diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index fe3b9bf..d627741 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,6 +4,10 @@
     <list default="true" id="0db3f8d0-13f1-48ea-a29a-a62c3a987cdb" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/frc/robot/OI.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc/robot/OI.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc/robot/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc/robot/Robot.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc/robot/constants/PortConstants.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc/robot/constants/PortConstants.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc/robot/subsystems/IntakeSubsystem.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc/robot/subsystems/IntakeSubsystem.java" afterDir="false" />
     </list>
     <ignored path="$PROJECT_DIR$/out/" />
     <ignored path="$PROJECT_DIR$/.gradle/" />
@@ -50,6 +54,30 @@
   </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
+      <file pinned="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="550">
+              <caret line="35" column="30" selection-start-line="35" selection-start-column="30" selection-end-line="35" selection-end-column="30" />
+              <folding>
+                <element signature="imports" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="true">
+        <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorRawCommand.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="726">
+              <caret line="42" column="34" lean-forward="true" selection-start-line="42" selection-start-column="34" selection-end-line="42" selection-end-column="34" />
+              <folding>
+                <element signature="imports" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/constants/PhysicsConstants.java">
           <provider selected="true" editor-type-id="text-editor">
@@ -62,17 +90,17 @@
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/constants/PortConstants.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="856">
-              <caret line="46" column="65" lean-forward="true" selection-start-line="46" selection-start-column="65" selection-end-line="46" selection-end-column="65" />
+            <state relative-caret-position="614">
+              <caret line="62" column="67" selection-start-line="62" selection-start-column="67" selection-end-line="62" selection-end-column="67" />
             </state>
           </provider>
         </entry>
       </file>
-      <file pinned="false" current-in-tab="true">
+      <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/OI.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="350">
-              <caret line="31" column="34" selection-start-line="31" selection-start-column="34" selection-end-line="31" selection-end-column="34" />
+            <state relative-caret-position="704">
+              <caret line="43" column="74" lean-forward="true" selection-start-line="43" selection-start-column="74" selection-end-line="43" selection-end-column="74" />
               <folding>
                 <element signature="imports" expanded="true" />
               </folding>
@@ -83,8 +111,8 @@
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="-126">
-              <caret line="25" column="53" selection-start-line="25" selection-start-column="53" selection-end-line="25" selection-end-column="53" />
+            <state relative-caret-position="248">
+              <caret line="42" column="106" lean-forward="true" selection-start-line="42" selection-start-column="106" selection-end-line="42" selection-end-column="106" />
               <folding>
                 <element signature="imports" expanded="true" />
               </folding>
@@ -95,16 +123,16 @@
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/subsystems/IntakeSubsystem.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="50">
-              <caret line="73" lean-forward="true" selection-start-line="73" selection-end-line="73" />
+            <state relative-caret-position="1848">
+              <caret line="84" column="5" lean-forward="true" selection-start-line="84" selection-start-column="5" selection-end-line="84" selection-end-column="5" />
               <folding>
                 <element signature="e#0#4553#0" expanded="true" />
                 <element signature="imports" expanded="true" />
-                <element signature="e#1324#1325#0" expanded="true" />
-                <element signature="e#3859#3860#0" expanded="true" />
-                <element signature="e#3939#3940#0" expanded="true" />
+                <element signature="e#1240#1241#0" expanded="true" />
                 <element signature="e#3987#3988#0" expanded="true" />
                 <element signature="e#4059#4060#0" expanded="true" />
+                <element signature="e#4112#4113#0" expanded="true" />
+                <element signature="e#4147#4148#0" expanded="true" />
                 <element signature="e#4093#4094#0" expanded="true" />
                 <element signature="e#4183#4184#0" expanded="true" />
                 <element signature="e#4215#4216#0" expanded="true" />
@@ -137,29 +165,8 @@
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/Robot.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="394">
-              <caret line="71" column="5" selection-start-line="71" selection-start-column="5" selection-end-line="71" selection-end-column="5" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/RobotMap.java">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="242">
