diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index f7d5575..48d9057 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -72,11 +72,15 @@ public final class Constants {
     public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN)
     
     // CAN IDs
-    public static final int SERIALIZER_BELT = -1; // TODO
-    public static final int SERIALIZER_SHOOTER_BELT = -1; // TODO
-    public static final int SERIALIZER_BELT_BEAM = -1; // TODO
+    public static final int SERIALIZER_BELT = 1; // TODO
+    public static final int SERIALIZER_SHOOTER_BELT = 2; // TODO
+    public static final int SERIALIZER_BELT_BEAM = 3; // TODO
+  }
+  public static final class IntakeConstants {
+    // CAN IDs
+    public static final int INTAKE_MOTOR = 3;
+    public static final int EXTENDER_MOTOR = 4;
   }
-
   public static final class LEDConstants {
     public static final int LED_SPARK_ID = 0;
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 362c955..2d1eba1 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -41,7 +41,7 @@ public class RobotContainer {
     m_robotMap.rightBackEncoder
   );
 
-  private final Intake m_robotIntake = new Intake(null, null);
+  private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor);
   private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
 
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 250c8cb..26af808 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -8,6 +8,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import frc4388.robot.Constants.IntakeConstants;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SerializerConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
@@ -97,4 +98,8 @@ public class RobotMap {
 
   public final Spark serializerBelt = new Spark(SerializerConstants.SERIALIZER_BELT);
   public final Spark serializerShooterBelt = new Spark(SerializerConstants.SERIALIZER_SHOOTER_BELT);
+  
+  /* Intake Subsytem */
+  public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
+  public final Spark extenderMotor = new Spark(IntakeConstants.EXTENDER_MOTOR);
 }