diff --git a/2019robot/build.gradle b/2019robot/build.gradle
index f15e84c..86010b5 100644
--- a/2019robot/build.gradle
+++ b/2019robot/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "edu.wpi.first.GradleRIO" version "2019.2.1"
 }
 
 def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
index 64e015f..564fd0d 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
@@ -17,9 +17,8 @@ public class RobotMap {
 	public static final int DRIVETRAIN_RIGHT_MOTOR1_CAN_ID = 4;
 	public static final int DRIVETRAIN_RIGHT_MOTOR2_CAN_ID = 5;
 	
-	//carriage motors
-	public static final int CARRIAGE_LEFT_MOTOR_CAN_ID = 8;
-	public static final int CARRIAGE_RIGHT_MOTOR_CAN_ID = 9;
+	//Intake motors
+	public static final int INTAKE_BELT_DRIVE_CAN_ID = 8;
 	  
 	//Elevator Motors
 	public static final int ELEVATOR_MOTOR1_ID = 6;
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/SetIntakeSpeed.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/SetIntakeSpeed.java
new file mode 100644
index 0000000..b188086
--- /dev/null
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/SetIntakeSpeed.java
@@ -0,0 +1,44 @@
+package org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.robot.Robot;
+
+import org.usfirst.frc4388.robot.subsystems.BallIntake;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class SetIntakeSpeed extends Command {
+
+	private double WheelSpeed;
+	
+	// Constructor with speed
+    public SetIntakeSpeed(double WheelSpeed) {
+    	this.WheelSpeed = WheelSpeed;
+         requires(Robot.BallIntake);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	Robot.BallIntake.setWheelSpeed(WheelSpeed);
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return true;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}
\ No newline at end of file
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/BallIntake.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/BallIntake.java
index 7f60eae..0fe50cc 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/BallIntake.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/BallIntake.java
@@ -1,24 +1,60 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package org.usfirst.frc4388.robot.subsystems;
 
+import org.usfirst.frc4388.robot.RobotMap;
+import org.usfirst.frc4388.robot.commands.*;
+import org.usfirst.frc4388.robot.subsystems.Drive.DriveControlMode;
+import org.usfirst.frc4388.utility.CANTalonEncoder;
+import org.usfirst.frc4388.utility.ControlLoopable;
+
 import edu.wpi.first.wpilibj.command.Subsystem;
+import org.usfirst.frc4388.robot.OI;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+
+
 
 /**
- * Add your docs here.
+ *
  */
 public class BallIntake extends Subsystem {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
 
-  @Override
-  public void initDefaultCommand() {
-    // Set the default command for a subsystem here.
-    // setDefaultCommand(new MySpecialCommand());
-  }
+	private WPI_TalonSRX BallIntakeMain;
+	public static enum BallIntakeControlMode { JOYSTICK, MP_STRAIGHT, HOLD, MANUAL};
+	public static final double BALL_INTAKE_SPEED = 0.40;
+	public static final double BALL_EXTAKE_SPEED = -1.0;
+	public static final double CUBE_STOP_SPEED = 0;
+	/////^^^^^^^^^ replace this line with the modes we need
+	
+	
+	private boolean isFinished;
+	//private CarriageControlMode controlMode = CarriageControlMode.JOYSTICK;
+	
+	
+	
+	
+	public BallIntake() {
+		try {
+			BallIntakeMain = new WPI_TalonSRX(RobotMap.INTAKE_BELT_DRIVE_CAN_ID);
+			//\][carriageLeft.set(CurrentLimit, value);
+			
+    }
+		catch (Exception e) {
+			System.err.println("An error occurred in the Ball Intake constructor");
+			
+			
+		}
+    }
+	
+		public void setWheelSpeed(double speed) {
+			BallIntakeMain.set(-speed);
+    }
+
+
+    @Override
+    public void periodic() {
+    	
+    }
+    	public void initDefaultCommand() {
+    }
 }