diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 68ab899..4cd82d5 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -74,13 +74,13 @@ public class RobotContainer {
     private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
     private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
-    
-    private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
 
     /* Virtual Controllers */
     private final VirtualController m_virtualDriver = new VirtualController(0);
     private final VirtualController m_virtualOperator = new VirtualController(1);
 
+    private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor, m_driverXbox, m_operatorXbox);
+
     private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
     private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
 
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 986ed14..eb74bb3 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -35,6 +35,7 @@ import frc4388.robot.Constants.IntakeConstants;
 import frc4388.robot.commands.PID;
 import frc4388.utility.Gains;
 import frc4388.utility.configurable.ConfigurableDouble;
+import frc4388.utility.controller.DeadbandedXboxController;
 
 public class Intake extends SubsystemBase {
   
@@ -52,6 +53,9 @@ public class Intake extends SubsystemBase {
   private TalonFX talonPivot;
   private CANcoder encoder;
 
+  private DeadbandedXboxController m_driverXbox;
+  private DeadbandedXboxController m_operatorXbox;
+
   private boolean r;
 
   private HardwareLimitSwitchConfigs l;
@@ -96,9 +100,12 @@ public class Intake extends SubsystemBase {
   // }
 
   //For Talon
-  public Intake(TalonFX talonIntake, TalonFX talonPivot) {
+  public Intake(TalonFX talonIntake, TalonFX talonPivot, DeadbandedXboxController driverXbox, DeadbandedXboxController operatorXbox) {
     this.talonIntake = talonIntake;
     this.talonPivot = talonPivot;
+    
+    this.m_driverXbox = driverXbox;
+    this.m_operatorXbox = operatorXbox;
 
     talonIntake.getConfigurator().apply(new TalonFXConfiguration());
     talonPivot.getConfigurator().apply(new TalonFXConfiguration());
@@ -323,6 +330,8 @@ public class Intake extends SubsystemBase {
   //   }
   // }
 
+  private boolean isRumble = false;
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
@@ -336,5 +345,15 @@ public class Intake extends SubsystemBase {
     SmartDashboard.putNumber("Pivot Position", getArmPos());
 
     smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
+
+    // System.out.println(getTalonIntakeLimitSwitchState());
+
+    if(getTalonIntakeLimitSwitchState() && !isRumble){
+      m_driverXbox.rumble(1);
+      m_operatorXbox.rumble(1);
+      isRumble = true;
+    }else if(!getTalonIntakeLimitSwitchState() && isRumble){
+      isRumble = false;
+    }
   }
 }
diff --git a/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java b/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
index c0384db..fe15818 100644
--- a/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
+++ b/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
@@ -1,4 +1,4 @@
-package frc4388.utility.configurable;
+package frc4388.utility.Configurable;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
index 4577a2e..3de5b91 100644
--- a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
@@ -24,4 +24,30 @@ public class DeadbandedXboxController extends XboxController {
 
     return translation2d;
   }
+
+  /*
+		Rumble for a select amount of time
+
+    For some reason, you cannot rumble an xbox controller while simulating the robot.
+    This took me a very long time to find out.
+	 */
+	public void rumble(int seconds){
+		//Default value
+
+		new Thread(() -> {
+			// System.out.println("Start rumble");
+			setRumble(RumbleType.kLeftRumble, 1.0);
+			setRumble(RumbleType.kRightRumble, 1.0);
+
+			try {
+				Thread.sleep(seconds*1000);
+			} catch (InterruptedException e) {}
+
+			// System.out.println("Stop rumble");
+      setRumble(RumbleType.kLeftRumble, 0.0);
+			setRumble(RumbleType.kRightRumble, 0.0);
+      
+		}).start();
+
+	}
 }
\ No newline at end of file