-              <caret line="16" selection-start-line="16" selection-end-line="16" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/commands/BackGroundCommand.java">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="418">
-              <caret line="25" column="32" selection-start-line="25" selection-start-column="32" selection-end-line="25" selection-end-column="32" />
-              <folding>
-                <element signature="imports" expanded="true" />
-              </folding>
+            <state relative-caret-position="462">
+              <caret line="32" column="74" selection-start-line="32" selection-start-column="74" selection-end-line="32" selection-end-column="74" />
             </state>
           </provider>
         </entry>
@@ -174,6 +181,7 @@
     </option>
   </component>
   <component name="Git.Settings">
+    <option name="PUSH_AUTO_UPDATE" value="true" />
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="IdeDocumentHistory">
@@ -182,16 +190,17 @@
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/constants/Constants.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/RobotMap.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/constants/TimeConstants.java" />
-        <option value="$PROJECT_DIR$/src/main/java/frc/robot/constants/PortConstants.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/commands/BackGroundCommand.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/constants/PIDConstants.java" />
-        <option value="$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/subsystems/ElevatorSubsytem.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/constants/PhysicsConstants.java" />
+        <option value="$PROJECT_DIR$/src/main/java/frc/robot/OI.java" />
+        <option value="$PROJECT_DIR$/src/main/java/frc/robot/constants/PortConstants.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/subsystems/IntakeSubsystem.java" />
         <option value="$PROJECT_DIR$/src/main/java/frc/robot/Robot.java" />
-        <option value="$PROJECT_DIR$/src/main/java/frc/robot/OI.java" />
+        <option value="$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java" />
+        <option value="$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorRawCommand.java" />
       </list>
     </option>
   </component>
@@ -248,6 +257,15 @@
               <item name="java" type="462c0819:PsiDirectoryNode" />
               <item name="robot" type="462c0819:PsiDirectoryNode" />
             </path>
+            <path>
+              <item name="Skoll_6766_2019" type="b2602c69:ProjectViewProjectNode" />
+              <item name="Skoll_6766_2019" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="462c0819:PsiDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="commands" type="462c0819:PsiDirectoryNode" />
+            </path>
             <path>
               <item name="Skoll_6766_2019" type="b2602c69:ProjectViewProjectNode" />
               <item name="Skoll_6766_2019" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
@@ -276,7 +294,7 @@
     <property name="WebServerToolWindowFactoryState" value="false" />
     <property name="android.sdk.path" value="$USER_HOME$/AppData/Local/Android/Sdk" />
     <property name="aspect.path.notification.shown" value="true" />
-    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1563354431613" />
+    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1563356414077" />
     <property name="last_opened_file_path" value="$PROJECT_DIR$/../../../Desktop/Skoll_6766_2019-master (2)" />
     <property name="nodejs_interpreter_path.stuck_in_default_project" value="undefined stuck path" />
     <property name="nodejs_npm_path_reset_for_default_project" value="true" />
@@ -306,12 +324,20 @@
       <workItem from="1562914133416" duration="33446000" />
       <workItem from="1563169557957" duration="1039000" />
       <workItem from="1563345238249" duration="1660000" />
-      <workItem from="1563347067748" duration="5395000" />
+      <workItem from="1563347067748" duration="7236000" />
     </task>
+    <task id="LOCAL-00001" summary="OI initialise">
+      <created>1563354538019</created>
+      <option name="number" value="00001" />
+      <option name="presentableId" value="LOCAL-00001" />
+      <option name="project" value="LOCAL" />
+      <updated>1563354538019</updated>
+    </task>
+    <option name="localTasksCounter" value="2" />
     <servers />
   </component>
   <component name="TimeTrackingManager">
-    <option name="totallyTimeSpent" value="41540000" />
+    <option name="totallyTimeSpent" value="43381000" />
   </component>
   <component name="ToolWindowManager">
     <frame x="-7" y="-7" width="1550" height="838" extended-state="6" />
@@ -353,6 +379,10 @@
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="1" />
   </component>
+  <component name="VcsManagerConfiguration">
+    <MESSAGE value="OI initialise" />
+    <option name="LAST_COMMIT_MESSAGE" value="OI initialise" />
+  </component>
   <component name="antWorkspaceConfiguration">
     <option name="IS_AUTOSCROLL_TO_SOURCE" value="false" />
     <option name="FILTER_TARGETS" value="false" />
@@ -389,16 +419,6 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="352">
-          <caret line="22" column="27" selection-start-line="22" selection-start-column="27" selection-end-line="22" selection-end-column="44" />
-          <folding>
-            <element signature="imports" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/Main.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="242">
