diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index ed09a30..2b8b564 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -36,18 +36,18 @@ public class Intake extends SubsystemBase{
     public void intakeDown(){
         intakeRoller.set(1.0);
         
-        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, 0.0));
+        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
     }
 
     public void climbingState(){
         intakeRoller.set(0.0);
 
-        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, 0.0));
+        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
     }
 
     public void intakeUp(){
         intakeRoller.set(0.0);
 
-        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kUpAngle) + intakeFeedForward.calculate(IntakeConstants.kUpAngle, 0.0));
+        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kUpAngle) + intakeFeedForward.calculate(IntakeConstants.kUpAngle, intakeEncoder.getVelocity()));
     }
 }