diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 0af3739..3e1c75f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -44,6 +44,8 @@ public class RobotContainer {
                                                                   m_robotMap.gyro);
     
      private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
+
+     private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
     
     //private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
 
@@ -110,12 +112,16 @@ public class RobotContainer {
         new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
         
+        
+        
+        /* Operator Buttons */
          new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
              .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
              .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
-        
-        /* Operator Buttons */
-        
+
+        new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
         
     }
 
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 72292b0..1259982 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -11,10 +11,13 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_Pigeon2;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.CANSparkLowLevel;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
@@ -63,12 +66,12 @@ public class RobotMap {
     public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
 
     /* Shooter Subsystem */
-    public final WPI_TalonFX leftShooter = new WPI_TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
-    public final WPI_TalonFX rightShooter = new WPI_TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
+    public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
+    public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
 
     /* Intake Subsystem */
-    // public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushless);
-    // public final CANSparkMax pivotMotor = new CANSparkMax(IntakeConstants.PIVOT_MOTOR_ID, MotorType.kBrushless);
+    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);
 
     void configureLEDMotorControllers() {    
     }
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index dd1d96f..b571827 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -21,17 +21,26 @@ public class Intake extends SubsystemBase {
     this.pivot = pivot;
   }
 
+  //hanoff
   public void spinIntakeMotor() {
     intakeMotor.set(IntakeConstants.INTAKE_SPEED);
   }
 
-  public void rotateArmIn() { //handoff
+  //Rotate robot in for handoff
+  public void rotateArmIn() {
     //TODO
+    pivot.set(IntakeConstants.PIVOT_SPEED);
   }
 
-  public void rotateArmOut() { //intake
+  //Rotates robot out for intake
+  public void rotateArmOut() {
     //TODO
-    spinIntakeMotor();
+    pivot.set(-IntakeConstants.INTAKE_SPEED);
+
+  }
+
+  public void stopIntakeMotors() {
+    intakeMotor.set(0);
   }
 
   public void rotateArm() {