diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index b260074..cd85925 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -1,7 +1,7 @@
 {% set pi = 3.14159265 %}
 
 {# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #}
-{% set intake_pivot_encoder_ratio = (16.0 / 64.0) * (18.0 / 62.0) %}
+{% set intake_pivot_encoder_ratio = (24.0 / 15.0) %}
 
 {%set zeroing_sample_size = 200 %}
 
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 9e7543b..f32aa8b 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -20,16 +20,15 @@
 kIntakePivot = angular_system.AngularSystemParams(
     name='IntakePivot',
     motor=control_loop.KrakenFOC(),
-    # TODO(Niko): Change gear ratios when we have all of them
-    G=0.02,
-    J=0.34,
+    G=(16.0 / 60.0) * (18.0 / 62.0) * (18.0 / 62.0) * (15.0 / 24.0),
+    J=0.34,  # Borrowed from 2022, 0.035 seems too low
     q_pos=0.40,
     q_vel=20.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
     kalman_q_voltage=4.0,
     kalman_r_position=0.05,
-    radius=13 * 0.0254)
+    radius=6.85 * 0.0254)
 
 
 def main(argv):