diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
index 781a1a9a..ff6bfa8b 100644
--- a/src/main/java/org/carlmontrobotics/RobotContainer.java
+++ b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -193,8 +193,7 @@ private void setBindingsDriver() {
         .onFalse(new InstantCommand(()->drivetrain.setFieldOriented(true)));
 
     axisTrigger(driverController, Manipulator.SHOOTER_BUTTON)
-        .whileTrue(new SequentialCommandGroup(new PrintCommand("Running Intake"),
-            new IntakeNEO(intakeShooter)));
+        .whileTrue(new AlignToApriltagMegatag2(drivetrain, limelight));
     new JoystickButton(driverController, Driver.rotateFieldRelative0Deg)
         .onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(0), drivetrain));
     new JoystickButton(driverController, Driver.rotateFieldRelative90Deg)
diff --git a/src/main/java/org/carlmontrobotics/commands/IntakeNEO.java b/src/main/java/org/carlmontrobotics/commands/IntakeNEO.java
index 2a9b4722..132643da 100644
--- a/src/main/java/org/carlmontrobotics/commands/IntakeNEO.java
+++ b/src/main/java/org/carlmontrobotics/commands/IntakeNEO.java
@@ -14,6 +14,8 @@ public class IntakeNEO extends Command {
 
   public IntakeNEO(IntakeShooter intake) {
     addRequirements(this.intake = intake);
+    SmartDashboard.putNumber("Initial intake speed", .5);
+    SmartDashboard.putNumber("Slow intake speed", .1);
   }
 
   @Override
@@ -22,18 +24,22 @@ public void initialize() {
     // if (intake.intakeDetectsNote()) {
     // return;
     // }
-    intake.motorSetIntake(.5); // Fast intake speed for initial intake
 
+    intake.motorSetIntake(SmartDashboard.getNumber("Initial intake speed", 0)); // Fast intake speed
+                                                                                // for initial
+                                                                                // intake
     intake.resetCurrentLimit();
-    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     // Intake Led
-    if((intake.intakeDetectsNote())) {
-      intake.motorSetIntake(.1); // Slower intake speed triggered after intake ds sees note
+    if ((intake.intakeDetectsNote())) {
+      intake.motorSetIntake(SmartDashboard.getNumber("Slow intake speed", 0)); // Slower intake
+                                                                               // speed triggered
+                                                                               // after intake ds
+                                                                               // sees note
     }
   }
 
@@ -41,7 +47,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     intake.stopIntake();
-    //intake.resetCurrentLimit();
+    // intake.resetCurrentLimit();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java b/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java
index 5dc506a8..2de12074 100644
--- a/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java
+++ b/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java
@@ -208,6 +208,7 @@ public Drivetrain() {
             }
 
             SmartDashboard.putData("Field", field);
+            SmartDashboard.putData(this);
 
             // for(CANSparkMax driveMotor : driveMotors)
             // driveMotor.setSmartCurrentLimit(80);
@@ -286,7 +287,6 @@ public void periodic() {
         // moduleBL.periodic();
         // moduleBR.periodic();
         // double goal = SmartDashboard.getNumber("bigoal", 0);
-
         for (SwerveModule module : modules) {
             module.periodic();
             // module.move(0, goal);
@@ -298,12 +298,7 @@ public void periodic() {
         odometry.update(gyro.getRotation2d(), getModulePositions());
         //odometry.update(Rotation2d.fromDegrees(getHeading()), getModulePositions());
 
-        { 
-            // SmartDashboard.putNumber("front left encoder", moduleFL.getModuleAngle());
-            // SmartDashboard.putNumber("front right encoder", moduleFR.getModuleAngle());
-            // SmartDashboard.putNumber("back left encoder", moduleBL.getModuleAngle());
-            // SmartDashboard.putNumber("back right encoder", moduleBR.getModuleAngle());
-       }
+
         //setPose(new Pose2d(SmartDashboard.getNumber("set x", getPose().getTranslation().getX()), SmartDashboard.getNumber("set y", getPose().getTranslation().getY()), Rotation2d.fromDegrees(getHeading())));
         // SmartDashboard.putNumber("Odometry X", getPose().getTranslation().getX());
         // SmartDashboard.putNumber("Odometry Y", getPose().getTranslation().getY());
@@ -345,6 +340,15 @@ public void initSendable(SendableBuilder builder) {
         builder.addDoubleProperty("Roll", gyro::getRoll, null);
         builder.addDoubleProperty("Field Offset", () -> fieldOffset, fieldOffset ->
         this.fieldOffset = fieldOffset);
+        builder.addDoubleProperty("FL Turn Encoder (Deg)",
+                () -> moduleFL.getModuleAngle(), null);
+        builder.addDoubleProperty("FR Turn Encoder (Deg)",
+                () -> moduleFR.getModuleAngle(), null);
+        builder.addDoubleProperty("BL Turn Encoder (Deg)",
+                () -> moduleBL.getModuleAngle(), null);
+        builder.addDoubleProperty("BR Turn Encoder (Deg)",
+                () -> moduleBR.getModuleAngle(), null);
+
     }
 
     // #region Drive Methods