diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7a410ba..9edd24b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -33,6 +33,7 @@ public class RobotContainer {
   private CommandXboxController operator = new CommandXboxController(2);
   private final SendableChooser<Command> autoChooser;
   public static boolean isExtended = false;
+  public static boolean intaking = false;
   private SwerveDrivetrain.SwerveDriveState driveState = drivetrain.getState();
 
   private Command shootGroup =
@@ -157,76 +158,41 @@ private void configureBindings() {
             controller::getRightX));
 
     /* Controls */
+    // Left Trigger = Flywheel On and Off
     controller
-        .rightTrigger()
-        .toggleOnTrue(
-            new DrivetrainCommand(
-                drivetrain,
-                DrivetrainCommand.Position.AUTO_ALIGN_HUB,
-                controller::getLeftX,
-                controller::getLeftY,
-                controller::getRightX));
-    // Y = Shoot Toggle
-    controller
-        .y()
+        .leftTrigger()
         .toggleOnTrue(
-            (shootGroup
-                .alongWith(hopperShoot)
-                .alongWith(new IntakeCommand(intake, IntakeCommand.Position.SLOW_INTAKE))));
-    // X = Intake Toggle
-    controller
-        .x()
-        .and(() -> !shootGroup.isScheduled())
-        .toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.INTAKE));
-    // Left Plus = Kicker Outtake Toggle
+            new FlywheelCommand(flywheel, FlywheelCommand.Position.TRENCH_SHOT, drivetrain));
+    // Right Trigger = Shoot On and Off
     controller
-        .povLeft()
-        .and(() -> !shootGroup.isScheduled())
-        .toggleOnTrue(new KickerCommand(kicker, KickerCommand.Position.OUTTAKE));
-    // Right Plus = Intake Outtake Toggle
+        .rightTrigger()
+        .toggleOnTrue(new KickerCommand(kicker, KickerCommand.Position.INTAKE));
+
+    // Left Back Button = Shoot Reverse BACK LEFT MAPPED TO A
+    controller.a().onTrue(new KickerCommand(kicker, KickerCommand.Position.OUTTAKE));
+
+    // Left Bumper = Hopper deploy/stow toggle
     controller
-        .povRight()
-        .and(() -> !shootGroup.isScheduled())
-        .toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.OUTTAKE));
-    // Right Stick Down = Retract Hopper
+        .leftBumper()
+        .onTrue(
+            Commands.defer(
+                () ->
+                    new HopperCommand(
+                        hopper, HopperCommand.Position.EXTEND_RETRACT, RobotContainer.isExtended),
+                java.util.Set.of(hopper)));
+
+    // Left Bumper = Intake ON/OFF toggle
     controller
-        .rightStick()
+        .rightBumper()
         .and(() -> !shootGroup.isScheduled())
-        .onTrue(
-            Commands.run(() -> hopper.move(HopperConfig.HOPPER_RETRACT_ROTATION), hopper)
-                .withDeadline(Commands.waitSeconds(2)));
+        .toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.INTAKE));
+
+    // Right Bumper = Reverse intake, HELD, Back ight mapped to B
+    controller.b().whileTrue(new IntakeCommand(intake, IntakeCommand.Position.OUTTAKE));
+
     // Back button = Zero Pigeon
     controller.back().onTrue(Commands.runOnce(drivetrain::zeroPigeon));
-    // Right Bumper = Flywheel Toggle for pass
-    controller
-        .rightBumper()
-        .toggleOnTrue(new FlywheelCommand(flywheel, FlywheelCommand.Position.PASS, drivetrain));
-    // Left Bumper = Flywheel Toggle for trench shot speeds
-    controller
-        .leftBumper()
-        .toggleOnTrue(
-            new FlywheelCommand(flywheel, FlywheelCommand.Position.TRENCH_SHOT, drivetrain));
-    // Left Trigger = Flywheel Toggle for calculated shot speeds
-    controller
-        .leftTrigger()
-        .toggleOnTrue(
-            new FlywheelCommand(flywheel, FlywheelCommand.Position.CALCULATED_SHOT, drivetrain));
-    // Down Plus = Zero hopper
-    controller.povDown().onTrue(Commands.runOnce(() -> hopper.zero(), hopper));
-    // Intake Extend Shoot
-    controller
-        .b()
-        .toggleOnTrue(
-            Commands.parallel(
-                new KickerCommand(kicker, KickerCommand.Position.INTAKE),
-                new IntakeCommand(intake, IntakeCommand.Position.SLOW_INTAKE),
-                Commands.run(() -> hopper.move(HopperConfig.HOPPER_EXTEND_ROTATION))));
-    // Hopper Extend
-    controller
-        .a()
-        .onTrue(
-            Commands.run(() -> hopper.move(HopperConfig.HOPPER_EXTEND_ROTATION), hopper)
-                .withDeadline(Commands.waitSeconds(2)));
+
     /* Operator */
     operator
         .leftBumper()
diff --git a/src/main/java/frc/robot/config/FlywheelConfig.java b/src/main/java/frc/robot/config/FlywheelConfig.java
index 6b81429..e6ea895 100644
--- a/src/main/java/frc/robot/config/FlywheelConfig.java
+++ b/src/main/java/frc/robot/config/FlywheelConfig.java
@@ -11,7 +11,7 @@ public class FlywheelConfig {
 
   // Set
   public static final double FLYWHEEL_RIGHT_MAX_CRUISE_VELOCITY = 3000;
-  public static final double FLYWHEEL_RIGHT_TARGET_ACCELERATION = 500;
+  public static final double FLYWHEEL_RIGHT_TARGET_ACCELERATION = 400;
   public static final double FLYWHEEL_RIGHT_P = 0.25;
   public static final double FLYWHEEL_RIGHT_I = 0;
   public static final double FLYWHEEL_RIGHT_D = 0;
@@ -21,7 +21,7 @@ public class FlywheelConfig {
 
   // Set
   public static final double FLYWHEEL_LEFT_MAX_CRUISE_VELOCITY = 3000;
-  public static final double FLYWHEEL_LEFT_TARGET_ACCELERATION = 500;
+  public static final double FLYWHEEL_LEFT_TARGET_ACCELERATION = 400;
   public static final double FLYWHEEL_LEFT_P = 0.25;
   public static final double FLYWHEEL_LEFT_I = 0;
   public static final double FLYWHEEL_LEFT_D = 0;
diff --git a/vendordeps/Phoenix6-26.1.1.json b/vendordeps/Phoenix6-26.3.0.json
similarity index 92%
rename from vendordeps/Phoenix6-26.1.1.json
rename to vendordeps/Phoenix6-26.3.0.json
index 7a0eca0..0567ab3 100644
--- a/vendordeps/Phoenix6-26.1.1.json
+++ b/vendordeps/Phoenix6-26.3.0.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-26.1.1.json",
+    "fileName": "Phoenix6-26.3.0.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.1.1",
+    "version": "26.3.0",
     "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.1"
+            "version": "26.3.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.1",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 62f135c..6d1e817 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2026.3.1",
+    "version": "v2026.3.4",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2026",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2026.3.1",
+            "version": "v2026.3.4",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -28,7 +28,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2026.3.1",
+            "version": "v2026.3.4",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -43,7 +43,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2026.3.1",
+            "version": "v2026.3.4",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -60,12 +60,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2026.3.1"
+            "version": "v2026.3.4"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2026.3.1"
+            "version": "v2026.3.4"
         }
     ]
 }
\ No newline at end of file