diff --git a/src/main/java/frc/robot/commands/states/Shooting.java b/src/main/java/frc/robot/commands/states/Shooting.java
index 61a21b1..ce62b1f 100644
--- a/src/main/java/frc/robot/commands/states/Shooting.java
+++ b/src/main/java/frc/robot/commands/states/Shooting.java
@@ -4,6 +4,7 @@
 
 package frc.robot.commands.states;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;
 import frc.robot.constants.ConstMotion;
@@ -12,6 +13,9 @@
 
 public class Shooting extends Command {
   /** Creates a new Shooting. */
+
+  private final Timer intakeAgitationTimer = new Timer();
+
   public Shooting() {
 
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,11 +28,24 @@ public void initialize() {
     RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
     RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
+    intakeAgitationTimer.restart();
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if (!RobotContainer.motionInstance.getIntakePivotAngle().isNear(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE,
+        ConstMotion.INTAKE_PIVOT_TOLERANCE)
+        && intakeAgitationTimer.hasElapsed(ConstMotion.INTAKE_PIVOT_AGITATION_TIME)) {
+      RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE);
+      intakeAgitationTimer.restart();
+
+    } else if (intakeAgitationTimer.hasElapsed((ConstMotion.INTAKE_PIVOT_AGITATION_TIME))) {
+      RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
+      intakeAgitationTimer.restart();
+    }
+
   }
 
   // Called once the command ends or is interrupted.
@@ -38,7 +55,8 @@ public void end(boolean interrupted) {
     RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.STOP);
     RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.STOP);
     RobotContainer.motionInstance.setHoodPivotAngle(ConstMotion.HOOD_PIVOT_ANGLE_RETRACT);
-
+    RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
+    intakeAgitationTimer.stop();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/constants/ConstMotion.java b/src/main/java/frc/robot/constants/ConstMotion.java
index d367b3f..118cfc7 100644
--- a/src/main/java/frc/robot/constants/ConstMotion.java
+++ b/src/main/java/frc/robot/constants/ConstMotion.java
@@ -15,9 +15,12 @@
 
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.Time;
 
 /** Add your docs here. */
 public class ConstMotion {
+  public static final Angle INTAKE_PIVOT_TOLERANCE = Degrees.of(1.0);
+  public static final Time INTAKE_PIVOT_AGITATION_TIME = Units.Seconds.of(1.0 / 3.0);
   public static final TalonFXConfiguration INTAKE_PIVOT_CONFIGURATION = new TalonFXConfiguration();
   public static final TalonFXConfiguration HOOD_PIVOT_CONFIGURATION = new TalonFXConfiguration();
   public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
diff --git a/src/main/java/frc/robot/subsystems/Motion.java b/src/main/java/frc/robot/subsystems/Motion.java
index 39c82b0..edf68b8 100644
--- a/src/main/java/frc/robot/subsystems/Motion.java
+++ b/src/main/java/frc/robot/subsystems/Motion.java
@@ -29,7 +29,6 @@ public class Motion extends SubsystemBase {
   Angle lastDesiredIntakePivotAngle = Degrees.zero();
 
   private boolean hoodAtPostion = false;
-  private boolean intakePivotAtPosition = false;
 
   public Motion() {
     intakePivot.getConfigurator().apply(ConstMotion.INTAKE_PIVOT_CONFIGURATION);
@@ -80,17 +79,6 @@ public boolean isHoodPivotAtAngle(Angle tolerance) {
     return hoodAtPostion;
   }
 
-  public boolean isIntakePivotAtAngle(Angle tolerance) {
-    Angle lowerlim = lastDesiredIntakePivotAngle.minus(tolerance);
-    Angle upperlim = lastDesiredIntakePivotAngle.plus(tolerance);
-
-    Angle intakePivotAngle = getIntakePivotAngle();
-
-    intakePivotAtPosition = intakePivotAngle.gte(lowerlim)
-        && intakePivotAngle.lte(upperlim);
-    return intakePivotAtPosition;
-  }
-
   @Override
   public void periodic() {
     // This method will be called once per scheduler run