diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index 64c3624..b0997ef 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -96,7 +96,13 @@ public class ConstRotors {
 
     TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
     TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kP = 0.7;
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kS = 0.15;
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kV = 0.12;
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kA = 0;
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.MotionMagic.MotionMagicCruiseVelocity = 0;
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.MotionMagic.MotionMagicAcceleration = 9999;
+    TRANSFER_ROLLERS_WEST_CONFIGURATION.MotionMagic.MotionMagicJerk = 0;
   }
 
 }
diff --git a/src/main/java/frc/robot/subsystems/Rotors.java b/src/main/java/frc/robot/subsystems/Rotors.java
index 0ee0be0..55592e7 100644
--- a/src/main/java/frc/robot/subsystems/Rotors.java
+++ b/src/main/java/frc/robot/subsystems/Rotors.java
@@ -20,21 +20,33 @@
 @Logged
 public class Rotors extends SubsystemBase {
 
-  final TalonFX serializerRollers = new TalonFX(rotorIDs.SERIALIZER_ROLLERS_CAN);
-  final TalonFX intakeRollersWest = new TalonFX(rotorIDs.INTAKE_ROLLERS_WEST_CAN);
-  final TalonFX intakeRollersEast = new TalonFX(rotorIDs.INTAKE_ROLLERS_EAST_CAN);
-  final TalonFX transferRollersWest = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));
-  final TalonFX transferRollersEast = new TalonFX((rotorIDs.TRANSFER_ROLLERS_EAST_CAN));
+  final TalonFX serializerRollersLeader = new TalonFX(rotorIDs.SERIALIZER_ROLLERS_CAN);
+
+  final TalonFX intakeRollersWestFollower = new TalonFX(rotorIDs.INTAKE_ROLLERS_WEST_CAN);
+  final TalonFX intakeRollersEastLeader = new TalonFX(rotorIDs.INTAKE_ROLLERS_EAST_CAN);
+
+  final TalonFX transferRollersWestLeader = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));
+  final TalonFX transferRollersEastFollower = new TalonFX((rotorIDs.TRANSFER_ROLLERS_EAST_CAN));
+
   final TalonFX flywheelTopWest = new TalonFX((rotorIDs.FLYWHEEL_TOP_WEST_CAN));
-  final TalonFX flywheelTopEast = new TalonFX((rotorIDs.FLYWHEEL_TOP_EAST_CAN));
+  final TalonFX flywheelTopEastLeader = new TalonFX((rotorIDs.FLYWHEEL_TOP_EAST_CAN));
   final TalonFX flywheelBottomWest = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_WEST_CAN));
   final TalonFX flywheelBottomEast = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_EAST_CAN));
+
   AngularVelocity lastDesiredFlyWheelSpeed = Units.RPM.of(0);
   AngularVelocity lastDesiredTransferRollersSpeed = Units.RPM.of(0);
-  Follower flywheelEastFollower = new Follower(flywheelTopEast.getDeviceID(), MotorAlignmentValue.Aligned);
-  Follower flywheelWestFollower = new Follower(flywheelTopEast.getDeviceID(), MotorAlignmentValue.Opposed);
-  Follower transferRollersEastFollower = new Follower(transferRollersWest.getDeviceID(), MotorAlignmentValue.Opposed);
-  Follower intakeRollerEastFollower = new Follower(intakeRollersEast.getDeviceID(), MotorAlignmentValue.Opposed);
+
+  Follower flywheelFollowerAlignedRequest = new Follower(flywheelTopEastLeader.getDeviceID(),
+      MotorAlignmentValue.Aligned);
+  Follower flywheelFollowerOpposedRequest = new Follower(flywheelTopEastLeader.getDeviceID(),
+      MotorAlignmentValue.Opposed);
+
+  Follower transferRollersFollowerOpposedRequest = new Follower(transferRollersWestLeader.getDeviceID(),
+      MotorAlignmentValue.Opposed);
+
+  Follower intakeRollerWestFollowerOpposedRequest = new Follower(intakeRollersEastLeader.getDeviceID(),
+      MotorAlignmentValue.Opposed);
+
   final MotionMagicVelocityVoltage flyWheelVelocityRequest = new MotionMagicVelocityVoltage(0);
   final MotionMagicVelocityVoltage transferRollersVelocityRequest = new MotionMagicVelocityVoltage(0);
   final MotionMagicVelocityVoltage serializerVelocityRequest = new MotionMagicVelocityVoltage(0);
@@ -44,12 +56,12 @@ public class Rotors extends SubsystemBase {
   // private boolean intakeRollersAtSpeed = false;/
 
