From 2e2ea2267b8cf2d0a4051dcb9af7425c40ad7968 Mon Sep 17 00:00:00 2001
From: TheRealGreydon <nmunier65@gmail.com>
Date: Sat, 17 Oct 2026 13:54:01 -0400
Subject: [PATCH]

---
 src/main/java/frc/robot/RobotContainer.java             | 2 +-
 src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 5 +++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d1386ac..7b0d283 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -82,7 +82,7 @@ public class RobotContainer {
      */
     private void configureBindings() {
         // These let the driver set the shooter hood position using the controller.
-        m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID())));
+        m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intakeNO()));
         m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
         m_driverController.x().toggleOnTrue(new UltraShooterCommand(hopperSubsystem, turretSubsystem, driveSubsystem));
         m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID()));
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 40e8175..e948d94 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -68,6 +68,11 @@ public class IntakeSubsystem extends TestableSubsystem {
         });
     }
 
+    public Command intakeNO() {
+        return this.runOnce(() -> 
+        {setSpeed(-.45);});
+    }
+
     public Command intakeNR() {
         return this.runOnce(() -> 
         {if (intakeMotor.get() == 0) {setSpeed(-.45);} else {intakeMotor.stopMotor();}});