diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ea8e91c..15a01bc 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -78,6 +78,10 @@ public class RobotContainer {
     @Key("Auto/Auto Wait Time")
     private static double autoWaitTime = 0;
 
+    @Entry(EntryType.Publisher)
+    @Key("Outreach/OutreachEnabled")
+    private static boolean outreachEnabled = false;
+
     public RobotContainer() {
         // UsbCamera camera = CameraServer.startAutomaticCapture();
         drivebase.setDefaultCommand(driveFieldOrientedAngularVelocity);
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index 8590c10..1cf8d4b 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -58,8 +58,8 @@ public class Arm extends SubsystemBase {
      * Controllers: Feedforward and Profiled PID Controller.
      */
     public Arm() {
-//        Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(ARM_MOTOR_ID, NeutralModeValue.Brake));
-        Motor motor = new FakeMotor();
+        Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(ARM_MOTOR_ID, NeutralModeValue.Brake));
+//        Motor motor = new FakeMotor();
         motorGroup = new MotorGroup<>(motor);
 
         armEncoder = new DutyCycleEncoder(ARM_ENCODER_ID);
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index bdc6d6a..ca7ce11 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -70,10 +70,10 @@ public class Elevator extends SubsystemBase {
      * Controllers: Feedforward and ProfiledPIDController.
      */
     public Elevator() {
-//        leftMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_LEFT_MOTOR_ID, NeutralModeValue.Coast));
-//        rightMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_RIGHT_MOTOR_ID, NeutralModeValue.Coast));
-        leftMotor = new FakeMotor();
-        rightMotor = new FakeMotor();
+        leftMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_LEFT_MOTOR_ID, NeutralModeValue.Coast));
+        rightMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_RIGHT_MOTOR_ID, NeutralModeValue.Coast));
+//        leftMotor = new FakeMotor();
+//        rightMotor = new FakeMotor();
 
         leftMotor.setPosition(Rotations.of(0));
         rightMotor.setPosition(Rotations.of(0));
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 2d9190a..1d3d1f6 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -35,8 +35,8 @@ public class Intake extends SubsystemBase {
      * Controllers: None
      */
     public Intake() {
-        //Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(INTAKE_MOTOR_ID, NeutralModeValue.Brake));
-        Motor motor = new FakeMotor();
+        Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(INTAKE_MOTOR_ID, NeutralModeValue.Brake));
+//        Motor motor = new FakeMotor();
 
         motorGroup = new MotorGroup<>(motor);
         sensor = new DigitalInput(INTAKE_SENSOR_ID);
diff --git a/src/main/java/frc/robot/subsystems/Wrist.java b/src/main/java/frc/robot/subsystems/Wrist.java
index 5913dc0..6584012 100644
--- a/src/main/java/frc/robot/subsystems/Wrist.java
+++ b/src/main/java/frc/robot/subsystems/Wrist.java
@@ -53,9 +53,9 @@ public class Wrist extends SubsystemBase {
      * Controllers: Normal PID Controller.
      */
     public Wrist() {
-//        Motor motor = new TalonFxMotor(MotorUtil
-//                .initTalonFX(WRIST_MOTOR_ID, NeutralModeValue.Brake, InvertedValue.Clockwise_Positive));
-        Motor motor = new FakeMotor();
+        Motor motor = new TalonFxMotor(MotorUtil
+                .initTalonFX(WRIST_MOTOR_ID, NeutralModeValue.Brake, InvertedValue.Clockwise_Positive));
+//        Motor motor = new FakeMotor();
 
         motorGroup = new MotorGroup<>(motor);
         encoder = new DutyCycleEncoder(WRIST_ENCODER_ID);