diff --git a/simgui-ds.json b/simgui-ds.json
index 1c28509..387ca3b 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -101,7 +101,12 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "Keyboard0"
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    },
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
     }
   ]
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index ad52269..c44edd7 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -325,13 +325,22 @@ public static class AutoConstants {
 	}
 
 	public static class VisionConstants {
-
+		static {
+			switch (currentBot) {
+				case WOOD_BOT:
+					CAMERA_NAME = "Arducam_OV2311_USB_Camera";
+					break;
+				case COMP_BOT:
+				default:
+					CAMERA_NAME = "Arducam_OV9281_USB_Camera";
+					break;
+			}
+		}
+		public static final String CAMERA_NAME;
 		public static final Transform3d CAMERA_POSE = new Transform3d(Units.inchesToMeters(13), 0,
 				Units.inchesToMeters(11), new Rotation3d(0, Units.degreesToRadians(-20), 0));
 		public static final Transform3d ROBOT_TO_FRONT = new Transform3d(Units.inchesToMeters(-13), 0, 0,
 				new Rotation3d());
-		public static final String CAMERA_NAME = "Arducam_OV2311_USB_Camera";
-		// public static final String CAMERA_NAME = "Arducam_OV9281_USB_Camera";
 	}
 
 	public static class LightConstants {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2c7a554..5d1e726 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,6 +32,7 @@
 import com.kauailabs.navx.frc.AHRS;
 
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.GenericHID.HIDType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -174,7 +175,7 @@ public void setUpDriveController() {
 
 			final CommandJoystick joystick = new CommandJoystick(genericHID.getPort());
 
-			inputs = new ChassisDriveInputs(
+			ChassisDriveInputs inputs = new ChassisDriveInputs(
 					joystick::getX, -1,
 					joystick::getY, -1,
 					joystick::getTwist, -1,
@@ -195,7 +196,7 @@ public void setUpDriveController() {
 
 			final CommandXboxController xbox = new CommandXboxController(genericHID.getPort());
 
-			inputs = new ChassisDriveInputs(
+			ChassisDriveInputs inputs = new ChassisDriveInputs(
 					xbox::getLeftX, -1,
 					xbox::getLeftY, -1,
 					xbox::getRightX, -1,
diff --git a/src/main/java/frc/robot/commands/SpinIntakeFlywheels.java b/src/main/java/frc/robot/commands/SpinIntakeFlywheels.java
new file mode 100644
index 0000000..1344304
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SpinIntakeFlywheels.java
@@ -0,0 +1,32 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.intake.IntakeShooter;
+
+public class SpinIntakeFlywheels extends Command {
+	private IntakeShooter intakeShooter;
+	private double speed;
+
+	public SpinIntakeFlywheels(IntakeShooter intake, double speed) {
+		intakeShooter = intake;
+		this.speed = speed;
+	}
+
+	@Override
+	public void initialize() {
+		intakeShooter.setFlyWheelSpeed(speed);
+	}
+
+	// @Override
+	// public void execute() { }
+
+	@Override
+	public boolean isFinished() {
+		return true;
+	}
+
+	@Override
+	public void end(boolean interrupted) {
+		// end
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/SpinIntakeWheels.java b/src/main/java/frc/robot/commands/SpinIntakeWheels.java
new file mode 100644
index 0000000..797cace
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SpinIntakeWheels.java
@@ -0,0 +1,32 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.intake.IntakeShooter;
+
+public class SpinIntakeWheels extends Command {
+	private IntakeShooter intakeShooter;
+	private double speed;
+
+	public SpinIntakeWheels(IntakeShooter intake, double speed) {
+		intakeShooter = intake;
+		this.speed = speed;
+	}
+
+	@Override
+	public void initialize() {
+		intakeShooter.setIntakeSpeed(speed);
+	}
+
+	// @Override
+	// public void execute() { }
+
+	@Override
+	public boolean isFinished() {
+		return true;
+	}
+
+	@Override
+	public void end(boolean interrupted) {
+		// end
+	}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
index 8b35a17..dad7fec 100644
--- a/src/main/java/frc/robot/subsystems/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision.java
@@ -15,7 +15,7 @@
 /** Vision subsystem */
 public class Vision extends SubsystemBase {
 
-	private final static boolean DEBUG_INFO = false;
+	private final static boolean DEBUG_INFO = true;
 
 	private boolean visionEnabled = true;
 
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 46211fc..8c56503 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2024.2.4",
+    "version": "v2024.2.8",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2024",
     "mavenUrls": [
@@ -14,7 +14,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2024.2.4",
+            "version": "v2024.2.8",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -29,7 +29,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2024.2.4",
+            "version": "v2024.2.8",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -46,12 +46,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2024.2.4"
+            "version": "v2024.2.8"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2024.2.4"
+            "version": "v2024.2.8"
         }
     ]
 }
\ No newline at end of file