diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index c0dcc9a..c2d7bd5 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -487,11 +487,11 @@
         current_limits->intake_roller_stator_current_limit(),
         current_limits->intake_roller_supply_current_limit());
     std::shared_ptr<TalonFX> retention_roller = std::make_shared<TalonFX>(
-        10, false, "rio", &rio_signal_registry,
+        10, true, "rio", &rio_signal_registry,
         current_limits->intake_roller_stator_current_limit(),
         current_limits->intake_roller_supply_current_limit());
     std::shared_ptr<TalonFX> transfer_roller = std::make_shared<TalonFX>(
-        9, false, "rio", &rio_signal_registry,
+        9, true, "rio", &rio_signal_registry,
         current_limits->transfer_roller_stator_current_limit(),
         current_limits->transfer_roller_supply_current_limit());
     std::shared_ptr<TalonFX> climber = std::make_shared<TalonFX>(
@@ -503,7 +503,7 @@
         current_limits->extend_stator_current_limit(),
         current_limits->extend_supply_current_limit());
     std::shared_ptr<TalonFX> extend_roller = std::make_shared<TalonFX>(
-        12, false, "rio", &rio_signal_registry,
+        12, true, "rio", &rio_signal_registry,
         current_limits->extend_roller_stator_current_limit(),
         current_limits->extend_roller_supply_current_limit());