diff --git a/src/org/impact2585/frc2016/systems/IntakeSystem.java b/src/org/impact2585/frc2016/systems/IntakeSystem.java
index 0106ffa..4eeac8f 100644
--- a/src/org/impact2585/frc2016/systems/IntakeSystem.java
+++ b/src/org/impact2585/frc2016/systems/IntakeSystem.java
@@ -29,7 +29,7 @@ public class IntakeSystem implements RobotSystem, Runnable{
 	private DigitalInput shootingLimitSwitch;
 	private IntakePID armPID;
 	private boolean isPIDEnabled;
-	public static final double ARM_SPEED = 0.3;
+	public static final double ARM_SPEED = 0.1;
 	public static final long FORWARD_LEVER_TIME = 250;
 	public static final long BACKWARDS_LEVER_TIME = 233;
 	private boolean disableSpeedMultiplier;
diff --git a/src/org/impact2585/frc2016/systems/WheelSystem.java b/src/org/impact2585/frc2016/systems/WheelSystem.java
index edb9ad5..4e81b7f 100644
--- a/src/org/impact2585/frc2016/systems/WheelSystem.java
+++ b/src/org/impact2585/frc2016/systems/WheelSystem.java
@@ -35,7 +35,7 @@ public class WheelSystem implements RobotSystem, Runnable{
 	@Override
 	public void init(Environment environ) {
 		drivebase = new RobotDrive(new Victor(RobotMap.FRONT_LEFT_DRIVE), new Spark(RobotMap.REAR_LEFT_DRIVE), new Victor(RobotMap.FRONT_RIGHT_DRIVE), new Spark(RobotMap.REAR_RIGHT_DRIVE));
-		drivetrain = new Drivetrain(DEADZONE, RAMP, PRIMARY_ROTATION_EXPONENT, SECONDARY_ROTATION_EXPONENT, false, drivebase);
+		drivetrain = new Drivetrain(DEADZONE, RAMP, PRIMARY_ROTATION_EXPONENT, SECONDARY_ROTATION_EXPONENT, true, drivebase);
 		input = environ.getInput();
 		accel = environ.getAccelerometerSystem();
 		forwardPIDSystem = new PIDSubsystem(0.45, 0.375, 0) {