diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 2b8b564..cf419f2 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -7,15 +7,20 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.IntakeConstants;
 
 public class Intake extends SubsystemBase{
     private PIDController intakeAnglePID;
+
     private CANSparkMax intakeRoller;
     private CANSparkMax intakePivot;
+
     private RelativeEncoder intakeEncoder;
+
     private ArmFeedforward intakeFeedForward;
+
     public Intake(){
         intakeRoller = new CANSparkMax(IntakeConstants.kIntakeRollerID, MotorType.kBrushless);
         
@@ -29,25 +34,56 @@ public class Intake extends SubsystemBase{
         intakeEncoder = intakePivot.getEncoder();
         intakeEncoder.setPosition(IntakeConstants.kStartingAngle);
         intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
+
         intakeAnglePID = new PIDController(IntakeConstants.kPIntake, IntakeConstants.kIIntake, IntakeConstants.kDIntake);
 
     }
 
-    public void intakeDown(){
-        intakeRoller.set(1.0);
+    public Command intakeDownCommand() {
+        return run(() -> {
+            intakeRoller.set(1.0);
         
-        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
+            intakePivot.setVoltage(
+                intakeAnglePID.calculate(
+                    intakeEncoder.getPosition(), 
+                    IntakeConstants.kDownAngle
+                ) + intakeFeedForward.calculate(
+                    IntakeConstants.kDownAngle, 
+                    intakeEncoder.getVelocity()
+                )
+            );
+        });
     }
 
-    public void climbingState(){
-        intakeRoller.set(0.0);
+    public Command climbingStateCommand() {
+        return run(() -> {
+            intakeRoller.set(0.0);
 
-        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
+            intakePivot.setVoltage(
+                intakeAnglePID.calculate(
+                    intakeEncoder.getPosition(), 
+                    IntakeConstants.kDownAngle
+                ) + intakeFeedForward.calculate(
+                    IntakeConstants.kDownAngle, 
+                    intakeEncoder.getVelocity()
+                )
+            );
+        });
     }
 
-    public void intakeUp(){
-        intakeRoller.set(0.0);
+    public Command intakeUpCommand() {
+        return run(() -> {
+            intakeRoller.set(0.0);
 
-        intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kUpAngle) + intakeFeedForward.calculate(IntakeConstants.kUpAngle, intakeEncoder.getVelocity()));
+            intakePivot.setVoltage(
+                intakeAnglePID.calculate(
+                    intakeEncoder.getPosition(), 
+                    IntakeConstants.kUpAngle
+                ) + intakeFeedForward.calculate(
+                    IntakeConstants.kUpAngle, 
+                    intakeEncoder.getVelocity()
+                )
+            );
+        });
     }
 }