diff --git a/build.gradle b/build.gradle
index a55a04a..6edd6c5 100644
--- a/build.gradle
+++ b/build.gradle
@@ -36,7 +36,7 @@ deploy {
 def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = true
+def includeDesktopSupport = false
 
 // Set to true to run simulation in debug mode
 wpi.cpp.debugSimulation = false
diff --git a/logs/FRC_20230330_183315_MOKC_P4.wpilog b/logs/FRC_20230330_183315_MOKC_P4.wpilog
new file mode 100644
index 0000000..e5740e8
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diff --git a/logs/FRC_20230330_191637_MOKC_P8.wpilog b/logs/FRC_20230330_191637_MOKC_P8.wpilog
new file mode 100644
index 0000000..de79b87
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diff --git a/logs/FRC_20230331_140811_MOKC_Q2.wpilog b/logs/FRC_20230331_140811_MOKC_Q2.wpilog
new file mode 100644
index 0000000..c7a6b7d
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diff --git a/logs/FRC_20230331_150043_MOKC_Q8.wpilog b/logs/FRC_20230331_150043_MOKC_Q8.wpilog
new file mode 100644
index 0000000..cbe5fbf
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diff --git a/logs/FRC_20230331_160108_MOKC_Q13.wpilog b/logs/FRC_20230331_160108_MOKC_Q13.wpilog
new file mode 100644
index 0000000..3a2e830
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diff --git a/logs/FRC_20230331_181809_MOKC_Q23.wpilog b/logs/FRC_20230331_181809_MOKC_Q23.wpilog
new file mode 100644
index 0000000..615156c
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diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
index f956f26..545433b 100644
--- a/src/main/cpp/RobotContainer.cpp
+++ b/src/main/cpp/RobotContainer.cpp
@@ -64,18 +64,16 @@ bool RobotContainer::ConfigureButtonBindings() {
     // driver_x_button_->WhileActiveContinous(*retractArmCommand);
     // driver_b_button_->WhileActiveContinous(*extendArmCommand);
 
-    // manip_left_stick_button_->WhileHeld(*inc_wrist_tilt_command_);
-    // manip_right_stick_button_->WhileHeld(*dec_wrist_tilt_command_);
-    
+
     // second driver controls
-    manip_a_button_->WhenPressed(*human_player_command_);
-    manip_right_bumper_button_->WhenPressed(*pickup_command_);
-    manip_left_bumper_button_->WhenPressed(*pickup_reverse_command_);
+    manip_a_button_->WhenPressed(*arm_human_player_command_);
+    manip_right_bumper_button_->WhenPressed(*arm_pickup_command_);
+    manip_left_bumper_button_->WhenPressed(*arm_pickup_reverse_command_);
 
-    manip_x_button_->WhenPressed(*carry_command_);
+    manip_x_button_->WhenPressed(*arm_carry_command_);
 
-    manip_b_button_->WhenPressed(*score_mid_command_);
-    manip_y_button_->WhenPressed(*score_high_command_);
+    manip_b_button_->WhenPressed(*arm_score_mid_command_);
+    manip_y_button_->WhenPressed(*arm_score_high_command_);
 
     manip_start_button_->WhenPressed(*reset_gyro_command_);
   
@@ -129,7 +127,6 @@ bool RobotContainer::InitActuators(Actuators *actuators_interface) {
     actuators_interface->arm_extend_motor->SetIdleMode(BRAKE);
 
     actuators_interface->intake_motor = std::make_unique<rev::CANSparkMax>(INTAKE_MOTOR, BRUSHLESS);
-    actuators_interface->wrist_motor = std::make_unique<rev::CANSparkMax>(WRIST_MOTOR, BRUSHLESS);
 
     OKC_CHECK(actuators_interface->intake_motor != nullptr);
 
@@ -200,8 +197,6 @@ bool RobotContainer::InitSensors(const Actuators &actuators,
     OKC_CHECK(sensor_interface->arm_lift_encoder != nullptr);
 
     sensor_interface->intake_encoder = std::make_unique<rev::SparkMaxRelativeEncoder>(actuators.intake_motor->GetEncoder());
-    sensor_interface->wrist_encoder = std::make_unique<frc::DutyCycleEncoder>(WRIST_ABS_ENCODER);
-
     return true;
 }
 
