diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6b77ab7..018127e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -68,11 +68,11 @@ public RobotContainer(RobotRunType runtimeType) {
     ;
 
     private void configureButtonBindings() {
-        driver.rightTrigger().whileTrue(intake.intakeCommand());
-        driver.leftTrigger().whileTrue(intake.outakCommand());
-        driver.a().whileTrue(randMot.runPositiveCommand());
-        driver.b().whileTrue(randMot.runNegativeCommand());
-        driveTrain.setDefaultCommand(driveTrain.driveCommand(driver.getLeftY(), driver.getRightY()));
+        driver.rightTrigger().whileTrue(intake.intakeCommand(1));
+        driver.leftTrigger().whileTrue(intake.intakeCommand(-1));
+        driver.a().whileTrue(randMot.runMotorCommand(1));
+        driver.b().whileTrue(randMot.runMotorCommand(-1));
+        driveTrain.setDefaultCommand(driveTrain.driveCommand(driver));
     }
 
 
diff --git a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotors.java b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotors.java
index 6eca39e..52ae61d 100644
--- a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotors.java
+++ b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotors.java
@@ -1,7 +1,6 @@
 package frc.robot.subsystems.RandomMotors;
 
 import org.littletonrobotics.junction.Logger;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -25,14 +24,10 @@ public void runMotor(double power) {
     }
 
     public Command runMotorCommand(double power) {
-        return run(() -> runMotor(power));
-    }
-
-    public Command runPositiveCommand() {
-        return runMotorCommand(1);
-    }
-    
-        public Command runNegativeCommand() {
-        return runMotorCommand(-1);
+        return startEnd(() -> {
+            runMotor(power);
+        }, () -> {
+            runMotor(0);
+        });
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java
index 64c1873..3ce5876 100644
--- a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java
+++ b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java
@@ -1,6 +1,7 @@
 package frc.robot.subsystems.RandomMotors;
 
 import org.littletonrobotics.junction.AutoLog;
+
 public interface RandomMotorsIO {
 
 
@@ -16,4 +17,8 @@ public static class RandomMotorsIOInputs {
     public default void updateInputsIO(RandomMotorsIOInputs inputs) {}
 
     public default void runMotorIO(double voltage) {}
-}
\ No newline at end of file
+
+    public default double encoder() {
+        return 0;
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java
index 0bfb937..6cece45 100644
--- a/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java
+++ b/src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java
@@ -5,7 +5,6 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
-
 import frc.robot.Constants;
 
 public class RandomMotorsReal implements RandomMotorsIO {
@@ -13,12 +12,16 @@ public class RandomMotorsReal implements RandomMotorsIO {
         new CANSparkMax(Constants.Motors.RandomMotors.NEO, MotorType.kBrushless);
     private final TalonFX falcon = new TalonFX(Constants.Motors.RandomMotors.FALCON);
     private RelativeEncoder rEncoder = neo.getEncoder();
-    private StatusSignal <Double> falconVelocity;
+    private StatusSignal<Double> falconVelocity;
 
-    public RandomMotorsReal(){
+    public RandomMotorsReal() {
         falconVelocity = falcon.getVelocity();
     }
 
+    public double encoder() {
+        return neo.get();
+    }
+
     @Override
     public void updateInputsIO(RandomMotorsIOInputs inputs) {
         inputs.falconVelocityIO = getFalconVelocity();
@@ -31,9 +34,8 @@ public void runMotor(double power) {
         falcon.set(power);
     }
 
-    public double getNeoVelocity(){
-        return rEncoder.getVelocity
-        ();
+    public double getNeoVelocity() {
+        return rEncoder.getVelocity();
     }
 
     private double getFalconVelocity() {
diff --git a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
index 8dc0577..5905a61 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
@@ -1,8 +1,9 @@
 package frc.robot.subsystems.drive;
 
 import org.littletonrobotics.junction.Logger;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * Drivetrain subsystem.
@@ -29,8 +30,8 @@ public void setPower(double lPower, double rPower) {
         io.setDrivePowerIO(lPower, rPower);
     }
 
