diff --git a/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java b/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java
index b91cd41..01f8683 100644
--- a/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java
+++ b/src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java
@@ -49,8 +49,8 @@ public class ArmElevatorConstants {
     private static final SimpleSensor REVERSE_LIMIT_SENSOR = SimpleSensor.createDigitalSensor(REVERSE_LIMIT_SENSOR_CHANNEL, REVERSE_LIMIT_SENSOR_NAME);
 
     private static final double
-            ARM_GEAR_RATIO = 40,
-            ELEVATOR_GEAR_RATIO = 4;
+            ARM_GEAR_RATIO = 42,
+            ELEVATOR_GEAR_RATIO = 3;
     private static final double REVERSE_LIMIT_RESET_POSITION_ROTATIONS = 0;
     private static final double
             ARM_MOTOR_CURRENT_LIMIT = 50,
diff --git a/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java
index d9634fe..2b1ff62 100644
--- a/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java
+++ b/src/main/java/frc/trigon/robot/subsystems/endeffector/EndEffectorConstants.java
@@ -26,7 +26,7 @@ public class EndEffectorConstants {
     static final SimpleSensor DISTANCE_SENSOR = SimpleSensor.createDigitalSensor(DISTANCE_SENSOR_CHANNEL, DISTANCE_SENSOR_NAME);
 
     static final boolean FOC_ENABLED = true;
-    private static final double END_EFFECTOR_GEAR_RATIO = 17;
+    private static final double END_EFFECTOR_GEAR_RATIO = 12.82;
     private static final int END_EFFECTOR_MOTOR_AMOUNT = 1;
     private static final DCMotor END_EFFECTOR_GEARBOX = DCMotor.getKrakenX60Foc(END_EFFECTOR_MOTOR_AMOUNT);
     private static final double
diff --git a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java
index ab672f5..1581dbe 100644
--- a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java
@@ -50,7 +50,7 @@ public class IntakeConstants {
 
     private static final double
             INTAKE_MOTOR_GEAR_RATIO = 4,
-            ANGLE_MOTOR_GEAR_RATIO = 28;
+            ANGLE_MOTOR_GEAR_RATIO = 40;
     static final boolean FOC_ENABLED = true;
 
     private static final int