diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1cd86d1..b459ee4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -87,7 +87,7 @@ public class RobotContainer {
         // m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
         m_driverController.a().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
         m_driverController.x().whileTrue(new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
-        m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem));
+        m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID()));
         m_driverController.y().onTrue(intakeSubsystem.deploy());
     }
 
diff --git a/src/main/java/frc/robot/commands/Reverse.java b/src/main/java/frc/robot/commands/Reverse.java
index d2a7425..d42a108 100644
--- a/src/main/java/frc/robot/commands/Reverse.java
+++ b/src/main/java/frc/robot/commands/Reverse.java
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.HopperSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
@@ -14,15 +15,17 @@ public class Reverse extends Command {
 
     private IntakeSubsystem intakeSubsystem;
     private HopperSubsystem hopperSubsystem;
+    private XboxController m_XboxController;
 
     /**
      * Creates a new ExampleCommand.
      *
      * @param subsystem The subsystem used by this command.
      */
-    public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem) {
+    public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem, XboxController m_XboxController) {
         this.intakeSubsystem = intakeSubsystem;
         this.hopperSubsystem = hopperSubsystem;
+        this.m_XboxController = m_XboxController;
     }
 
     // Called when the command is initially scheduled.
@@ -43,7 +46,7 @@ public class Reverse extends Command {
     public void end(boolean interrupted) {
         hopperSubsystem.stopKicker();
         hopperSubsystem.spindexerOff();
-        intakeSubsystem.stopIntake();
+        intakeSubsystem.stopIntake(m_XboxController);
     }
 
     // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 2d49c8f..a9042a6 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -60,9 +60,10 @@ public class IntakeSubsystem extends TestableSubsystem {
         intakeMotor.set(speed);
     }
 
-    public Command stopIntake() {
+    public Command stopIntake(XboxController m_XboxController) {
         return this.runOnce(() -> {
             intakeMotor.stopMotor();
+            m_XboxController.setRumble(RumbleType.kBothRumble, .0);
         });
     }