-    public Command driveCommand(double leftY, double rightY) {
-        return run(() -> setPower(leftY, rightY));
+    public Command driveCommand(CommandXboxController controller) {
+        return run(() -> setPower(controller.getLeftY(), controller.getRightY()));
     }
 
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
index c9fa2c9..94d130f 100644
--- a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
+++ b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.drive;
 
-import edu.wpi.first.wpilibj.PWM;
 import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
 import frc.robot.Constants;
 
@@ -9,20 +8,20 @@
  */
 public class DrivetrainReal implements DrivetrainIO {
 
-    VictorSP FLMotor = new VictorSP(Constants.Motors.DriveTrainMotors.FLMOTOR);
-    VictorSP FRMotor = new VictorSP(Constants.Motors.DriveTrainMotors.FRMOTOR);
-    VictorSP BLMotor = new VictorSP(Constants.Motors.DriveTrainMotors.BLMOTOR);
-    VictorSP BRMotor = new VictorSP(Constants.Motors.DriveTrainMotors.BRMOTOR);
+    private final VictorSP FLMotor = new VictorSP(Constants.Motors.DriveTrainMotors.FLMOTOR);
+    private final VictorSP FRMotor = new VictorSP(Constants.Motors.DriveTrainMotors.FRMOTOR);
+    private final VictorSP BLMotor = new VictorSP(Constants.Motors.DriveTrainMotors.BLMOTOR);
+    private final VictorSP BRMotor = new VictorSP(Constants.Motors.DriveTrainMotors.BRMOTOR);
 
 
     /**
      * Drivetrain Real
      */
     public DrivetrainReal() {
-        FLMotor.addFollower(BLMotor);
-        FRMotor.addFollower(BRMotor);
+        BLMotor.addFollower(FLMotor);
+        BRMotor.addFollower(FRMotor);
 
-        FRMotor.setInverted(true);
+        BLMotor.setInverted(true);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/intake/intake.java b/src/main/java/frc/robot/subsystems/intake/intake.java
index 41b9484..c215db0 100644
--- a/src/main/java/frc/robot/subsystems/intake/intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/intake.java
@@ -1,8 +1,8 @@
 package frc.robot.subsystems.Intake;
 
 import org.littletonrobotics.junction.Logger;
-
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Intake extends SubsystemBase {
@@ -26,17 +26,12 @@ public void setIntakePower(double power) {
     }
 
 
-    public Command runMotorCommand(int power) {
-        return run(() -> setIntakePower(power)); 
-    }
-
-    
-
-    public Command intakeCommand() {
-        return runMotorCommand(1); // Borrows runMotorCommand from above at 1
-    }
-    public Command outakCommand() {
-        return runMotorCommand(-1); // Borrows runMotorCommand from above at -1
+    public Command intakeCommand(double power) {
+        return Commands.startEnd(() -> {
+            setIntakePower(power);
+        }, () -> {
+            setIntakePower(0);
+        }, this);
     }
 
 
diff --git a/src/main/java/frc/robot/subsystems/intake/intakeReal.java b/src/main/java/frc/robot/subsystems/intake/intakeReal.java
index b9d0dec..9ac4364 100644
--- a/src/main/java/frc/robot/subsystems/intake/intakeReal.java
+++ b/src/main/java/frc/robot/subsystems/intake/intakeReal.java
@@ -5,18 +5,20 @@
 public class intakeReal implements IntakeIO {
     VictorSP leftIntake = new VictorSP(frc.robot.Constants.Motors.IntakeMotors.LMOTOR);
     VictorSP rightIntake = new VictorSP(frc.robot.Constants.Motors.IntakeMotors.RMOTOR);
-    
 
 
-    public void setIntakePower(double power) {
+
+    public intakeReal() {
         rightIntake.setInverted(true);
+        leftIntake.addFollower(rightIntake);
+    }
+
+    public void setIntakePower(double power) {
         leftIntake.set(power);
-        rightIntake.set(power);
     }
 
     @Override
-    public void updateInputsIO(IntakeIOInputs inputs) {
-    };
+    public void updateInputsIO(IntakeIOInputs inputs) {};
 
 }