diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 8c34527..571e332 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -4,19 +4,42 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.CANSparkMax.IdleMode;
 
 public class Intake extends SubsystemBase {
 
   private WPI_TalonFX m_intakeMotor;
-  private WPI_TalonFX m_extenderMotor;
+  private CANSparkMax m_extenderMotor;
+  private SparkMaxLimitSwitch m_inLimit;
+  private SparkMaxLimitSwitch m_outLimit;
+
+  public boolean toggle;
 
   /** Creates a new Intake. */
-  public Intake(WPI_TalonFX intakeMotor, WPI_TalonFX extenderMotor) {
+  public Intake(WPI_TalonFX intakeMotor, Spark extenderMotor) {
     m_intakeMotor = intakeMotor;
-    m_extenderMotor = extenderMotor; 
+    //m_extenderMotor = extenderMotor; 
+
+    
+    // m_intakeMotor.restoreFactoryDefaults();
+    // m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setNeutralMode(NeutralMode.Brake);
+    m_extenderMotor.setIdleMode(IdleMode.kBrake);
+    m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(true);
+    
+    m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_inLimit.enableLimitSwitch(true);
+    m_outLimit.enableLimitSwitch(true);
   }
 
   @Override
@@ -29,12 +52,11 @@ public class Intake extends SubsystemBase {
   }
 
   public void runExtender(boolean extended) {
-    m_extenderMotor.set(extended ? 1 : -1);
+    //m_extenderMotor.set(extended ? 1 : -1);
   }
-}
 
-/*
- Function toggle extender
-            bool = !bool
-Configure limit switches forward and reverse
-*/
\ No newline at end of file
+  public void toggleExtender() {
+    toggle = !toggle;
+    runExtender(toggle);
+  }
+}
\ No newline at end of file