diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
index 7e13cf4..3e8e9c4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
@@ -201,7 +201,7 @@ public class Auto_LT_Close extends LinearOpMode {
                         rearSlotGreen++;
                     }
 
-                    robot.intake.setPower(1);
+                    spindexer.setIntakePower(1);
 
                     decideGreenSlot = true;
 
@@ -259,7 +259,7 @@ public class Auto_LT_Close extends LinearOpMode {
                 } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
 //                    TELE.addData("MostGreenSlot", mostGreenSlot);
 //                    TELE.update();
-                    robot.intake.setPower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
 
                     servos.setSpinPos(firstSpindexShootPos);
 
@@ -294,14 +294,14 @@ public class Auto_LT_Close extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                spindexer.setIntakePower(-0.3);
 
                 if (ticker == 1) {
                     stamp = getRuntime();
                 }
                 ticker++;
 
-                robot.intake.setPower(0);
+                spindexer.setIntakePower(0);
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
@@ -373,14 +373,14 @@ public class Auto_LT_Close extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                spindexer.setIntakePower(-0.3);
 
                 if (ticker == 1) {
                     stamp = getRuntime();
                 }
                 ticker++;
 
-                robot.intake.setPower(0);
+                spindexer.setIntakePower(0);
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
@@ -448,7 +448,7 @@ public class Auto_LT_Close extends LinearOpMode {
                 ticker++;
 
                 spindexer.processIntake();
-                robot.intake.setPower(1);
+                spindexer.setIntakePower(1);
 
                 spindexer.ballCounterLight();
                 drive.updatePoseEstimate();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
index 1b34049..826a7dc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
@@ -146,7 +146,7 @@ public class Auto_LT_Far extends LinearOpMode {
                         rearSlotGreen++;
                     }
 
-                    robot.intake.setPower(1);
+                    spindexer.setIntakePower(1);
 
                     decideGreenSlot = true;
 
@@ -204,7 +204,7 @@ public class Auto_LT_Far extends LinearOpMode {
                 } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
 //                    TELE.addData("MostGreenSlot", mostGreenSlot);
 //                    TELE.update();
-                    robot.intake.setPower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
 
                     servos.setSpinPos(firstSpindexShootPos);
 
@@ -239,14 +239,14 @@ public class Auto_LT_Far extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                spindexer.setIntakePower(-0.3);
 
                 if (ticker == 1) {
                     stamp = getRuntime();
                 }
                 ticker++;
 
-                robot.intake.setPower(0);
+                spindexer.setIntakePower(0);
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
@@ -318,14 +318,14 @@ public class Auto_LT_Far extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                spindexer.setIntakePower(-0.3);
 
                 if (ticker == 1) {
                     stamp = getRuntime();
                 }
                 ticker++;
 
-                robot.intake.setPower(0);
+                spindexer.setIntakePower(0);
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
@@ -393,7 +393,7 @@ public class Auto_LT_Far extends LinearOpMode {
                 ticker++;
 
                 spindexer.processIntake();
-                robot.intake.setPower(1);
+                spindexer.setIntakePower(1);
 
                 spindexer.ballCounterLight();
                 drive.updatePoseEstimate();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
index 53fabef..cd02540 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
@@ -1,7 +1,9 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
+@Disabled
 @Config
 public class Poses_V2 {
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
index bd096b9..a3f9347 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
@@ -1,7 +1,9 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
+@Disabled
 @Config
 public class ShooterVars {
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
index ab30899..8a2ddf5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
@@ -239,13 +239,12 @@ public class TeleopV3 extends LinearOpMode {
 
                 // RIGHT_BUMPER
                 if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
-                    robot.intake.setPower(1);
+                    spindexer.setIntakePower(1);
                 } else if (gamepad1.cross) {
-                    robot.intake.setPower(-1);
+                    spindexer.setIntakePower(-1);
 
                 } else {
-                    robot.intake.setPower(0);
-
+                    spindexer.setIntakePower(0);
                 }
 
                 // LEFT_BUMPER
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
index 08a52e8..1ffbc93 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
@@ -625,4 +625,11 @@ public class Spindexer {
     public BallColor GetRearCenterColor () {
         return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
     }
+    private double prevPow = 0.501;
+    public void setIntakePower(double pow){
+        if (prevPow != 0.501 && prevPow != pow){
+            robot.intake.setPower(pow);
+        }
+        prevPow = pow;
+    }
 }