diff --git a/src/main/java/frc/robot/IntakeConstants.java b/src/main/java/frc/robot/IntakeConstants.java
new file mode 100644
index 0000000..8fc71b7
--- /dev/null
+++ b/src/main/java/frc/robot/IntakeConstants.java
@@ -0,0 +1,6 @@
+package frc.robot;
+
+public class IntakeConstants {
+    public static final double IntakeDroppedAngle = 9.0;
+    public static final double IntakeRaisedAngle = 9.0;
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8cfa519..cab2f9f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -10,14 +10,32 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 
 public class RobotContainer {
   public final ShooterSubsystem m_ShooterSubsystem = new ShooterSubsystem();
+  public final IntakeSubsystem m_IntakeSubsystem = new IntakeSubsystem();
+  private boolean IntakeDropped = false;
+  private boolean lastAButton = false;
+
   private XboxController controller = new XboxController(0);
   public RobotContainer() {
     configureBindings();
+    m_IntakeSubsystem.setDefaultCommand(new InstantCommand(()-> m_IntakeSubsystem.load(controller.getRightTriggerAxis()-controller.getLeftTriggerAxis(),IntakeDropped ? IntakeConstants.IntakeDroppedAngle : IntakeConstants.IntakeRaisedAngle),m_IntakeSubsystem));
+  }
+
+  public void periodic(){
+    if(controller.getAButton()){
+      lastAButton = true;
+      if (!lastAButton)
+        IntakeDropped = !IntakeDropped;
+    }
+    else {
+      lastAButton = false;
+    }
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/subsystems/intake.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
similarity index 86%
rename from src/main/java/frc/robot/subsystems/intake.java
rename to src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index c0bd4b4..e91f9f2 100644
--- a/src/main/java/frc/robot/subsystems/intake.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -24,7 +24,7 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Intake extends SubsystemBase {
+public class IntakeSubsystem extends SubsystemBase {
   //TODO: add constants
   CANSparkFlex intakeMotor = new CANSparkFlex(0, MotorType.kBrushless);
   CANSparkFlex armMotor = new CANSparkFlex(0, MotorType.kBrushless);
@@ -39,15 +39,22 @@ public class Intake extends SubsystemBase {
 
 
   /** Creates a new intake. */
-  public Intake() {
+  public IntakeSubsystem() {
     
   }
-
-  void load(double speed){
+    /**
+     * 
+     * @param speed motor power to apply to intake
+  *@param angle in radians
+  *
+  */
+  public void load(double speed, double angle){
     intakeMotor.set(speed);
-    //TODO: Implement load/unload through speed (which is a trigger)
+    tiltToAngle(angle);
+
   }
     /**
+     * 
   *@param angle in radians
   *@everyone join vc we are playing gartic phone
   */
@@ -56,6 +63,7 @@ public void tiltToAngle(double angle) {
     double motorPower = armPID.calculate(armEncoder.getAbsolutePosition(), angle);
     armMotor.set(motorPower);
   }
+  
 
 
   @Override