diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 650a3a1..2150560 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 = 24;
-  public static final String GIT_SHA = "5d381731689602f5fac161f1552170003ef30c14";
-  public static final String GIT_DATE = "2026-01-29 18:07:19 MST";
+  public static final int GIT_REVISION = 28;
+  public static final String GIT_SHA = "5f4d7887ffc93ef535cef23511da086cd7f6d8bd";
+  public static final String GIT_DATE = "2026-01-31 15:33:14 MST";
   public static final String GIT_BRANCH = "Subsystem-Boilerplate";
-  public static final String BUILD_DATE = "2026-01-29 19:27:45 MST";
-  public static final long BUILD_UNIX_TIME = 1769740065495L;
+  public static final String BUILD_DATE = "2026-01-31 21:37:04 MST";
+  public static final long BUILD_UNIX_TIME = 1769920624950L;
   public static final int DIRTY = 1;
 
   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 80bcf5e..f3de1be 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -287,14 +287,21 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
     }
 
     
-    public void driveIntake(Translation2d leftStick, Rotation2d heading, boolean invert){
-        if (invert){
-            Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
-            driveFieldAngle(stick, heading);
+    public void driveIntake(Translation2d leftStick){
+        // if (invert){
+        //     Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
+        //     driveFieldAngle(stick, heading);
 
-        } else{
-            driveFieldAngle(leftStick, heading);
-        }
+        // } else{
+        //     driveFieldAngle(leftStick, heading);
+        // }
+        double speed = leftStick.getNorm();
+
+        Rotation2d heading = leftStick.getAngle();
+
+    // Only drive forward in robot direction (no strafe)
+        Translation2d forwardOnly = new Translation2d(speed, 0.0);
+        driveFieldAngle(forwardOnly, heading);
     }