intake stuff works, still need to create command for handoff (im geekin)

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -25,6 +25,12 @@ public class Intake extends SubsystemBase {
   private static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
   private SparkLimitSwitch forwardLimit;
   private SparkLimitSwitch reverseLimit;
+  private SparkLimitSwitch intakeforwardLimit;  
+  private SparkLimitSwitch intakereverseLimit;
+
+  private Shooter shooter;
+
+
 
   /** Creates a new Intake. */
   public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
@@ -38,7 +44,14 @@ public class Intake extends SubsystemBase {
     reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
     forwardLimit.enableLimitSwitch(true);
     reverseLimit.enableLimitSwitch(true);
+
+    intakeMotor.restoreFactoryDefaults();
+
     
+    intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
+    intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
+    intakeforwardLimit.enableLimitSwitch(true);
+    intakereverseLimit.enableLimitSwitch(false);
 
     //Arm PID
     m_spedController = pivot.getPIDController();
@@ -70,13 +83,17 @@ public class Intake extends SubsystemBase {
   }
 
   public void pidOut() {
+    m_spedController.setReference(-8000, CANSparkMax.ControlType.kVelocity);
 
   }
 
+  
   public void handoff() {
-    intakeMotor.set(-IntakeConstants.INTAKE_SPEED);
+    intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED);
   }
 
+ 
+
   public void stopIntakeMotors() {
     intakeMotor.set(0);
   }

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -43,5 +43,6 @@ public class Shooter extends SubsystemBase {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    
   }
 }