diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d8a0a82..68ab899 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -75,7 +75,7 @@ public class RobotContainer {
     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, m_driverXbox, m_operatorXbox);
+    private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
 
     /* Virtual Controllers */
     private final VirtualController m_virtualDriver = new VirtualController(0);
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index d55ff97..986ed14 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -26,7 +26,6 @@ import com.revrobotics.SparkLimitSwitch;
 import com.revrobotics.SparkPIDController;
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.wpilibj.CAN;
-import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -36,7 +35,6 @@ 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 {
   
@@ -54,9 +52,6 @@ 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;
@@ -101,17 +96,14 @@ public class Intake extends SubsystemBase {
   // }
 
   //For Talon
-  public Intake(TalonFX talonIntake, TalonFX talonPivot, DeadbandedXboxController driverXbox, DeadbandedXboxController operatorXbox) {
+  public Intake(TalonFX talonIntake, TalonFX talonPivot) {
     this.talonIntake = talonIntake;
     this.talonPivot = talonPivot;
 
-    this.m_driverXbox = driverXbox;
-    this.m_operatorXbox = operatorXbox;
-
     talonIntake.getConfigurator().apply(new TalonFXConfiguration());
     talonPivot.getConfigurator().apply(new TalonFXConfiguration());
 
-    talonIntake.setNeutralMode(NeutralModeValue.Coast);
+    talonIntake.setNeutralMode(NeutralModeValue.Brake);
     talonPivot.setNeutralMode(NeutralModeValue.Brake);
 
     // talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
@@ -331,8 +323,6 @@ public class Intake extends SubsystemBase {
   //   }
   // }
 
-  private int rumbleTime = 0;
-
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
@@ -346,26 +336,5 @@ public class Intake extends SubsystemBase {
     SmartDashboard.putNumber("Pivot Position", getArmPos());
 
     smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
-
-    // if(getTalonIntakeLimitSwitchState()){
-    //   rumbleTime = 1000;
-    //   m_driverXbox.setRumble(RumbleType.kLeftRumble, 1.0);
-    //   m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0);
-    //   m_operatorXbox.setRumble(RumbleType.kLeftRumble, 1.0);
-    //   m_operatorXbox.setRumble(RumbleType.kRightRumble, 1.0);
-    //   // m_hid.setRumble(RumbleType.kLeftRumble, 0.0);
-    //   // m_hid.setRumble(RumbleType.kRightRumble, 0.0);
-    // }
-    // if(rumbleTime > 0){
-    //   rumbleTime--;
-    //   if(rumbleTime <= 0){
-    //     rumbleTime = 0;
-    //     m_driverXbox.setRumble(RumbleType.kLeftRumble, 0);
-    //     m_driverXbox.setRumble(RumbleType.kRightRumble, 0);
-    //     m_operatorXbox.setRumble(RumbleType.kLeftRumble, 0);
-    //     m_operatorXbox.setRumble(RumbleType.kRightRumble, 0);
-    //   }
-
-    // }
   }
 }