diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 5e81e40..3b3af33 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -164,6 +164,19 @@ public class RobotContainer {
         
         new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
             .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.deactivateLuigiMode()));
+
+        new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
+            .whileTrue(new RunCommand(
+                () -> {
+                    m_robotSwerveDrive.driveIntakeOrientation(
+                        getDeadbandedDriverController().getLeft(),
+                        getDeadbandedDriverController().getRight()
+                        
+                    );
+                }, m_robotSwerveDrive))
+            .onFalse(new InstantCommand(() -> {
+                m_robotSwerveDrive.softStop();
+            }));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index a927fe6..249724c 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -234,6 +234,30 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
                 .withVelocityY(leftStick.getY() * speedAdjust)
                 .withTargetDirection(rightStick.getAngle()));
     }
+    public void driveIntakeOrientation(Translation2d leftStick, Translation2d rightStick){
+        // if (invert){
+        //     Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
+        //     driveFieldAngle(stick, heading);
+
+        // } else{
+        //     driveFieldAngle(leftStick, heading);
+        // }
+        double speed = rightStick.getNorm();
+
+        if(speed < 0.3) {
+            driveWithInput(leftStick, new Translation2d(), true);
+        } else {
+
+
+
+            Rotation2d heading = new Rotation2d(rightStick.getX(), rightStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
+
+            heading = heading.rotateBy(Rotation2d.fromDegrees(90));
+            rotTarget = heading.getDegrees();
+
+            driveFieldAngle(leftStick, heading);
+        }
+    }
 
     public void driveRelativeAngle(Translation2d leftStick, Rotation2d heading) {