Fix errors

src/main/java/frc4388/robot/RobotContainer.java

@@ -13,7 +13,6 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.RobotBase;
@@ -35,7 +34,6 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.intake.Intake;
 import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 import frc4388.robot.subsystems.shooter.Shooter;
-import frc4388.robot.subsystems.shooter.Shooter.ShooterMode;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.DeferredBlock;
@@ -252,12 +250,18 @@ public class RobotContainer {
         //Operator Controls
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Extended);
+                m_robotIntake.setMode(IntakeMode.Extending);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
             }));
         
         new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Retracting);
+            }))
             .onFalse(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracted);
+                m_robotIntake.setMode(IntakeMode.Idle);
             }));
 
         new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)

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 = 59;
-  public static final String GIT_SHA = "7f251857dc4fc6f925d5900e9822f20c8841fa1d";
-  public static final String GIT_DATE = "2026-02-14 15:05:25 MST";
+  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 String GIT_BRANCH = "operator-controls";
-  public static final String BUILD_DATE = "2026-02-14 15:56:10 MST";
-  public static final long BUILD_UNIX_TIME = 1771109770332L;
+  public static final String BUILD_DATE = "2026-02-16 15:54:00 MST";
+  public static final long BUILD_UNIX_TIME = 1771282440915L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -7,9 +7,7 @@ import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 
 public class Intake extends SubsystemBase {
     public IntakeIO io;
@@ -29,7 +27,8 @@ public class Intake extends SubsystemBase {
         Extended,
         Retracted,
         Extending,
-        Retracting
+        Retracting,
+        Idle
     }
 
     private IntakeMode mode = IntakeMode.Extended;
@@ -73,22 +72,19 @@ public class Intake extends SubsystemBase {
                 io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracted:
-                if (!state.retractedLimit){
-                    io.stopArm();
-                } else {
-                    io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
-                }
+                io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
                 io.setRollerVelocity(state, RotationsPerSecond.of(0));
                 break;
             case Extending:
-                io.armExtend(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                io.armOutput(0.1);
+                io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
                 break;
             case Retracting:
-                if (!state.retractedLimit){
-                    io.stopArm();
-                } else {
-                    io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
-                }
+                io.armOutput(-0.1);
+                io.setRollerVelocity(state, RotationsPerSecond.of(0));
+                break;
+             case Idle:
+                io.stopArm();
                 break;
         }
 

src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java

@@ -36,8 +36,7 @@ public interface IntakeIO {
     public default void setArmAngle(IntakeState state, Angle angle) {}
     public default void stopArm() {}
     public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
-    public default void armExtend(double percentOutput) {}
-    public default void armRetract(double percentOutput) {}
+    public default void armOutput(double percentOutput) {}
     public default void updateInputs(IntakeState state) {}
     public default void updateGains() {}
 }

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -1,5 +1,9 @@
 package frc4388.robot.subsystems.intake;
 
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Rotation;
+
+import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.hardware.TalonFX;
@@ -69,6 +73,7 @@ public class IntakeReal implements IntakeIO {
 
     @Override
     public void setArmAngle(IntakeState state, Angle angle) {
+        
         state.armTargetAngle = angle;
         // Assume that the angle is always accurate, because I think we will use a shaft encoder
         // Assume that 0 degrees = forwards. Might need an offset here
@@ -79,20 +84,25 @@ public class IntakeReal implements IntakeIO {
         Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
         
         // PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
-        m_armMotor.setControl(armPosition.withPosition(motorAngle));
+        m_armMotor.setControl(
+            armPosition
+                .withPosition(motorAngle)
+                .withLimitReverseMotion(!m_armLimitSwitch.get())
+            );
     }
+
     @Override
     public void stopArm(){
         m_armMotor.set(0);
     }
+    
     @Override
-    public void armExtend(double percentOutput){
-        m_armMotor.set(percentOutput);
-    }
-
-    @Override
-        public void armRetract(double percentOutput){
-        m_armMotor.set(percentOutput);
+    public void armOutput(double percentOutput){
+        var d = new DutyCycleOut(0);
+        m_armMotor.setControl(
+            d.withOutput(percentOutput)
+                .withLimitReverseMotion(!m_armLimitSwitch.get())
+            );
     }
 
     @Override