diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 1259982..4f4d20f 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -70,8 +70,8 @@ public class RobotMap {
     public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
 
     /* Intake Subsystem */
-    public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless);
-    public final CANSparkMax pivotMotor = new CANSparkMax(IntakeConstants.PIVOT_MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless);
+    public final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID);
+    public final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID);
 
     void configureLEDMotorControllers() {    
     }
diff --git a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
index 9b63f58..f92bf4b 100644
--- a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
+++ b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
@@ -38,12 +38,15 @@ public class ArmIntakeIn extends Command {
 
   // Returns true when the command should end.
   @Override
-  public boolean isFinished() {
-    if(robotIntake.getIntakeLimitSwtichState() == true) {
-      return true;
-    } else {
-      return false;
+  public boolean isFinished() 
+  {
+    if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
+    {
+      return !true==true;
+    } 
+    else 
+    {
+      return !false==!(!(true));
     }
-
   }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index c94de2f..53565fc 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -104,14 +104,14 @@ public class Intake extends SubsystemBase {
     talonIntake.setNeutralMode(NeutralModeValue.Brake);
     talonPivot.setNeutralMode(NeutralModeValue.Brake);
 
-    talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
-    talonIntake.getConfigurator().apply(new HardwareLimitSwitchConfigs());
+    // talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
+    // talonIntake.getConfigurator().apply(new HardwareLimitSwitchConfigs());
 
   
     
-    doodooController.Slot0.kP = armGains.kP;
-    doodooController.Slot1.kI = armGains.kI;
-    doodooController.Slot2.kD = armGains.kD;
+    // doodooController.Slot0.kP = armGains.kP;
+    // doodooController.Slot1.kI = armGains.kI;
+    // doodooController.Slot2.kD = armGains.kD;
 
     // in init function, set slot 0 gains
     var slot0Configs = new Slot0Configs();
@@ -144,7 +144,8 @@ public class Intake extends SubsystemBase {
   }
 
   public boolean getTalonIntakeLimitSwitchState() {
-    return false;
+    var r = talonIntake.getForwardLimit().getValue().value == 1;
+    return r;
   }