diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 077da2e..6144c5c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -285,6 +285,8 @@ public class RobotContainer {
 
         intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
 
+       // secondary.leftStick().whileTrue(intakePivot.manualSpeed(() -> secondary.getLeftY()));
+
         driver.a().onTrue(new InstantCommand(() -> resetOdometryToVisualPose = true));
         driver.y().whileTrue(drivetrain.zeroHeading());
         driver.x().whileTrue(drivetrain.setX());
@@ -302,10 +304,15 @@ public class RobotContainer {
 
         driver.rightTrigger().whileTrue(
             spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
-                intakeRoller.runIn(),
-                intakePivot.jimmy(.5)
+                intakeRoller.runIn()/* ,
+                intakePivot.jimmy(.5)*/
             )
         );
+        driver.rightTrigger().whileTrue(
+            intakePivot.jimmy(.5)
+        );
+
+        secondary.leftBumper().onTrue(new InstantCommand(() -> {}, intakePivot));
 
         driver.rightTrigger().onFalse(
             intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)