@@ -406,13 +426,6 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/subsystems/ExampleSubsystem.java">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="198">
-          <caret line="14" column="13" selection-start-line="14" selection-start-column="13" selection-end-line="14" selection-end-column="13" />
-        </state>
-      </provider>
-    </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/RobotMap.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="242">
@@ -437,6 +450,23 @@
         </state>
       </provider>
     </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/OI.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="704">
+          <caret line="43" column="74" lean-forward="true" selection-start-line="43" selection-start-column="74" selection-end-line="43" selection-end-column="74" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/subsystems/ExampleSubsystem.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="198">
+          <caret line="14" column="13" selection-start-line="14" selection-start-column="13" selection-end-line="14" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/constants/TimeConstants.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="462">
@@ -446,23 +476,23 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/constants/PortConstants.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="856">
-          <caret line="46" column="65" lean-forward="true" selection-start-line="46" selection-start-column="65" selection-end-line="46" selection-end-column="65" />
+        <state relative-caret-position="614">
+          <caret line="62" column="67" selection-start-line="62" selection-start-column="67" selection-end-line="62" selection-end-column="67" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/subsystems/IntakeSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="50">
-          <caret line="73" lean-forward="true" selection-start-line="73" selection-end-line="73" />
+        <state relative-caret-position="1848">
+          <caret line="84" column="5" lean-forward="true" selection-start-line="84" selection-start-column="5" selection-end-line="84" selection-end-column="5" />
           <folding>
             <element signature="e#0#4553#0" expanded="true" />
             <element signature="imports" expanded="true" />
-            <element signature="e#1324#1325#0" expanded="true" />
-            <element signature="e#3859#3860#0" expanded="true" />
-            <element signature="e#3939#3940#0" expanded="true" />
+            <element signature="e#1240#1241#0" expanded="true" />
             <element signature="e#3987#3988#0" expanded="true" />
             <element signature="e#4059#4060#0" expanded="true" />
+            <element signature="e#4112#4113#0" expanded="true" />
+            <element signature="e#4147#4148#0" expanded="true" />
             <element signature="e#4093#4094#0" expanded="true" />
             <element signature="e#4183#4184#0" expanded="true" />
             <element signature="e#4215#4216#0" expanded="true" />
@@ -473,27 +503,37 @@
         </state>
       </provider>
     </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/Robot.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="462">
+          <caret line="32" column="74" selection-start-line="32" selection-start-column="74" selection-end-line="32" selection-end-column="74" />
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-126">
-          <caret line="25" column="53" selection-start-line="25" selection-start-column="53" selection-end-line="25" selection-end-column="53" />
+        <state relative-caret-position="248">
+          <caret line="42" column="106" lean-forward="true" selection-start-line="42" selection-start-column="106" selection-end-line="42" selection-end-column="106" />
           <folding>
             <element signature="imports" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/Robot.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorCommand.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="394">
-          <caret line="71" column="5" selection-start-line="71" selection-start-column="5" selection-end-line="71" selection-end-column="5" />
+        <state relative-caret-position="550">
+          <caret line="35" column="30" selection-start-line="35" selection-start-column="30" selection-end-line="35" selection-end-column="30" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/OI.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/robot/commands/ElevatorRawCommand.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="350">
-          <caret line="31" column="34" selection-start-line="31" selection-start-column="34" selection-end-line="31" selection-end-column="34" />
+        <state relative-caret-position="726">
+          <caret line="42" column="34" lean-forward="true" selection-start-line="42" selection-start-column="34" selection-end-line="42" selection-end-column="34" />
           <folding>
             <element signature="imports" expanded="true" />
           </folding>
diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 12b5f33..3748896 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -12,6 +12,7 @@
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
 import frc.robot.commands.ElevatorCommand.levelHeight;
 import frc.robot.commands.ElevatorCommand;
+
 /**
  * This class is the glue that binds the controls on the physical operator
  * interface to the commands and command groups that allow control of the robot.
@@ -29,7 +30,7 @@ public class OI {
             buttonBack1 = new JoystickButton(xboxLeft, 7),
             buttonStart1 = new JoystickButton(xboxLeft, 8);
 
