diff --git a/src/main/java/frc/robot/constants/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java
index 86338e9..2da71fa 100644
--- a/src/main/java/frc/robot/constants/ConstFreeSpin.java
+++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java
@@ -8,6 +8,7 @@
 import static edu.wpi.first.units.Units.RPM;
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.InvertedValue;
 
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -72,5 +73,13 @@ public class ConstFreeSpin {
     flywheelSpeedMap.put(Inches.of(140).in(Inches), RPM.of(3600).in(RPM));
     flywheelSpeedMap.put(Inches.of(120).in(Inches), RPM.of(3400).in(RPM));
     flywheelSpeedMap.put(Inches.of(0).in(Inches), RPM.of(3400).in(RPM)); // Configure TalonFXConfiguration objects here
+    INTAKE_ROLLERS_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    FLYWHEEL_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    TRANSFER_BELT_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    TRANSFER_RAMP_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    HOTDOG_ROLLERS_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    AGITATOR_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
   }
 }
diff --git a/src/main/java/frc/robot/constants/ConstPositional.java b/src/main/java/frc/robot/constants/ConstPositional.java
index fba9ab9..ca87390 100644
--- a/src/main/java/frc/robot/constants/ConstPositional.java
+++ b/src/main/java/frc/robot/constants/ConstPositional.java
@@ -9,6 +9,7 @@
 import static edu.wpi.first.units.Units.Seconds;
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.InvertedValue;
 
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 import edu.wpi.first.units.Units;
@@ -104,5 +105,9 @@ public class ConstPositional {
     INTAKE_SLIDE_CONFIGURATION.Feedback.SensorToMechanismRatio = 1.0 / ((10.0 / 30.0) * (1.0 * Math.PI));
     HOOD_PIVOT_CONFIGURATION.Feedback.SensorToMechanismRatio = 1.0 / ((10.0 / 130.0) * (12.0 / 30.0));
     TURRET_CONFIGURATION.Feedback.SensorToMechanismRatio = 1.0 / ((12.0 / 58.0) * (10.0 / 90.0));
+
+    INTAKE_SLIDE_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    HOOD_PIVOT_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    TURRET_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
   }
 }