diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e27e6b2..113cb89 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -250,18 +250,12 @@ public class RobotContainer {
         //Operator Controls
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Extending);
-            }))
-            .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotIntake.setMode(IntakeMode.Extended);
             }));
         
         new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracting);
-            }))
-            .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotIntake.setMode(IntakeMode.Retracted);
             }));
 
         new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
@@ -275,14 +269,19 @@ public class RobotContainer {
             }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
-            .onFalse(new InstantCommand(() -> {
+            .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Retracting);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
             }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
-            .onFalse(new InstantCommand(() -> {
-                m_robotShooter.setShooterNotReady();
+            .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Extending);
+            }))
+            .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 ba29324..8f37937 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 = 60;
-  public static final String GIT_SHA = "f88619a1da6b3adf64df3c4277deeca5bed6ee21";
-  public static final String GIT_DATE = "2026-02-14 15:57:33 MST";
+  public static final int GIT_REVISION = 61;
+  public static final String GIT_SHA = "8551843831dbdc8790c0f9c02fb406248b69ec7a";
+  public static final String GIT_DATE = "2026-02-16 15:57:24 MST";
   public static final String GIT_BRANCH = "operator-controls";
-  public static final String BUILD_DATE = "2026-02-16 15:54:00 MST";
-  public static final long BUILD_UNIX_TIME = 1771282440915L;
+  public static final String BUILD_DATE = "2026-02-16 15:58:06 MST";
+  public static final long BUILD_UNIX_TIME = 1771282686680L;
   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 2d72724..1b5d74c 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -76,17 +76,20 @@ public class Intake extends SubsystemBase {
                 io.setRollerVelocity(state, RotationsPerSecond.of(0));
                 break;
             case Extending:
-                io.armOutput(0.1);
+                io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
                 io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracting:
-                io.armOutput(-0.1);
+                io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
                 io.setRollerVelocity(state, RotationsPerSecond.of(0));
                 break;
-             case Idle:
+            case Idle:
                 io.stopArm();
                 break;
         }
+        if (state.retractedLimit){
+            this.mode = IntakeMode.Retracted;
+        }
 
     }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
index 6cafe03..9f7359f 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
@@ -95,7 +95,7 @@ public class IntakeReal implements IntakeIO {
     public void stopArm(){
         m_armMotor.set(0);
     }
-    
+
     @Override
     public void armOutput(double percentOutput){
         var d = new DutyCycleOut(0);
@@ -109,7 +109,7 @@ public class IntakeReal implements IntakeIO {
     public void updateInputs(IntakeState state) {
         state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
         state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
-        state.retractedLimit = m_armLimitSwitch.get();
+        state.retractedLimit = !m_armLimitSwitch.get();
         state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
         state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
     }