diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index 7090431..91aea47 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -5,25 +5,46 @@
 package frc.robot.commands.states;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.constants.ConstMotion;
+import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine;
+import frc.robot.*;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class EjectingHopper extends Command {
+public class EjectingHopper extends Command
+
+{
   /** Creates a new EjectingHopper. */
   public EjectingHopper() {
+
+    addRequirements(RobotContainer.stateMachineInstance);
+
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
+    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.STOP);
+    RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.STOP);
+    RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.STOP);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/states/Intaking.java b/src/main/java/frc/robot/commands/states/Intaking.java
index 02bdcdf..86c5c38 100644
--- a/src/main/java/frc/robot/commands/states/Intaking.java
+++ b/src/main/java/frc/robot/commands/states/Intaking.java
@@ -18,13 +18,13 @@ public Intaking() {
   @Override
   public void initialize() {
     RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
+    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED);
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED);
-
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/constants/ConstRotors.java b/src/main/java/frc/robot/constants/ConstRotors.java
index 2200f13..2959fa7 100644
--- a/src/main/java/frc/robot/constants/ConstRotors.java
+++ b/src/main/java/frc/robot/constants/ConstRotors.java
@@ -28,6 +28,10 @@ public class ConstRotors {
   public static final double SERIALIZER_SHOOTING_SPEED = 0.5;
   public static final double STOP = 0;
   public static final double REVERSE_SHOOTING_SPEED = -1;
+  public static final double REVERSE_SERIALIZER_ROLLERS_SPEED = -0.5;
+  public static final double REVERSE_INTAKE_ROLLERS_SPEED = -0.5;
+  public static final double REVERSE_TRANSFER_ROLLERS_SPEED = -0.5;
+
   static {
 
     // SHOOTER_TRANSFER_EAST_CONFIGURATION.MotorOutput.NeutralMode =