diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 05b541a..780e565 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -257,8 +257,13 @@ public class RobotContainer {
         
 
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
             .onTrue(new InstantCommand(() -> {
+                m_robotShooter.spinUpFeeding();
+                m_robotIntake.rollerStop();
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotShooter.spinUpIdle();
                 m_robotIntake.setMode(IntakeMode.Extended);
             }));
 
@@ -267,30 +272,21 @@ public class RobotContainer {
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
                 m_robotShooter.spinUpShooting();
-                m_robotIntake.setMode(IntakeMode.Idle);
                 m_robotIntake.rollerStop();
             }))
             .onFalse(new InstantCommand(() -> {
                 m_robotShooter.spinUpIdle();
+                m_robotIntake.setMode(IntakeMode.Extended);
             }));
         
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotShooter.spinUpShooting();
-                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotIntake.setMode(IntakeMode.Retracted);
             }));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
-            .onTrue(new InstantCommand(() -> {
-                m_robotShooter.spinUpFeeding();
-            }));
-
-        
-
-
         new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracted);
+                m_robotIntake.setMode(IntakeMode.Extended);
             }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 7774220..2372c7b 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 79;
-  public static final String GIT_SHA = "ff0cff819cc7280a353d7ce86999efe16661f33b";
-  public static final String GIT_DATE = "2026-02-23 16:58:14 MST";
-  public static final String GIT_BRANCH = "operator-controls";
-  public static final String BUILD_DATE = "2026-02-23 17:28:16 MST";
-  public static final long BUILD_UNIX_TIME = 1771892896573L;
+  public static final int GIT_REVISION = 85;
+  public static final String GIT_SHA = "3d22607e5a8805f6bafa42d0e8ae41a719741842";
+  public static final String GIT_DATE = "2026-02-25 16:33:01 MST";
+  public static final String GIT_BRANCH = "shikhar-op-controls";
+  public static final String BUILD_DATE = "2026-02-25 17:33:10 MST";
+  public static final long BUILD_UNIX_TIME = 1772065990668L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
index 035eca4..4565853 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
@@ -56,12 +56,6 @@ public class IntakeReal implements IntakeIO {
     @Override
     public void setRollerOutput(IntakeState state, double rollerOutput) {
         state.rollerTargetOutput = rollerOutput;
-
-
-        if(rollerOutput == 0) {
-            m_rollerMotor.set(0);
-            return;
-        }
         m_rollerMotor.set(rollerOutput);
     }
 
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
index 6b14722..fdb9a61 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
@@ -86,15 +86,6 @@ public class ShooterReal implements ShooterIO {
     @Override
     public void setIndexerOutput(ShooterState state, double percentOutput) {
         state.indexerTargetOutput = percentOutput;
-
-        if(percentOutput == 0) {
-            m_indexerMotor.set(0);
-            return;
-        }
-
-
-
-        // AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
         m_indexerMotor.set(percentOutput);
     }