diff --git a/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
index f3c2cdce..55a14898 100644
--- a/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
@@ -13,6 +13,7 @@
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.team2412.robot.Robot;
 import java.util.Map;
 
 public class IntakeSubsystem extends SubsystemBase {
@@ -48,83 +49,17 @@ public class IntakeSubsystem extends SubsystemBase {
 	private final DigitalInput feederSensor;
 
 	// Shuffleboard
-	// speed
-	private final GenericEntry setIntakeInSpeedEntry =
-			Shuffleboard.getTab("Intake")
-					.addPersistent("Intake in speed - ", INTAKE_IN_SPEED)
-					.withSize(2, 1)
-					.withProperties(Map.of("Min", -1, "Max", 1))
-					.getEntry();
-
-	private final GenericEntry setIndexInSpeedEntry =
-			Shuffleboard.getTab("Intake")
-					.add("Index in speed - ", INDEX_UPPER_IN_SPEED)
-					.withSize(1, 1)
-					.getEntry();
-
-	private final GenericEntry setFeederInSpeedEntry =
-			Shuffleboard.getTab("Intake")
-					.add("Feeder in speed - ", FEEDER_IN_SPEED)
-					.withSize(1, 1)
-					.getEntry();
-
-	// temperature
-	private final GenericEntry intakeMotorFrontTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Front Intake temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
-
-	private final GenericEntry intakeMotorBackTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Back Intake temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
-
-	private final GenericEntry intakeMotorLeftTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Left Intake temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
 
-	private final GenericEntry intakeMotorRightTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Right Intake temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
-
-	private final GenericEntry indexMotorUpperTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Upper Index temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
+	private final ShuffleboardTab shuffleboardTab = Shuffleboard.getTab("Intake");
+	// speed
+	private GenericEntry setIntakeInSpeedEntry;
 
-	private final GenericEntry ingestMotorTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Ingest temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
+	private GenericEntry setIndexInSpeedEntry;
 
-	private final GenericEntry feederMotorTemp =
-			Shuffleboard.getTab("Intake")
-					.add("Feeder temp", 0)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kTextView)
-					.getEntry();
+	private GenericEntry setFeederInSpeedEntry;
 
 	// sensor override
-	private final GenericEntry sensorOverride =
-			Shuffleboard.getTab("Intake")
-					.add("Override Sensors", false)
-					.withSize(1, 1)
-					.withWidget(BuiltInWidgets.kToggleSwitch)
-					.getEntry();
+	private GenericEntry sensorOverride;
 
 	public IntakeSubsystem() {
 		intakeMotorFront = new CANSparkMax(INTAKE_MOTOR_FRONT, MotorType.kBrushless);
@@ -142,9 +77,7 @@ public IntakeSubsystem() {
 
 		resetMotors();
 
-		ShuffleboardTab shuffleboardTab = Shuffleboard.getTab("Intake");
-		shuffleboardTab.addBoolean("Index Sensor - ", this::indexSensorHasNote).withSize(1, 1);
-		shuffleboardTab.addBoolean("Feeder Sensor - ", this::feederSensorHasNote).withSize(1, 1);
+		initShuffleboard();
 	}
 
 	private void configureMotor(CANSparkBase motor, int currentLimit, boolean invert) {
@@ -245,17 +178,61 @@ public boolean getSensorOverride() {
 		return sensorOverride.getBoolean(false);
 	}
 
-	@Override
-	public void periodic() {
-		intakeMotorFrontTemp.setDouble(intakeMotorFront.getMotorTemperature());
-		intakeMotorBackTemp.setDouble(intakeMotorBack.getMotorTemperature());
-		intakeMotorRightTemp.setDouble(intakeMotorRight.getMotorTemperature());
-		intakeMotorLeftTemp.setDouble(intakeMotorLeft.getMotorTemperature());
+	// logging
 
-		ingestMotorTemp.setDouble(ingestMotor.getMotorTemperature());
+	public void initShuffleboard() {
+		if (Robot.isDebugMode()) {
+			shuffleboardTab
+					.addDouble("Front Intake Motor Temp", () -> intakeMotorFront.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+			shuffleboardTab
+					.addDouble("Back Intake Motor Temp", () -> intakeMotorBack.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+			shuffleboardTab
+					.addDouble("Left Intake Motor Temp", () -> intakeMotorLeft.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+			shuffleboardTab
+					.addDouble("Right Intake Motor Temp", () -> intakeMotorRight.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+			shuffleboardTab
+					.addDouble("Ingest Motor Temp", () -> ingestMotor.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+			shuffleboardTab
+					.addDouble("Index Motor Temp", () -> indexMotorUpper.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+			shuffleboardTab
+					.addDouble("Feeder Motor Temp", () -> feederMotor.getMotorTemperature())
+					.withSize(1, 1)
+					.withWidget(BuiltInWidgets.kTextView);
+		}
 
-		indexMotorUpperTemp.setDouble(indexMotorUpper.getMotorTemperature());
+		shuffleboardTab.addBoolean("Index Sensor - ", this::indexSensorHasNote).withSize(1, 1);
+		shuffleboardTab.addBoolean("Feeder Sensor - ", this::feederSensorHasNote).withSize(1, 1);
 
