diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index f6f1a2c..4feae9b 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -39,9 +39,9 @@ public void robotInit() {
     // for (int port = 5800; port <= 5807; port++) {
     //   PortForwarder.add(port, "limelight.local", port);
     // }
-    PortForwarder.add(5800, "limelight-main.local", 5800);
-    PortForwarder.add(5801, "limelight-main.local", 5801);
-    PortForwarder.add(5805, "limelight-main.local", 5805);
+    PortForwarder.add(5800, "limelight-intake.local", 5800);
+    PortForwarder.add(5801, "limelight-intake.local", 5801);
+    PortForwarder.add(5805, "limelight-intake.local", 5805);
 
     // PortForwarder.add(5810, "limelight-intake.local", 5810);
     // PortForwarder.add(5811, "limelight-intake.local", 5811);
diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
index e6afb43..e9dd68d 100644
--- a/src/main/java/frc/robot/subsystems/VisionSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -22,6 +22,8 @@ public VisionSubsystem() {}
   public void periodic() {
     Optional<double[]> noteAngles = getNoteAngles();
 
+    SmartDashboard.putBoolean("SEES NOTE", getNoteAngles().isPresent());
+
     if (noteAngles.isPresent()) {
       SmartDashboard.putNumber("NOTE TX", noteAngles.get()[0]);
       SmartDashboard.putNumber("NOTE TY", noteAngles.get()[1]);
@@ -61,6 +63,8 @@ public Optional<PoseEstimate> getBotposeBlue() {
   public Optional<double[]> getNoteAngles() {
     if (!isNoteVisible()) return Optional.empty();
 
+    SmartDashboard.putNumber("SHOULD BE RIGHT TX", LimelightHelper.getTX(Limelights.INTAKE));
+
     double[] angles = {
       LimelightHelper.getTX(Limelights.INTAKE),
       LimelightHelper.getTY(Limelights.INTAKE)