diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c5bd385..8e7676f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -67,7 +67,7 @@ public class Constants {
 
     /*INTAKE CONFIG */
     public static final double FLOOR_INTAKE_SPEED = 1.00;
-    public static final double SOURCE_INTAKE_SPEED = -0.50;
+    public static final double SOURCE_INTAKE_SPEED = -0.30;
 
     public static final int INTAKE_BEAM_BREAK_ID = 0;
 
diff --git a/src/main/java/frc/robot/InputtedCoDriverControls.java b/src/main/java/frc/robot/InputtedCoDriverControls.java
index 1f689c1..e1fdd56 100644
--- a/src/main/java/frc/robot/InputtedCoDriverControls.java
+++ b/src/main/java/frc/robot/InputtedCoDriverControls.java
@@ -1,6 +1,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.XboxController;
+import frc.robot.auton.AutonAction;
 import frc.robot.auton.AutonMoveHoodToPosition.HoodPosition;
 import frc.robot.robotcomponents.Climber;
 import frc.robot.robotcomponents.Intake;
@@ -30,13 +31,13 @@ public static void onEveryFrame() {
             Shooter.stopShooterMotors();
         }
 
-        if (controller.getAButtonPressed()) {
-            Intake.startSourceIntake();
-        }
-        // TODO add this: && !Shooter.isPositioningRing() when mechanics adds a breambreak sensor (never)
-        if (controller.getAButtonReleased()) {
-            Intake.stopSourceIntake();
-        }
+        // if (controller.getAButtonPressed()) {
+        //     Intake.startSourceIntake();
+        // }
+        // // TODO add this: && !Shooter.isPositioningRing() when mechanics adds a breambreak sensor (never)
+        // if (controller.getAButtonReleased()) {
+        //     Intake.stopSourceIntake();
+        // }
 
         if (controller.getBackButton()) {
             Climber.manualExtendArms();
@@ -57,16 +58,15 @@ public static void onEveryFrame() {
         //     // TODO add 3rd position if needed
         // }
         if (controller.getBButton()) {
-            Intake.startFloorIntake();
+            Intake.startSourceIntake();
             // TODO add this: && !Shooter.isPositioningRing() when mechanics adds a breambreak sensor (never)
         } else if (controller.getBButtonReleased()) {
-            Intake.stopFloorIntake();
+            Intake.stopSourceIntake();
         }
         if (controller.getPOV() == 0) {
             Intake.backtrack();
             Shooter.backtrack();
         } else if (controller.getPOV() == -1 && lastPOV != -1) {
-            Intake.stopFloorIntake();
             Shooter.stopShooterMotors();
         }
         lastPOV = controller.getPOV();
diff --git a/src/main/java/frc/robot/InputtedDriverControls.java b/src/main/java/frc/robot/InputtedDriverControls.java
index d957ad0..9486651 100644
--- a/src/main/java/frc/robot/InputtedDriverControls.java
+++ b/src/main/java/frc/robot/InputtedDriverControls.java
@@ -31,9 +31,6 @@ public static void onEveryFrame() {
         if (controller.getLeftBumper()) {
             Intake.startFloorIntake();
         }
-        if (controller.getLeftBumperReleased()) {
-            Intake.stopFloorIntake();
-        }
         //This isn't probably helpful, but if the controllers somehow switch mid match, this box will turn red
         if (controller.getRightX() <= -0.99 && Math.abs(controller.getRightY()) < 0.01) {
             framesWithBadInput++;
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index c0e1524..23f945e 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -76,7 +76,7 @@ public class Robot extends TimedRobot {
         Constants.RIGHT_CLIMB_ID,
         MotorController.Type.SparkMaxBrushed
     );
-    MotorController intake = MotorControllerFactory.create(Constants.INTAKE_ID, MotorController.Type.SparkMaxBrushed);
+    // MotorController intake = MotorControllerFactory.create(Constants.INTAKE_ID, MotorController.Type.SparkMaxBrushed);
     // MotorController hoodAdjuster = MotorControllerFactory.create(
     //     Constants.SHOOTER_HOOD_ADJUSTERER_ID,
     //     MotorController.Type.SparkMaxBrushed
@@ -206,8 +206,8 @@ public boolean isFinished() {
                 .leftFlywheel(leftFlywheel)
                 .rightFlywheel(rightFlywheel)
                 .leftClimb(leftClimb)
-                .rightClimb(rightClimb)
-                .intake(intake);
+                .rightClimb(rightClimb);
+        // .intake(intake);
         // .hoodAdjuster(hoodAdjuster);
         // getGyroscope().reset();
         System.out.println(Constants.APRIL_TAG_CONFIDENCE_FRAMES);
diff --git a/src/main/java/frc/robot/RobotComponents/Intake.java b/src/main/java/frc/robot/RobotComponents/Intake.java
index b8d16ab..02c7034 100644
--- a/src/main/java/frc/robot/RobotComponents/Intake.java
+++ b/src/main/java/frc/robot/RobotComponents/Intake.java
@@ -24,7 +24,6 @@ public static void startFloorIntake() {
         // if (!Robot.getTeleopActionRunner().containsAction(AutonFloorIntake.class)) {
         //     Robot.getTeleopActionRunner().addActionToRun(new AutonFloorIntake());
         // }
-        Robot.motors.getIntake().set(Constants.FLOOR_INTAKE_SPEED);
         Robot.motors.getFeeder().set(Constants.FLOOR_INTAKE_SPEED);
     }
 
