diff --git a/src/competition/opcontrol.cpp b/src/competition/opcontrol.cpp
index efa38b8..ee3b285 100644
--- a/src/competition/opcontrol.cpp
+++ b/src/competition/opcontrol.cpp
@@ -32,6 +32,7 @@ void opcontrol()
 
     conveyor_button.pressed([]() {
         conveyor.spin(vex::directionType::fwd, 12, vex::volt);
+        intake();
     });
 
     rev_conveyor_button.pressed([]() {
@@ -47,7 +48,7 @@ void opcontrol()
     });
 
     while (true) {
-        if(!intake_button.pressing() && !outtake_button.pressing()) {
+        if(!intake_button.pressing() && !outtake_button.pressing() && !conveyor_button.pressing()) {
             intake_roller.stop();
             intake_ramp.stop();
         }
diff --git a/src/robot-config.cpp b/src/robot-config.cpp
index 77dfcd7..6e0c178 100644
--- a/src/robot-config.cpp
+++ b/src/robot-config.cpp
@@ -12,9 +12,9 @@ CustomEncoder left_enc{Brain.ThreeWirePort.C, 2048};
 CustomEncoder right_enc{Brain.ThreeWirePort.E, 2048};
 CustomEncoder front_enc{Brain.ThreeWirePort.G, 2048};
 
-tracking_wheel_cfg_t left_enc_cfg{-0.0625, 3.625, 0, 0.9};
-tracking_wheel_cfg_t right_enc_cfg{-0.0625, -3.625, M_PI, 0.9};
-tracking_wheel_cfg_t front_enc_cfg{4.5, -0.375, (3 * M_PI/2), 0.9};
+tracking_wheel_cfg_t left_enc_cfg{-0.0625, 3.625, M_PI, 1.0625};
+tracking_wheel_cfg_t right_enc_cfg{-0.0625, -3.625, 0, 1.0625};
+tracking_wheel_cfg_t front_enc_cfg{4.5, -0.375, (M_PI/2), 1.0625};
 
 // ================ OUTPUTS ================
 // Motors