diff --git a/y2022/control_loops/superstructure/collision_avoidance.cc b/y2022/control_loops/superstructure/collision_avoidance.cc
index b39b48f..01b0463 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance.cc
@@ -58,7 +58,7 @@
   if (turret_position_wrapped >= min_turret_collision_position &&
       turret_position_wrapped <= max_turret_collision_position) {
     // Reterns true if the intake is raised.
-    if (intake_position <= kCollisionZoneIntake) {
+    if (intake_position > kCollisionZoneIntake) {
       return true;
     }
   } else {
@@ -144,14 +144,14 @@
   if (turret_pos_unsafe || turret_moving_past_intake) {
     // If the turret is unsafe, limit the intake
     if (intake_front) {
-      update_min_intake_front_goal(kCollisionZoneIntake + kEpsIntake);
+      update_max_intake_front_goal(kCollisionZoneIntake - kEpsIntake);
     } else {
-      update_min_intake_back_goal(kCollisionZoneIntake + kEpsIntake);
+      update_max_intake_back_goal(kCollisionZoneIntake - kEpsIntake);
     }
 
     // If the intake is in the way, limit the turret until moved. Otherwise,
     // let'errip!
-    if (!turret_pos_unsafe && (intake_position <= kCollisionZoneIntake)) {
+    if (!turret_pos_unsafe && (intake_position > kCollisionZoneIntake)) {
       if (turret_position < min_turret_collision_goal_unwrapped) {
         update_max_turret_goal(min_turret_collision_goal_unwrapped -
                                kEpsTurret);
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index 7c25964..ec7ce6f 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -52,7 +52,7 @@
   static constexpr double kMinCollisionZoneBackTurret = -kCollisionZoneTurret;
   static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
 
-  // Minimum (highest in reality) of the intake, in order to avoid collisions
+  // Maximum position of the intake to avoid collisions
   static constexpr double kCollisionZoneIntake = M_PI / 6.0;
 
   // Tolerance for the turret.
diff --git a/y2022/control_loops/superstructure/collision_avoidance_test.cc b/y2022/control_loops/superstructure/collision_avoidance_test.cc
index 43695d1..adf672b 100644
--- a/y2022/control_loops/superstructure/collision_avoidance_test.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance_test.cc
@@ -138,11 +138,11 @@
 
     switch (intake_state) {
       case IntakeState::kSafe:
-        intake_angle = CollisionAvoidance::kCollisionZoneIntake +
+        intake_angle = CollisionAvoidance::kCollisionZoneIntake -
                        CollisionAvoidance::kEpsIntake;
         break;
       case IntakeState::kUnsafe:
-        intake_angle = CollisionAvoidance::kCollisionZoneIntake -
+        intake_angle = CollisionAvoidance::kCollisionZoneIntake +
                        CollisionAvoidance::kEpsIntake;
         break;
     }
@@ -267,7 +267,7 @@
             intake_front_goal(), turret_goal(),
             CollisionAvoidance::kMinCollisionZoneFrontTurret,
             CollisionAvoidance::kMaxCollisionZoneFrontTurret)) {
-      EXPECT_GE(status_.intake_front_position,
+      EXPECT_LE(status_.intake_front_position,
                 CollisionAvoidance::kCollisionZoneIntake);
     } else {
       EXPECT_NEAR(intake_front_goal(), status_.intake_front_position,
@@ -278,7 +278,7 @@
             intake_back_goal(), turret_goal(),
             CollisionAvoidance::kMinCollisionZoneBackTurret,
             CollisionAvoidance::kMaxCollisionZoneBackTurret)) {
-      EXPECT_GE(status_.intake_back_position,
+      EXPECT_LE(status_.intake_back_position,
                 CollisionAvoidance::kCollisionZoneIntake);
     } else {
       EXPECT_NEAR(intake_back_goal(), status_.intake_back_position, 0.001);
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index ebd0bd3..7425ac0 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -570,22 +570,22 @@
     auto builder = superstructure_goal_sender_.MakeBuilder();
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kIntakeRange().upper,
+            *builder.fbb(), constants::Values::kIntakeRange().lower,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kIntakeRange().upper,
+            *builder.fbb(), constants::Values::kIntakeRange().lower,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kTurretRange().upper,
+            *builder.fbb(), constants::Values::kTurretRange().lower,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kClimberRange().upper,
+            *builder.fbb(), constants::Values::kClimberRange().lower,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
@@ -620,11 +620,11 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kIntakeRange().lower);
+            *builder.fbb(), constants::Values::kIntakeRange().upper);
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kIntakeRange().lower);
+            *builder.fbb(), constants::Values::kIntakeRange().upper);
 
     // Keep the turret away from the intakes because they start in the collision
     // area
@@ -634,7 +634,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kClimberRange().lower);
+            *builder.fbb(), constants::Values::kClimberRange().upper);
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
 
@@ -657,22 +657,22 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kIntakeRange().upper,
+            *builder.fbb(), constants::Values::kIntakeRange().lower,
             CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kIntakeRange().upper,
+            *builder.fbb(), constants::Values::kIntakeRange().lower,
             CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kTurretRange().upper,
+            *builder.fbb(), constants::Values::kTurretRange().lower,
             CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kClimberRange().upper,
+            *builder.fbb(), constants::Values::kClimberRange().lower,
             CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();