diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2bb8a25..71b30e9 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -160,7 +161,8 @@ public class RobotContainer {
     private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup(
         new PivotCommand(m_robotArm, 178),
         new WaitCommand(0.3),
-        new TeleCommand(m_robotArm, 56000)
+        new TeleCommand(m_robotArm, 56000),
+        new ParallelRaceGroup(new InstantCommand(() -> m_robotClaw.toggle()), new RunCommand(() -> m_robotClaw.outtake()))
         // toggleClaw.asProxy(),
         // armToHome.asProxy()
     );
@@ -313,12 +315,12 @@ public class RobotContainer {
 
         // outtake
         new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
-            .whileTrue  (new RunCommand(() -> m_robotClaw.reversespinnyspin()))
+            .whileTrue  (new RunCommand(() -> m_robotClaw.outtake()))
             .onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
         
         // intake    
         new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
-            .whileTrue  (new RunCommand(() -> m_robotClaw.yesspinnyspin()))
+            .whileTrue  (new RunCommand(() -> m_robotClaw.intake()))
             .onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
         
         // arm to Home
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 6335570..4b45762 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -40,6 +40,7 @@ public class RobotMap {
     configureLEDMotorControllers();
     configureDriveMotors();
     configArmMotors();
+    configIntake();
   }
 
   /* LED Subsystem */
@@ -177,5 +178,10 @@ public class RobotMap {
   Servo leftClaw           = new Servo(0);
   Servo rightClaw          = new Servo(1);
   CANSparkMax spinnyspin = new CANSparkMax(18, MotorType.kBrushless);
-  spinnyspin.setIdleMode(IdleMode.kBrake);
+
+  public void configIntake() {
+    spinnyspin.setIdleMode(IdleMode.kBrake);
+  }
+
+  // spinnyspin.setIdleMode(IdleMode.kBrake);
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java
index d446957..bcfe0e0 100644
--- a/src/main/java/frc4388/robot/subsystems/Claw.java
+++ b/src/main/java/frc4388/robot/subsystems/Claw.java
@@ -79,7 +79,7 @@ public class Claw extends SubsystemBase {
 		return m_open;
 	}
 
-	public void yesspinnyspin() {
+	public void intake() {
 		m_spinnyspin.set(0.2);
 	}
 
@@ -87,7 +87,7 @@ public class Claw extends SubsystemBase {
 		m_spinnyspin.set(0);
 	}
 
-	public void reversespinnyspin() {
+	public void outtake() {
 		m_spinnyspin.set(-0.2);
 	}