   public Rotors() {
-    serializerRollers.getConfigurator().apply(ConstRotors.SERIALIZER_ROLLERS_CONFIGURATION);
-    intakeRollersEast.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_EAST_CONFIGURATION);
-    intakeRollersWest.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_WEST_CONFIGURATION);
-    transferRollersEast.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_EAST_CONFIGURATION);
-    transferRollersWest.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_WEST_CONFIGURATION);
-    flywheelTopEast.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
+    serializerRollersLeader.getConfigurator().apply(ConstRotors.SERIALIZER_ROLLERS_CONFIGURATION);
+    intakeRollersEastLeader.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_EAST_CONFIGURATION);
+    intakeRollersWestFollower.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_WEST_CONFIGURATION);
+    transferRollersEastFollower.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_EAST_CONFIGURATION);
+    transferRollersWestLeader.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_WEST_CONFIGURATION);
+    flywheelTopEastLeader.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
     flywheelTopWest.getConfigurator().apply(ConstRotors.FLYWHEEL_WEST_CONFIGURATION);
     flywheelBottomEast.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
     flywheelBottomWest.getConfigurator().apply(ConstRotors.FLYWHEEL_WEST_CONFIGURATION);
@@ -62,53 +74,54 @@ public AngularVelocity getFlyWheelSpeeds() {
     if (Robot.isSimulation()) {
       return lastDesiredFlyWheelSpeed;
     }
-    return flywheelTopEast.getVelocity().getValue();
+    return flywheelTopEastLeader.getVelocity().getValue();
   }
 
   public AngularVelocity getSerializerRollersVelocity() {
-    return serializerRollers.getVelocity().getValue();
+    return serializerRollersLeader.getVelocity().getValue();
   }
 
   public AngularVelocity getIntakeRollersVelocity() {
-    return intakeRollersEast.getVelocity().getValue();
+    return intakeRollersEastLeader.getVelocity().getValue();
   }
 
   public AngularVelocity getTransferRollersVelocity() {
-    return transferRollersEast.getVelocity().getValue();
+    return transferRollersWestLeader.getVelocity().getValue();
   }
 
   public void setSerializerRollersPercentOutput(Double speed) {
-    serializerRollers.set(speed);
+    serializerRollersLeader.set(speed);
   }
 
   public void setIntakeRollersPercentOutput(Double speed) {
-    intakeRollersEast.set(speed);
-    intakeRollersWest.setControl(intakeRollerEastFollower);
+    intakeRollersEastLeader.set(speed);
+    intakeRollersWestFollower.setControl(intakeRollerWestFollowerOpposedRequest);
   }
 
   public void setTransferRollersSpeeds(AngularVelocity speed) {
-    transferRollersEast.setControl(transferRollersVelocityRequest.withVelocity(speed));
-    transferRollersWest.setControl(transferRollersEastFollower);
+    // THIS WAS THE BUG, LEADER AND FOLLOWER WERE SWITCHED
+    transferRollersWestLeader.setControl(transferRollersVelocityRequest.withVelocity(speed));
+    transferRollersEastFollower.setControl(transferRollersFollowerOpposedRequest);
   }
 
   public void setTransferRollersPercentOutput(Double speed) {
-    transferRollersEast.set(speed);
-    transferRollersWest.setControl(transferRollersEastFollower);
+    transferRollersWestLeader.set(speed);
+    transferRollersEastFollower.setControl(transferRollersFollowerOpposedRequest);
   }
 
   public void setFlyWheelSpeeds(AngularVelocity speed) {
-    flywheelTopEast.setControl(flyWheelVelocityRequest.withVelocity(speed));
-    flywheelTopWest.setControl(flywheelWestFollower);
-    flywheelBottomWest.setControl(flywheelWestFollower);
-    flywheelBottomEast.setControl(flywheelEastFollower);
+    flywheelTopEastLeader.setControl(flyWheelVelocityRequest.withVelocity(speed));
+    flywheelTopWest.setControl(flywheelFollowerOpposedRequest);
+    flywheelBottomWest.setControl(flywheelFollowerOpposedRequest);
+    flywheelBottomEast.setControl(flywheelFollowerAlignedRequest);
     lastDesiredFlyWheelSpeed = speed;
   }
 
   public void setFlywheelPercentOutput(double speed) {
-    flywheelTopEast.set(speed);
-    flywheelTopWest.setControl(flywheelWestFollower);
-    flywheelBottomWest.setControl(flywheelWestFollower);
-    flywheelBottomEast.setControl(flywheelEastFollower);
+    flywheelTopEastLeader.set(speed);
+    flywheelTopWest.setControl(flywheelFollowerOpposedRequest);
+    flywheelBottomWest.setControl(flywheelFollowerOpposedRequest);
+    flywheelBottomEast.setControl(flywheelFollowerAlignedRequest);
   }
 
   public boolean isFlyWheelAtSpeed(AngularVelocity tolerance) {