diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 5c0977d..4023dab 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -404,7 +404,7 @@ public class RobotContainer {
             
         new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Bouncing);
+                m_robotIntake.setMode(IntakeMode.RectractTorque);
             }))
             .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 c6f0611..f6d9f2d 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 = 189;
-  public static final String GIT_SHA = "65c76aca95de81f342df7ff26a77e18856f22a83";
-  public static final String GIT_DATE = "2026-03-28 15:56:54 MDT";
+  public static final int GIT_REVISION = 197;
+  public static final String GIT_SHA = "2407a900c901efca8c60d0a6143e39db7cf90201";
+  public static final String GIT_DATE = "2026-03-31 19:47:27 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-03-30 19:50:05 MDT";
-  public static final long BUILD_UNIX_TIME = 1774921805228L;
+  public static final String BUILD_DATE = "2026-03-31 20:33:43 MDT";
+  public static final long BUILD_UNIX_TIME = 1775010823079L;
   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 1d889d7..5ff8b7e 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -40,6 +40,7 @@ public class Intake extends SubsystemBase {
         RectractTorque,
         Bouncing
     }
+    private boolean overCompressed = false;
 
     private IntakeMode mode = IntakeMode.Idle;
 
@@ -87,7 +88,6 @@ public class Intake extends SubsystemBase {
     // }
 
 
-
     @Override
     public void periodic() {
         // FaultReporter.register(this); // TODO Implement fault reporter
@@ -100,6 +100,14 @@ public class Intake extends SubsystemBase {
 
         io.updateInputs(state);
 
+        if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD.get()){
+            overCompressed = false;
+        } else if (state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD.get()) {
+            overCompressed = true;
+        }
+
+        Logger.recordOutput("overCompressed", overCompressed);
+
         // getCurrentTime
 
         switch (mode) {
@@ -160,9 +168,9 @@ public class Intake extends SubsystemBase {
                 break;
             case RectractTorque:
                 io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
-                if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LIMIT.get()){
+                if (!overCompressed){
                     io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
-                } else {
+                } else if (overCompressed) {
                     io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
                 }
                 if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index 1d1cb03..c08d337 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -26,9 +26,10 @@ public class IntakeConstants {
 
 
     //squeeze constants
-    public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LIMIT = new ConfigurableDouble("Intake Squeeze Current Limit", 20);
+    public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
+    public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
     public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.1);
-    public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.02);
+    public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", -0.02);
 
 
     //IDs
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
index 597b7a3..9e502de 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
@@ -67,16 +67,16 @@ public final class SwerveDriveConstants {
 
     // Operation
     public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
+    public static ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05); // degrees to add to the angle when we are far away, to account for camera misalignment. TODO: find value.
 
     public static final boolean DRIFT_CORRECTION_ENABLED = true;
     public static final boolean INVERT_X = false;
     public static final boolean INVERT_Y = true;
     public static final boolean INVERT_ROTATION = false;
 
-    public static ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05);
     // public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
 
-    public static final class ModuleSpecificConstants { //2026
+    private static final class ModuleSpecificConstants { //2025
         //Front Left
         private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.49707+0.350-0.03+0.0134+0.06-0.043);
         private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
@@ -166,6 +166,7 @@ public final class SwerveDriveConstants {
         public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 12);
         public static final ConfigurableDouble AIM_kI = new ConfigurableDouble("Aim kI", 0);
         public static final ConfigurableDouble AIM_kD = new ConfigurableDouble("Aim kD", 0.1);
+        public static final ConfigurableDouble HOLD_POSITION_kP = new ConfigurableDouble("Hold Position kP", 15);
         // public static final Gains AIM_GAINS = new Gains(2.5, 0, 0.1);
     }