yes

src/main/java/frc/robot/commands/NoteIntakeCommand.java

@@ -20,6 +20,7 @@ public NoteIntakeCommand(IntakeSubsystem subsystem) {
     addRequirements(m_intakeSubsystem);
 
     // If the distance sensor is not being used, then we want to use a timer to stop this command
+    m_intakeTimer.reset();
     m_intakeTimer.start();
   }
 
@@ -46,6 +47,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return (m_intakeSubsystem.haveNote() || m_intakeSubsystem.getArmPosition() != IntakeConstants.kIntakeLoweredAngle);
+    return m_intakeSubsystem.m_colorSensorToggle ? (m_intakeSubsystem.haveNote() || m_intakeSubsystem.getArmPosition() != IntakeConstants.kIntakeLoweredAngle): m_intakeTimer.get()>3;
   }
 }

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -29,15 +29,14 @@ public class IntakeSubsystem extends SubsystemBase {
   private DutyCycleEncoder m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderChannel);
 
   /** If true, the distance sensor will be used to determine if we have a note */
-  private boolean m_colorSensorToggle = Robot.isReal();
+  public boolean m_colorSensorToggle = Robot.isReal();
   private ColorSensorV3 m_colorSensor = new ColorSensorV3(Port.kMXP);
 
   private double m_intakeSpeed = 0;
   private double m_armSetpoint = IntakeConstants.kIntakeRaisedAngle;
 
   /** Creates a new IntakeSubsystem */
   public IntakeSubsystem() {
-
     m_armEncoder.setPositionOffset(IntakeConstants.kArmEncoderOffset);
     SmartDashboard.putNumber("arm", m_armEncoder.getAbsolutePosition());
     m_armEncoder.setDistancePerRotation(360);