@@ -35,9 +34,7 @@ public static void startSourceIntake() {
     }
 
     /* This will spin the motor backwards in an attempt to eject a stuck note*/
-    public static void backtrack() {
-        Robot.motors.getIntake().set(Constants.MOTOR_BACKTRACK_SPEED_PERCENT);
-    }
+    public static void backtrack() {}
 
     public static void stopSourceIntake() {
         // Robot.getTeleopActionRunner().removeActionsOfType(AutonSourceIntake.class);
@@ -46,7 +43,6 @@ public static void stopSourceIntake() {
     }
 
     public static void stopFloorIntake() {
-        Robot.motors.getIntake().stopMotor();
         Robot.motors.getFeeder().stopMotor();
         // Robot.getTeleopActionRunner().removeActionsOfType(AutonFloorIntake.class);
     }
diff --git a/src/main/java/frc/robot/RobotComponents/Shooter.java b/src/main/java/frc/robot/RobotComponents/Shooter.java
index 1abfdb3..526c642 100644
--- a/src/main/java/frc/robot/RobotComponents/Shooter.java
+++ b/src/main/java/frc/robot/RobotComponents/Shooter.java
@@ -74,4 +74,9 @@ public static void moveHoodToShootingPosition() {
     public static void stopHoodMotors() {
         Robot.motors.getHoodAdjuster().stopMotor();
     }
+
+    public static void stopFeedMotors() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'stopFeedMotors'");
+    }
 }
diff --git a/src/main/java/frc/robot/auton/AutonFloorIntake.java b/src/main/java/frc/robot/auton/AutonFloorIntake.java
index e5d9e5c..e4b474b 100644
--- a/src/main/java/frc/robot/auton/AutonFloorIntake.java
+++ b/src/main/java/frc/robot/auton/AutonFloorIntake.java
@@ -24,14 +24,12 @@ public boolean isDone() {
 
     @Override
     public void initiate() {
-        Robot.motors.getIntake().set(Constants.FLOOR_INTAKE_SPEED);
         Robot.motors.getFeeder().set(Constants.FEEDER_MOTOR_SPEED);
         Shooter.setCurrentlyPositioningRing(false);
     }
 
     @Override
     public void shutdown() {
-        Robot.motors.getIntake().stopMotor();
         Robot.motors.getFeeder().stopMotor();
         Shooter.setCurrentlyPositioningRing(false);
     }