diff --git a/src/main/java/frc/robot/subsystems/FeederSubsystem.java b/src/main/java/frc/robot/subsystems/FeederSubsystem.java
index 71c14231..f44db26a 100644
--- a/src/main/java/frc/robot/subsystems/FeederSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/FeederSubsystem.java
@@ -21,7 +21,7 @@ public class FeederSubsystem extends SubsystemBase{
 
     public FeederSubsystem(){
         //motors
-        feederMotor = new TalonFX(10);
+        feederMotor = new TalonFX(15);
 
         //sensors
         shooterSensor = new ColorSensorV3(I2C.Port.kMXP);
diff --git a/src/main/java/frc/robot/subsystems/PivotSubsystem.java b/src/main/java/frc/robot/subsystems/PivotSubsystem.java
index 65f4ae4e..8bd245b4 100644
--- a/src/main/java/frc/robot/subsystems/PivotSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/PivotSubsystem.java
@@ -15,7 +15,7 @@ public class PivotSubsystem extends SubsystemBase{
     //final vars
     public final double PIVOT_SPEED = 0.1;
     final double GEARBOX_RATIO = 18.16; //ask cadders
-    public final int ERRORTOLERANCE = 10; //error tolerance for pid
+    public final int ERRORTOLERANCE = 5; //error tolerance for pid
     final int LIMIT_SWITCH_ID = 1; //placeholder
 
     //motors
@@ -48,7 +48,7 @@ public class PivotSubsystem extends SubsystemBase{
     public PivotSubsystem(boolean alliance){
 
         //motors
-        pivotMotor = new CANSparkMax(10, MotorType.kBrushless); 
+        pivotMotor = new CANSparkMax(12, MotorType.kBrushless); 
 
         //devices
         rotationEncoder = pivotMotor.getEncoder();
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 867562c7..ce1817a9 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -26,8 +26,8 @@ public class ShooterSubsystem extends SubsystemBase {
 
     public ShooterSubsystem(){
         //motors
-        shooterMotor = new CANSparkMax(10, MotorType.kBrushless);
-        shooterMotorTwo = new CANSparkMax(10, MotorType.kBrushless);
+        shooterMotor = new CANSparkMax(13, MotorType.kBrushless);
+        shooterMotorTwo = new CANSparkMax(14, MotorType.kBrushless);
 
         //second motor shooter follows first
         shooterMotorTwo.follow(shooterMotor, true);