diff --git a/src/main/java/org/blackknights/RobotContainer.java b/src/main/java/org/blackknights/RobotContainer.java
index 3ede56a..b912e30 100644
--- a/src/main/java/org/blackknights/RobotContainer.java
+++ b/src/main/java/org/blackknights/RobotContainer.java
@@ -116,74 +116,61 @@ private void configureBindings() {
                         swerveSubsystem,
                         () ->
                                 primaryController.getLeftY()
-                                        * ConfigManager.getInstance().get("driver_max_speed", 3.5),
+                                        * ConfigManager.getInstance().get("demo_max_speed", 1.0),
                         () ->
                                 primaryController.getLeftX()
-                                        * ConfigManager.getInstance().get("driver_max_speed", 3.5),
+                                        * ConfigManager.getInstance().get("demo_max_speed", 1.0),
                         () ->
                                 -primaryController.getRightX()
                                         * Math.toRadians(
                                                 ConfigManager.getInstance()
-                                                        .get("driver_max_speed_rot", 360)),
+                                                        .get("demo_max_speed_rot", 90)),
                         true,
                         true));
 
-        primaryController
-                .leftBumper()
-                .whileTrue(
-                        getPlaceCommand(
-                                () -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));
+        //        primaryController
+        //                .leftBumper()
+        //                .whileTrue(
+        //                        getPlaceCommand(
+        //                                () -> coralQueue.getCurrentPosition(), () ->
+        // coralQueue.getNext()));
 
         primaryController
                 .rightBumper()
                 .whileTrue(
-                        new SequentialCommandGroup(
-                                new ParallelRaceGroup(
-                                        new DriveCommands(
-                                                swerveSubsystem,
-                                                primaryController::getLeftY,
-                                                primaryController::getLeftX,
-                                                () -> -primaryController.getRightX() * Math.PI,
-                                                true,
-                                                true),
-                                        new ElevatorArmCommand(
-                                                elevatorSubsystem,
-                                                armSubsystem,
-                                                () -> ScoringConstants.ScoringHeights.INTAKE),
-                                        new IntakeCommand(
-                                                intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)),
-                                new RunCommand(
-                                                () ->
-                                                        swerveSubsystem.drive(
-                                                                ConfigManager.getInstance()
-                                                                        .get("back_mps", -1.0),
-                                                                0.0,
-                                                                0.0,
-                                                                false,
-                                                                false,
-                                                                false),
-                                                swerveSubsystem)
-                                        .withTimeout(
-                                                ConfigManager.getInstance()
-                                                        .get("back_time_sec", 0.2))));
+                        new ParallelRaceGroup(
+                                new DriveCommands(
+                                        swerveSubsystem,
+                                        () -> primaryController.getLeftY() / 2.0,
+                                        () -> primaryController.getLeftX() / 2.0,
+                                        () -> -primaryController.getRightX() * Math.PI / 2,
+                                        true,
+                                        true),
+                                new ElevatorArmCommand(
+                                        elevatorSubsystem,
+                                        armSubsystem,
+                                        () -> ScoringConstants.ScoringHeights.INTAKE),
+                                new IntakeCommand(
+                                        intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)));
 
         elevatorSubsystem.setDefaultCommand(new BaseCommand(elevatorSubsystem, armSubsystem));
 
         primaryController.povDown().whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));
 
-        primaryController
-                .a()
-                .whileTrue(
-                        new RunCommand(
-                                () ->
-                                        elevatorSubsystem.setVoltage(
-                                                ConfigManager.getInstance()
-                                                        .get("elevator_manual_zero", -2.0)),
-                                elevatorSubsystem));
-
-        primaryController
-                .x()
-                .whileTrue(new InstantCommand(() -> elevatorSubsystem.resetEncoders()));
+        //        primaryController
+        //                .a()
+        //                .whileTrue(
+        //                        new RunCommand(
+        //                                () ->
+        //                                        elevatorSubsystem.setVoltage(
+        //                                                ConfigManager.getInstance()
+        //                                                        .get("elevator_manual_zero",
+        // -2.0)),
+        //                                elevatorSubsystem));
+        //
+        //        primaryController
+        //                .x()
+        //                .whileTrue(new InstantCommand(() -> elevatorSubsystem.resetEncoders()));
 
         //        primaryController
         //                .povUp()
@@ -195,14 +182,14 @@ private void configureBindings() {
         //                                                        .get("break_right_encoder_pos",
         // -10.0))));
 
-        secondaryController
-                .rightStick()
-                .onTrue(new InstantCommand(ScoringConstants::recomputeCoralPositions));
+        //        secondaryController
+        //                .rightStick()
+        //                .onTrue(new InstantCommand(ScoringConstants::recomputeCoralPositions));
 
         // SECONDARY CONTROLLER
 
-        climberSubsystem.setDefaultCommand(
-                new ClimberCommand(climberSubsystem, secondaryController));
+        //        climberSubsystem.setDefaultCommand(
+        //                new ClimberCommand(climberSubsystem, secondaryController));
 
         secondaryController
                 .a()
@@ -236,13 +223,40 @@ private void configureBindings() {
                                 armSubsystem,
                                 () -> ScoringConstants.ScoringHeights.L4));
 
+        //        secondaryController
+        //                .leftBumper()
+        //                .onTrue(new InstantCommand(() -> coralQueue.stepForwards())); //
+        //
+        //        secondaryController
+        //                .rightBumper()
+        //                .onTrue(new InstantCommand(() -> coralQueue.stepBackwards()));
+
         secondaryController
                 .leftBumper()
-                .onTrue(new InstantCommand(() -> coralQueue.stepForwards())); //
+                .whileTrue(
+                        getPlaceCommand(
+                                () -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));
 
         secondaryController
                 .rightBumper()
-                .onTrue(new InstantCommand(() -> coralQueue.stepBackwards()));
+                .onTrue(
+                        new DriveCommands(
+                                swerveSubsystem,
+                                () ->
+                                        secondaryController.getLeftY()
+                                                * ConfigManager.getInstance()
+                                                        .get("driver_max_speed", 3.5),
+                                () ->
+                                        secondaryController.getLeftX()
+                                                * ConfigManager.getInstance()
+                                                        .get("driver_max_speed", 3.5),
+                                () ->
+                                        -secondaryController.getRightX()
+                                                * Math.toRadians(
+                                                        ConfigManager.getInstance()
+                                                                .get("driver_max_speed_rot", 360)),
+                                true,
+                                true));
 
         secondaryController
                 .rightTrigger(0.2)