diff --git a/src/main/java/frc/robot/commands/GroundIntake.java b/src/main/java/frc/robot/commands/GroundIntake.java
index e159da62..d59efaa3 100644
--- a/src/main/java/frc/robot/commands/GroundIntake.java
+++ b/src/main/java/frc/robot/commands/GroundIntake.java
@@ -34,8 +34,8 @@ public void initialize() {}
   public void execute() {
     double robotSpeed = Math.sqrt(Math.pow(driveTrain.getChassisSpeeds().vxMetersPerSecond, 2) + Math.pow(driveTrain.getChassisSpeeds().vyMetersPerSecond, 2));
     double rollerSpeed = (IntakeConstants.INTAKE_SPEED - (0.25 * IntakeConstants.INTAKE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.25 * IntakeConstants.INTAKE_SPEED);
-    double sideSpeed =  (IntakeConstants.INTAKE_SIDE_SPEED - (0.25 * IntakeConstants.INTAKE_SIDE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.75 * IntakeConstants.INTAKE_SIDE_SPEED);
-    double indexerSpeed = (IndexerConstants.INDEXER_INTAKE_SPEED- (0.25 * IndexerConstants.INDEXER_INTAKE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.75 * IndexerConstants.INDEXER_INTAKE_SPEED);
+    double sideSpeed =  (IntakeConstants.INTAKE_SIDE_SPEED - (0.25 * IntakeConstants.INTAKE_SIDE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.25 * IntakeConstants.INTAKE_SIDE_SPEED);
+    double indexerSpeed = (IndexerConstants.INDEXER_INTAKE_SPEED- (0.25 * IndexerConstants.INDEXER_INTAKE_SPEED)) * (robotSpeed / DriveConstants.MAX_VELOCITY_METERS_PER_SECOND) + (0.25 * IndexerConstants.INDEXER_INTAKE_SPEED);
     intake.intakeYes(rollerSpeed, sideSpeed);
     indexer.set(indexerSpeed);
   }