diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
index b0da466..eea59f7 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -41,14 +41,14 @@ public class OI
 			m_driverXbox = new XboxController(RobotMap.DRIVER_JOYSTICK_1_USB_ID);
 			m_operatorXbox = new XboxController(RobotMap.OPERATOR_JOYSTICK_1_USB_ID);
 			
-	      /*  XBoxTriggerButton CarriageIntake = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER);
-	        CarriageIntake.whenPressed(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
-	        CarriageIntake.whenReleased(new IntakeSetSpeed(0.0));
+	        XBoxTriggerButton CarriageIntake = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER);
+	        CarriageIntake.whenPressed(new SetIntakeSpeed(BallIntake.BALL_INTAKE_SPEED));
+	        CarriageIntake.whenReleased(new SetIntakeSpeed(0.0));
 	        
 	        XBoxTriggerButton CarriageEject = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.RIGHT_TRIGGER);
-	        CarriageEject.whenPressed(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
-			CarriageEject.whenReleased(new IntakeSetSpeed(0.0));
-			*/
+	        CarriageEject.whenPressed(new SetIntakeSpeed(BallIntake.BALL_EXTAKE_SPEED));
+			CarriageEject.whenReleased(new SetIntakeSpeed(0.0));
+			
 			//JoystickButton endEfector = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
 			//endEfector.toggleWhenActive(new WristPlacement(true));
 
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/subsystems/BallIntake.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/BallIntake.java
index 5511a47..fd9ea62 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
@@ -21,8 +21,8 @@ public class BallIntake extends Subsystem {
 
 	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 BALL_INTAKE_SPEED = -1.0;
+	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
 	
@@ -35,7 +35,7 @@ public class BallIntake extends Subsystem {
 	
 	public BallIntake() {
 		try {
-			BallIntakeMain = new WPI_TalonSRX(RobotMap.CLIMBER_CAN_ID);
+			BallIntakeMain = new WPI_TalonSRX(RobotMap.INTAKE_BELT_DRIVE_CAN_ID);
 			//\][carriageLeft.set(CurrentLimit, value);
 			
     }