diff --git a/src/main/java/frc/robot/commands/states/EjectingHopper.java b/src/main/java/frc/robot/commands/states/EjectingHopper.java
index 91aea47..5fa1ee1 100644
--- a/src/main/java/frc/robot/commands/states/EjectingHopper.java
+++ b/src/main/java/frc/robot/commands/states/EjectingHopper.java
@@ -9,7 +9,6 @@
 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
@@ -27,7 +26,7 @@ public EjectingHopper() {
   @Override
   public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
-    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
+    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
     RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED);
diff --git a/src/main/java/frc/robot/commands/states/Intaking.java b/src/main/java/frc/robot/commands/states/Intaking.java
index 86c5c38..24544de 100644
--- a/src/main/java/frc/robot/commands/states/Intaking.java
+++ b/src/main/java/frc/robot/commands/states/Intaking.java
@@ -8,17 +8,20 @@
 import frc.robot.RobotContainer;
 import frc.robot.constants.ConstMotion;
 import frc.robot.constants.ConstRotors;
+import frc.robot.subsystems.StateMachine;
 
 public class Intaking extends Command {
   /** Creates a new Intaking. */
   public Intaking() {
+    addRequirements(RobotContainer.stateMachineInstance);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
+    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
     RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED);
+    RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.INTAKING);
 
   }
 
diff --git a/src/main/java/frc/robot/commands/states/RetractIntake.java b/src/main/java/frc/robot/commands/states/RetractIntake.java
index 75f0249..c17e3e0 100644
--- a/src/main/java/frc/robot/commands/states/RetractIntake.java
+++ b/src/main/java/frc/robot/commands/states/RetractIntake.java
@@ -20,8 +20,8 @@ public RetractIntake() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_RETRACT);
     RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.STOP);
+    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE);
     RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.RETRACT_INTAKE);
   }
 
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java
index 534bd6f..c011ea6 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstMotion.java
@@ -20,8 +20,8 @@
 public class ConstMotion {
   public static final TalonFXConfiguration INTAKE_PIVOT_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration HOOD_PIVOT_CONFIGURATION = new TalonFXConfiguration();
-  public static final Angle INTAKE_PIVOT_DEPLOY = Degrees.of(125);
-  public static final Angle INTAKE_PIVOT_RETRACT = Degrees.of(0);
+  public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
+  public static final Angle RETRACT_INTAKE_PIVOT_ANGLE = Degrees.of(0);
   public static final Angle HOOD_PIVOT_ANGLE = Degrees.of(14);
   public static final double STOP = 0;
   public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
@@ -32,8 +32,8 @@ public class ConstMotion {
     INTAKE_PIVOT_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
     INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitEnable = true;
     INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitEnable = true;
-    INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitThreshold = INTAKE_PIVOT_DEPLOY.in(Rotations);
-    INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitThreshold = INTAKE_PIVOT_RETRACT.in(Rotations);
+    INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitThreshold = DEPLOY_INTAKE_PIVOT_ANGLE.in(Rotations);
+    INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitThreshold = RETRACT_INTAKE_PIVOT_ANGLE.in(Rotations);
     INTAKE_PIVOT_CONFIGURATION.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
     INTAKE_PIVOT_CONFIGURATION.Slot0.kS = 0.3;
     INTAKE_PIVOT_CONFIGURATION.Slot0.kP = 40;