-    public  Button buttonA2 = new JoystickButton(xboxRight,1),
+    public Button buttonA2 = new JoystickButton(xboxRight, 1),
             buttonB2 = new JoystickButton(xboxRight, 2),
             buttonX2 = new JoystickButton(xboxRight, 3),
             buttonY2 = new JoystickButton(xboxRight, 4),
@@ -38,17 +39,17 @@ public class OI {
             buttonBack2 = new JoystickButton(xboxRight, 7),
             buttonStart2 = new JoystickButton(xboxRight, 8);
 
-    public OI(){
+    public OI() {
         // buttonA1.whenPressed(new ElevatorCommand(levelHeight.LEVEL_1));
         // buttonB1.whenPressed(new ElevatorCommand(levelHeight.LEVEL_2));
         // buttonX1.whenPressed(new ElevatorCommand(levelHeight.LEVEL_3));
     }
 
-    public double getLeftAxis(int port){
+    public double getLeftAxis(int port) {
         return xboxLeft.getRawAxis(port);
     }
 
-    public boolean getLeftButton(int port){
+    public boolean getLeftButton(int port) {
         return xboxLeft.getRawButton(port);
     }
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 063dcf1..37f3ee3 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -11,6 +11,7 @@
 import frc.robot.constants.TimeConstants;
 import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
 
 
 public class Robot extends TimedRobot {
@@ -29,6 +30,7 @@ public class Robot extends TimedRobot {
 
     //    Subsystem instances
     public static ElevatorSubsystem elevatorSubsytem = new ElevatorSubsystem();
+    public static IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
     public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
 
     @Override
diff --git a/src/main/java/frc/robot/commands/ElevatorCommand.java b/src/main/java/frc/robot/commands/ElevatorCommand.java
index 9573479..3b9a8be 100644
--- a/src/main/java/frc/robot/commands/ElevatorCommand.java
+++ b/src/main/java/frc/robot/commands/ElevatorCommand.java
@@ -21,43 +21,36 @@ public static enum levelHeight {
     }
 
     public ElevatorCommand(levelHeight level) {
-        requires(Robot.elevatorSubsytem);
+        this.currentLevel = level;
     }
 
-    // Called just before this Command runs the first time
     @Override
     protected void initialize() {
         Robot.elevatorSubsytem.config();
     }
 
-    // Called repeatedly when this Command is scheduled to run
     @Override
     protected void execute() {
-        Robot.elevatorSubsytem.setSpeed(Robot.m_oi.getLeftAxis(1));
-        // if (currentLevel == levelHeight.LEVEL_1){
-        //     this.rotation = Robot.physicsConstants.elevatorLevelOneR;
-        // } else if (currentLevel == levelHeight.LEVEL_2) {
-        //     this.rotation = Robot.physicsConstants.elevatorLevelTwoR;
-        // } else if (currentLevel == levelHeight.LEVEL_3) {
-        //     this.rotation = Robot.physicsConstants.elevatorLevelThreeR;
-        // }
-
-        // Robot.elevatorSubsytem.setRotation(rotation);
+         if (currentLevel == levelHeight.LEVEL_1){
+             this.rotation = Robot.physicsConstants.elevatorLevelOneR;
+         } else if (currentLevel == levelHeight.LEVEL_2) {
+             this.rotation = Robot.physicsConstants.elevatorLevelTwoR;
+         } else if (currentLevel == levelHeight.LEVEL_3) {
+             this.rotation = Robot.physicsConstants.elevatorLevelThreeR;
+         }
+
+         Robot.elevatorSubsytem.setRotation(rotation);
     }
 
-    // Make this return true when this Command no longer needs to run execute()
     @Override
     protected boolean isFinished() {
         return false;
     }
 
-    // Called once after isFinished returns true
     @Override
     protected void end() {
     }
 
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
     @Override
     protected void interrupted() {
     }
diff --git a/src/main/java/frc/robot/commands/ElevatorRawCommand.java b/src/main/java/frc/robot/commands/ElevatorRawCommand.java
new file mode 100644
index 0000000..a60f302
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ElevatorRawCommand.java
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class ElevatorRawCommand extends Command {
+    public ElevatorRawCommand() {
+
+    }
+
+    @Override
+    protected void initialize() {
+    }
+
+    @Override
+    protected void execute() {
+        Robot.elevatorSubsytem.setSpeed(Robot.m_oi.getLeftAxis(1));
+    }
+
+    @Override
+    protected boolean isFinished() {
+        return false;
+    }
+
+    @Override
+    protected void end() {
+    }
+
+    @Override
+    protected void interrupted() {
+    }
+}
diff --git a/src/main/java/frc/robot/constants/PortConstants.java b/src/main/java/frc/robot/constants/PortConstants.java
index e27be74..5fff019 100644
--- a/src/main/java/frc/robot/constants/PortConstants.java
+++ b/src/main/java/frc/robot/constants/PortConstants.java
@@ -18,6 +18,9 @@ public class PortConstants implements Constants {
     public int pIFRLeft = 0;
     public int pIFRRight = 1;
 
