diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index b3f7d38..6a173c6 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -330,6 +330,7 @@ public class RobotContainer {
         new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
                 m_robotShooter.allowShooting();
+                m_robotIntake.rollerStop();
             })).onFalse(new InstantCommand(() -> {
                 m_robotShooter.denyShooting();
             }));
@@ -350,7 +351,6 @@ public class RobotContainer {
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Idle);
-                m_robotIntake.rollerStop();
                 m_robotShooter.spinUpShooting();
             }))
             .onFalse(new InstantCommand(() -> {
@@ -370,14 +370,11 @@ public class RobotContainer {
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.ExtendingRolling);
-            }))
-            .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.ExtendingIdle);
             }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.RectractTorque);
+                m_robotIntake.setMode(IntakeMode.Retracting);
             }))
             .onFalse(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Idle);
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index c8e200b..e3b7e5d 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 = 200;
-  public static final String GIT_SHA = "3750a97424bfa4c90fc68b8db323029cdbb55452";
-  public static final String GIT_DATE = "2026-04-02 18:27:51 MDT";
+  public static final int GIT_REVISION = 210;
+  public static final String GIT_SHA = "6d55c96f6a6109aa09daad379d5483f9fa52ac7e";
+  public static final String GIT_DATE = "2026-04-04 11:16:38 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-03 20:54:00 MDT";
-  public static final long BUILD_UNIX_TIME = 1775271240963L;
+  public static final String BUILD_DATE = "2026-04-04 13:02:09 MDT";
+  public static final long BUILD_UNIX_TIME = 1775329329859L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index 037077c..78c6e24 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -66,7 +66,8 @@ public class Intake extends SubsystemBase {
     }
 
     public void rollerStop(){
-        io.setRollerOutput(state, 0);
+        this.mode = IntakeMode.Idle;
+        // io.setRollerOutput(state, 0);
     }
 
     public double getRollerTarget() {
@@ -190,7 +191,7 @@ public class Intake extends SubsystemBase {
                 
             case ExpelBalls:
                 io.armOutput(0);
-                io.setRollerOutput(state, -0.2);
+                io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
                 break;
         }
         // if (state.retractedLimit){
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index 5172529..4832c58 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -63,6 +63,8 @@ public class IntakeConstants {
     public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
     
     public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);
+    public static final ConfigurableDouble ROLLER_EJECT_PERCENT_OUTPUT = new ConfigurableDouble("Roller eject Percent Output", -.20);
+    public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .20);
     public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
     public static final ConfigurableDouble ROLLER_MULTIPLIER_CONST = new ConfigurableDouble("Roller Multiplier Constant", 0.4);