diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9c80061..e317919 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -179,7 +179,8 @@ public class RobotContainer {
             .whileTrue(new RunCommand(
                 () -> {
                     m_robotSwerveDrive.driveIntake(
-                        getDeadbandedDriverController().getLeft()
+                        getDeadbandedDriverController().getLeft(),
+                        false
                     );
                 }, m_robotSwerveDrive))
             .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 1903dd6..d34231e 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 = 31;
-  public static final String GIT_SHA = "9fcc5ffe9f52bb7c311e0cb573061158ec2794ce";
-  public static final String GIT_DATE = "2026-02-02 19:46:18 MST";
+  public static final int GIT_REVISION = 32;
+  public static final String GIT_SHA = "7b46b7a1a30820e2e754c8b8335bd4207dcddf77";
+  public static final String GIT_DATE = "2026-02-03 17:36:09 MST";
   public static final String GIT_BRANCH = "Subsystem-Boilerplate";
-  public static final String BUILD_DATE = "2026-02-03 17:30:18 MST";
-  public static final long BUILD_UNIX_TIME = 1770165018277L;
+  public static final String BUILD_DATE = "2026-02-03 18:04:39 MST";
+  public static final long BUILD_UNIX_TIME = 1770167079826L;
   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 046ea38..511fb4e 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -288,7 +288,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
     
     
-    public void driveIntake(Translation2d leftStick){
+    public void driveIntake(Translation2d leftStick, boolean invertRotation){
         // if (invert){
         //     Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
         //     driveFieldAngle(stick, heading);
@@ -298,11 +298,22 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         // }
         double speed = leftStick.getNorm();
 
-        Rotation2d heading = leftStick.getAngle();
+        if(speed < 0.3) {
+            driveWithInput(leftStick, new Translation2d(), true);
+        } else {
 
-    // Only drive forward in robot direction (no strafe)
-        Translation2d forwardOnly = new Translation2d(speed, 0.0);
-        driveFieldAngle(forwardOnly, heading);
+
+
+            Rotation2d heading = new Rotation2d(leftStick.getX(), -leftStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
+
+            // if (invertRotation){
+                heading = heading.rotateBy(Rotation2d.fromDegrees(270));
+            // }
+
+        // Only drive forward in robot direction (no strafe)
+            // Translation2d forwardOnly = new Translation2d(speed, 0.0);
+            driveFieldAngle(leftStick, heading);
+        }
     }