+//    Solenoid Node ID
+    public int pHatchPanel = 1;
+
     @Override
     public void refresh() {
 //        CAN port
@@ -34,6 +37,9 @@ public void refresh() {
 //        DigitalInput port
         this.pIFRLeft = (int) SmartDashboard.getNumber("/Port/pIFRLeft", this.pIFRLeft);
         this.pIFRRight = (int) SmartDashboard.getNumber("/Port/pIFRRight", this.pIFRRight);
+
+//        Solenoid Node ID
+        this.pHatchPanel = (int) SmartDashboard.getNumber("/Port/pHatchPanel", this.pHatchPanel);
     }
 
     @Override
@@ -52,6 +58,9 @@ public void set() {
 //        DigitalInput Port
         SmartDashboard.putNumber("/Port/pIFRLeft", pIFRLeft);
         SmartDashboard.putNumber("/Port/pIFRRight", pIFRRight);
+
+//      Solenoid Node ID
+        SmartDashboard.putNumber("/Port/pHatchPanel", pHatchPanel);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 9173115..355a939 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -7,33 +7,32 @@
 
 package frc.robot.subsystems;
 
-import edu.wpi.first.wpilibj.command.Subsystem;
-import frc.robot.Robot;
-
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import frc.robot.Robot;
+
 
-/**
- * An example subsystem.  You can replace me with your own Subsystem.
- */
 public class IntakeSubsystem extends Subsystem {
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
-    private WPI_VictorSPX intakeMacin; //victor1 openloop Mac
-    private WPI_VictorSPX intakeAttrition;// victor2 openloop attrition
-    private WPI_TalonSRX intakeMotor;// talon1 closeloop
+
+    private WPI_VictorSPX intakeMacin; // Victor1 Open-loop Macin
+    private WPI_VictorSPX intakeAttrition;// Victor2 Open-loop Attrition
+    private WPI_TalonSRX intakeMotor;// Talon1 Closed-loop
+    private Solenoid hatchSolenoid;
 
     public IntakeSubsystem() {
         intake_config();
     }
 
     public void intake_config() {
-        intakeAttrition = new WPI_VictorSPX(Robot.portConstants.pIntakeSpin); //attrition pip control
-        intakeMacin = new WPI_VictorSPX(Robot.portConstants.pIntakeUp);//intake_macin control up
-        intakeMotor = new WPI_TalonSRX(Robot.portConstants.pIntakeDown);//intakeMotor contorl down
+        intakeAttrition = new WPI_VictorSPX(Robot.portConstants.pIntakeSpin);
+        intakeMacin = new WPI_VictorSPX(Robot.portConstants.pIntakeUp);
+        intakeMotor = new WPI_TalonSRX(Robot.portConstants.pIntakeDown);
+        hatchSolenoid = new Solenoid(Robot.portConstants.pHatchPanel);
 
 //      Main talon controller programmed with mag encoder
         intakeMotor.configFactoryDefault();
@@ -66,17 +65,25 @@ public void intake_config() {
         intakeMacin.setInverted(Robot.physicsConstants.macinInvert);
         intakeAttrition.setInverted(!Robot.physicsConstants.macinInvert);
 
-        // Test
     }
 
-    public void setRotation(double targetRotation) {
+    public void setIntakeRotation(double targetRotation) {
         intakeMotor.set(ControlMode.MotionMagic, targetRotation * 4096);
     }
 
-    public void setSpeed(double targetSpeed) {
+    public void setIntakeSpeed(double targetSpeed) {
         intakeMotor.set(ControlMode.PercentOutput, targetSpeed);
     }
 
+    public void setIntakeUDSpeed(double targetSpeedUp, double targerSpeedDown) {
+        intakeMacin.set(ControlMode.PercentOutput, targetSpeedUp);
+        intakeAttrition.set(ControlMode.PercentOutput, targerSpeedDown);
+    }
+
+    public void setHatchSolenoid(boolean forward){
+        hatchSolenoid.set(forward);
+    }
+
     public void resetEncoder() {
         intakeMotor.setSelectedSensorPosition(0, 0, Robot.timeConstants.kTimeOutMs);
     }