
 
     public void setShooterMotorSpeed(double speed){
-        shooterMotor.setVoltage(speed * 12);
+        shooterMotor.setVoltage(-speed * 12);
         System.out.println("shooter motor speed is: " + shooterMotor.get());
     }