diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2e5bbb6..a38d0fa 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -62,14 +62,8 @@ public class RobotContainer {
     m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
     m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
 
-    // m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
-    // m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
-
-
-
-    m_driverController.b().whileTrue(turretSubsystem.setShooter(1500));
-    m_driverController.x().whileTrue(turretSubsystem.setShooter(2000));
-    m_driverController.y().whileTrue(turretSubsystem.setShooter(3000));
+    m_driverController.rightBumper().whileTrue(intakeSubsystem.intake());
+    m_driverController.y().onTrue(intakeSubsystem.deploy());
     m_driverController.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
   }
 
diff --git a/src/main/java/frc/robot/commands/ManualIntake.java b/src/main/java/frc/robot/commands/ManualIntake.java
index 39c9aa4..95096a8 100644
--- a/src/main/java/frc/robot/commands/ManualIntake.java
+++ b/src/main/java/frc/robot/commands/ManualIntake.java
@@ -36,7 +36,7 @@ public class ManualIntake extends Command {
   public void execute() {
     if(m_XboxController.getYButton()==true)
     {
-      m_subsystem.extend();
+      m_subsystem.deploy();
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index a200006..04122df 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -17,6 +17,7 @@ import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import static org.fairportrobotics.frc.robolib.motors.Utils.*;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 
 public class IntakeSubsystem extends TestableSubsystem {
   /** Creates a new ExampleSubsystem. */
@@ -35,9 +36,24 @@ public class IntakeSubsystem extends TestableSubsystem {
     deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
   }
 
-  public void extend()
+  public Command deploy()
   {
-    deployMotor.set(1);
+    return Commands.sequence(
+      Commands.deadline(
+        Commands.waitSeconds(2),
+        this.runEnd(
+          () -> {deployMotor.set(-0.5);},
+          () -> {deployMotor.stopMotor();} 
+        )
+      ),
+      Commands.deadline(
+        Commands.waitSeconds(2),
+        this.runEnd(
+          () -> { deployMotor.set(0.5); },
+          () -> { deployMotor.stopMotor(); }
+        )
+      )
+    );
   }
 
   public void setSpeed(double speed)
@@ -45,19 +61,14 @@ public class IntakeSubsystem extends TestableSubsystem {
     intakeMotor.set(speed);
   }
 
-  public Command startSpeedCommand()
+  public Command intake()
   {
-    return this.runOnce(() -> setSpeed(-.5));
+    return this.runEnd(() -> setSpeed(-.5), () -> { intakeMotor.stopMotor();});
   }
 
-  public Command killSpeedCommand()
+  public Command reverseIntake()
   {
-    return this.runOnce(() -> setSpeed(0));
-  }
-
-  public Command revSpeedCommand()
-  {
-    return this.runOnce(() -> setSpeed(.5));
+    return this.runEnd(() -> setSpeed(.5), () -> { intakeMotor.stopMotor();});
   }
 
   @PostTest(enabled = true)