diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 3f9fb58..17f51fd 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -162,6 +162,7 @@ public final class Constants {
         public static final int INTAKE_MOTOR_ID = 17; //TODO:
         public static final int PIVOT_MOTOR_ID = 18; //TODO:
         public static final double INTAKE_SPEED = 0.2; //TODO:
+        public static final double HANDOFF_SPEED = 0.2; //TODO:
         public static final double PIVOT_SPEED = 0.2; //TODO:
     }
 
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index b571827..3e1d82e 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -13,9 +13,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
-  /** Creates a new Intake. */
+  
   private CANSparkMax intakeMotor;
   private CANSparkMax pivot;
+  
+  /** Creates a new Intake. */
   public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
     this.intakeMotor = intakeMotor;
     this.pivot = pivot;
@@ -28,23 +30,24 @@ public class Intake extends SubsystemBase {
 
   //Rotate robot in for handoff
   public void rotateArmIn() {
-    //TODO
     pivot.set(IntakeConstants.PIVOT_SPEED);
   }
 
   //Rotates robot out for intake
   public void rotateArmOut() {
-    //TODO
-    pivot.set(-IntakeConstants.INTAKE_SPEED);
+    pivot.set(-IntakeConstants.PIVOT_SPEED);
 
   }
 
+  public void handoff() {
+    intakeMotor.set(-IntakeConstants.INTAKE_SPEED);
+  }
+
   public void stopIntakeMotors() {
     intakeMotor.set(0);
   }
 
   public void rotateArm() {
-    //TODO
   }
 
   @Override
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index c7724af..e30b9b2 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -14,6 +14,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 
 public class Shooter extends SubsystemBase {
+  
   private TalonFX leftShooter;
   private TalonFX rightShooter;