diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a254508..ec268ec 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -79,6 +79,9 @@ public class RobotContainer {
 
     m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
     m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
+    m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
+    m_driverController.b().onTrue(hopperSubsystem.revSpeedCommand());
+    m_driverController.b().onTrue(turretSubsystem.revSpeedCommand());
 
     intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));
   }
diff --git a/src/main/java/frc/robot/commands/ManualIntake.java b/src/main/java/frc/robot/commands/ManualIntake.java
index 1359be0..a23181c 100644
--- a/src/main/java/frc/robot/commands/ManualIntake.java
+++ b/src/main/java/frc/robot/commands/ManualIntake.java
@@ -36,18 +36,10 @@ public class ManualIntake extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(m_XboxController.getLeftBumper()==true)
+    if(m_XboxController.getYButton()==true)
     {
       m_subsystem.extend();
     }
-    else if(m_XboxController.getRightBumper()==true)
-    {
-      m_subsystem.retract();
-    }
-    else
-    {
-      m_subsystem.neutral();
-    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java
index 1a857de..aa82050 100644
--- a/src/main/java/frc/robot/commands/ManualShootCommand.java
+++ b/src/main/java/frc/robot/commands/ManualShootCommand.java
@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 public class ManualShootCommand extends Command {
   private final TurretSubsystem m_subsystem;
   private final XboxController m_controller;
+  private double tempAng;
 
   public ManualShootCommand(TurretSubsystem subsystem, XboxController controller) {
     m_subsystem = subsystem;
diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
index 31a1578..c9b8612 100644
--- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
@@ -9,6 +9,8 @@ import org.fairportrobotics.frc.posty.test.PostTest;
 
 import com.ctre.phoenix6.hardware.TalonFX;
 
+import edu.wpi.first.wpilibj2.command.Command;
+
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import static org.fairportrobotics.frc.robolib.motors.Utils.*;
 import frc.robot.Constants;
@@ -34,6 +36,11 @@ public class HopperSubsystem extends TestableSubsystem {
 
   public void spin(double speed) {spindexerMotor.set(speed);}
 
+  public Command revSpeedCommand()
+  {
+    return this.runOnce(() -> reverse());
+  }
+
   @PostTest(name = "A friendly name", enabled = true)
   public void myFailingPostTest(){
     assertThat(true).isFalse();
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 875f303..692b839 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -37,51 +37,16 @@ public class IntakeSubsystem extends TestableSubsystem {
     deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
   }
 
-  public void neutral()
-  {
-    deployMotor.set(0);
-  }
-
   public void extend()
   {
     deployMotor.set(1);
   }
 
-  public void retract()
-  {
-    deployMotor.set(-1);
-  }
-
   public void setSpeed(double speed)
   {
     intakeMotor.set(speed);
   }
 
-  public boolean isDeployed()
-  {
-    return deployMotor.isFwdLimitSwitchClosed()==1;
-  }
-
-  public boolean isRetracted()
-  {
-    return deployMotor.isRevLimitSwitchClosed()==1;
-  }
-
-  public Command deployCommand()
-  {
-    return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(.5), () -> setSpeed(0), this));
-  }
-
-  public Command reverseCommand()
-  {
-    return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(-.5), () -> setSpeed(0), this));
-  }
-
-  public Command retractCommand()
-  {
-    return this.runOnce(() -> setSpeed(0)).andThen(new FunctionalCommand(this::retract, this::retract, interrupted -> neutral(), this::isRetracted, this));
-  }
-
   public Command startSpeedCommand()
   {
     return this.runOnce(() -> setSpeed(-.5));
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 533f2ef..03fee0d 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -25,6 +25,7 @@ import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Servo;
+import edu.wpi.first.wpilibj2.command.Command;
 
 public class TurretSubsystem extends TestableSubsystem {
   public enum TurretState {
@@ -76,6 +77,11 @@ public class TurretSubsystem extends TestableSubsystem {
     hood.setAngle(elev.in(Units.Degrees));
   }
 
+  public Command revSpeedCommand()
+  {
+    return this.runOnce(() -> setLauncher(-.5));
+  }
+
   public void startHoming()
   {
     //turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);