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/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 12dd413..1d76a79 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,13 +7,13 @@ 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 = 7;
-  public static final String GIT_SHA = "24fdd610c9256b4599b7d29ebb1a3acd14cc38b7";
-  public static final String GIT_DATE = "2026-01-13 18:19:47 MST";
-  public static final String GIT_BRANCH = "master";
-  public static final String BUILD_DATE = "2026-01-13 18:58:23 MST";
-  public static final long BUILD_UNIX_TIME = 1768355903336L;
-  public static final int DIRTY = 1;
+  public static final int GIT_REVISION = 8;
+  public static final String GIT_SHA = "a27cde3f84484e652e5dcc1fd2f432871a2f0245";
+  public static final String GIT_DATE = "2026-01-13 19:41:42 MST";
+  public static final String GIT_BRANCH = "DrivingTryouts";
+  public static final String BUILD_DATE = "2026-02-17 17:25:18 MST";
+  public static final long BUILD_UNIX_TIME = 1771374318460L;
+  public static final int DIRTY = 0;
 
   private BuildConstants(){}
 }
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index a927fe6..8ac62c1 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -251,6 +251,31 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         io.setControl(ctrl);
     }
 
+    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 driveFieldAngle(Translation2d leftStick, Rotation2d heading) {
         if (leftStick.getNorm() < 0.05) // if no imput and the swerve drive is still going:
             stopModules(); // stop the swerve