-		feederMotorTemp.setDouble(feederMotor.getMotorTemperature());
+		setIntakeInSpeedEntry =
+				shuffleboardTab
+						.addPersistent("Intake in speed - ", INTAKE_IN_SPEED)
+						.withSize(2, 1)
+						.withProperties(Map.of("Min", -1, "Max", 1))
+						.getEntry();
+
+		setIndexInSpeedEntry =
+				shuffleboardTab.add("Index in speed - ", INDEX_UPPER_IN_SPEED).withSize(1, 1).getEntry();
+
+		setFeederInSpeedEntry =
+				shuffleboardTab.add("Feeder in speed - ", FEEDER_IN_SPEED).withSize(1, 1).getEntry();
+
+		sensorOverride =
+				Shuffleboard.getTab("Intake")
+						.add("Override Sensors", false)
+						.withSize(1, 1)
+						.withWidget(BuiltInWidgets.kToggleSwitch)
+						.getEntry();
 	}
 }
diff --git a/src/main/java/frc/team2412/robot/subsystems/LauncherSubsystem.java b/src/main/java/frc/team2412/robot/subsystems/LauncherSubsystem.java
index 524568eb..398ea99f 100644
--- a/src/main/java/frc/team2412/robot/subsystems/LauncherSubsystem.java
+++ b/src/main/java/frc/team2412/robot/subsystems/LauncherSubsystem.java
@@ -25,6 +25,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.team2412.robot.Hardware;
+import frc.team2412.robot.Robot;
 import frc.team2412.robot.util.SparkPIDWidget;
 import java.util.Map;
 
@@ -90,10 +91,6 @@ public class LauncherSubsystem extends SubsystemBase {
 
 	private GenericEntry launcherAngleSpeedEntry;
 
-	private GenericEntry launcherTopFlywheelTemp;
-
-	private GenericEntry launcherBottomFlyWheelTemp;
-
 	private GenericEntry launcherIsAtSpeed;
 
 	private GenericEntry launcherAngleManual;
@@ -269,13 +266,22 @@ public void manualSetpoint(double setpoint) {
 	}
 
 	private void initShuffleboard() {
-		launcherBottomFlyWheelTemp =
-				Shuffleboard.getTab("Launcher")
-						.add("bottom Flywheel temp", 0)
-						.withSize(2, 1)
-						.withWidget(BuiltInWidgets.kTextView)
-						.withPosition(0, 3)
-						.getEntry();
+		if (Robot.isDebugMode()) {
+			Shuffleboard.getTab("Launcher")
+					.add(new SparkPIDWidget(launcherAngleOnePIDController, "launcherAnglePID"))
+					.withPosition(2, 0);
+			Shuffleboard.getTab("Launcher")
+					.add(new SparkPIDWidget(launcherTopPIDController, "launcherTopPID"))
+					.withPosition(0, 0);
+			Shuffleboard.getTab("Launcher")
+					.add(new SparkPIDWidget(launcherBottomPIDController, "launcherBottomPID"))
+					.withPosition(1, 0);
+
+			Shuffleboard.getTab("Launcher")
+					.addDouble("Bottom FlyWheel Temp", () -> launcherBottomMotor.getMotorTemperature());
+			Shuffleboard.getTab("Launcher")
+					.addDouble("Top FlyWheel Temp", () -> launcherTopMotor.getMotorTemperature());
+		}
 
 		launcherIsAtSpeed =
 				Shuffleboard.getTab("Launcher")
@@ -284,13 +290,6 @@ private void initShuffleboard() {
 						.withWidget(BuiltInWidgets.kBooleanBox)
 						.withPosition(0, 2)
 						.getEntry();
-		launcherTopFlywheelTemp =
-				Shuffleboard.getTab("Launcher")
-						.add("top Flywheel temp", 0)
-						.withSize(2, 1)
-						.withWidget(BuiltInWidgets.kTextView)
-						.withPosition(2, 3)
-						.getEntry();
 		launcherAngleSpeedEntry =
 				Shuffleboard.getTab("Launcher")
 						.add("Launcher angle Speed", 0)
@@ -320,23 +319,13 @@ private void initShuffleboard() {
 						.withProperties(Map.of("Min", -MAX_FREE_SPEED_RPM, "Max", MAX_FREE_SPEED_RPM))
 						.withPosition(5, 0)
 						.getEntry();
+
 		launcherAngleManual =
 				Shuffleboard.getTab("Launcher")
 						.add("Launcher manual increase", 0)
 						.withSize(1, 1)
 						.withWidget(BuiltInWidgets.kTextView)
 						.getEntry();
-		Shuffleboard.getTab("Launcher")
-				.add(new SparkPIDWidget(launcherAngleOnePIDController, "launcherAnglePID"))
-				.withPosition(2, 0);
-		// Shuffleboard.getTab("Launcher")
-		//		.add(new SparkPIDWidget(launcherAngleTwoPIDController, "launcherAngleTwoPIDController"));
-		Shuffleboard.getTab("Launcher")
-				.add(new SparkPIDWidget(launcherTopPIDController, "launcherTopPID"))
-				.withPosition(0, 0);
-		Shuffleboard.getTab("Launcher")
-				.add(new SparkPIDWidget(launcherBottomPIDController, "launcherBottomPID"))
-				.withPosition(1, 0);
 	}
 
 	@Override
@@ -344,8 +333,6 @@ public void periodic() {
 		launcherAngleEntry.setDouble(getAngle());
 		launcherSpeedEntry.setDouble(getLauncherSpeed());
 		launcherAngleSpeedEntry.setDouble(getAngleSpeed());
-		launcherTopFlywheelTemp.setDouble(launcherTopMotor.getMotorTemperature());
-		launcherBottomFlyWheelTemp.setDouble(launcherTopMotor.getMotorTemperature());
 		launcherIsAtSpeed.setBoolean(isAtSpeed());
 		launcherAngleManual.setDouble(manualAngleSetpoint);
 	}