@@ -320,23 +315,11 @@ bool RobotContainer::InitCommands() {
     double negative_score_high_rotation_ = RobotParams::GetParam("arm.negative_score_high.arm_setpoint", 0.0);
     double negative_score_high_extension_ = RobotParams::GetParam("arm.negative_score_high.extend_setpoint", 1.0);
 
-    double tilt_pickup_reverse_ = RobotParams::GetParam("arm.negative_pickup.intake_setpoint", 0.0);
-    double tilt_pickup_ = RobotParams::GetParam("arm.pickup.intake_setpoint", 0.0);
-
-    double tilt_score_mid_ = RobotParams::GetParam("arm.score_medium.intake_setpoint", 0.0);
-    double tilt_score_mid_reverse_ = RobotParams::GetParam("arm.negative_score_medium.intake_setpoint", 0.0);
-
-    double tilt_score_high_ = RobotParams::GetParam("arm.score_high.intake_setpoint", 0.0);
-    double tilt_score_high_reverse_ = RobotParams::GetParam("arm.negative_score_high.intake_setpoint", 0.0);
-
     double human_player_extension_ = RobotParams::GetParam("arm.human_player.extend_setpoint", 1.0);
     double human_player_rotation_ = RobotParams::GetParam("arm.human_player.arm_setpoint", 0.0);
-    double tilt_human_player = RobotParams::GetParam("arm.human_player.intake_setpoint", 0.0);
-
+  
     double negative_human_player_extension_ = RobotParams::GetParam("arm.negative_human_player.extend_setpoint", 1.0);
     double negative_human_player_rotation_ = RobotParams::GetParam("arm.negative_human_player.arm_setpoint", 0.0);
-    double tilt_human_player_reverse_ = RobotParams::GetParam("arm.negative_human_player.intake_setpoint", 0.0);
-
 
     // autons
     score_preload_backup_auto_ = std::make_shared<ScorePreloadedAuto>(swerve_drive_, arm_, intake_);
@@ -372,28 +355,6 @@ bool RobotContainer::InitCommands() {
     other_intake_command = std::make_shared<IntakeCommand>(intake_, -0.7);
     stop_intake_command = std::make_shared<IntakeCommand>(intake_, -0.03);
 
-    inc_wrist_tilt_command_ = std::make_shared<IncrementIntakePositionCommand>(intake_, 1);
-    dec_wrist_tilt_command_ = std::make_shared<IncrementIntakePositionCommand>(intake_, -1);
-
-    tilt_pickup_reverse_command_ = std::make_shared<IntakeBlockingPositionCommand>(intake_, tilt_pickup_reverse_);
-    tilt_pickup_command_ = std::make_shared<IntakeBlockingPositionCommand>(intake_, tilt_pickup_);
-    tilt_carry_command_ = std::make_shared<IntakePositionCommand>(intake_, 0.0);
-
-    tilt_mid_command_ = std::make_shared<FieldOrientedIntakeCommand>(intake_, swerve_drive_, tilt_score_mid_, tilt_score_mid_reverse_);
-    tilt_high_command_ = std::make_shared<FieldOrientedIntakeCommand>(intake_, swerve_drive_, tilt_score_high_, tilt_score_high_reverse_);
-    tilt_human_player_command_ = std::make_shared<FieldOrientedIntakeCommand>(intake_, swerve_drive_, tilt_human_player_reverse_, tilt_human_player);
-
-    // pickup commands
-    pickup_command_ = std::make_shared<TiltThenMoveArmCommand>(tilt_pickup_command_, arm_pickup_command_);
-    pickup_reverse_command_ = std::make_shared<TiltThenMoveArmCommand>(tilt_pickup_reverse_command_, arm_pickup_reverse_command_);
-
-    score_mid_command_ = std::make_shared<MoveArmThenTiltCommand>(tilt_mid_command_, arm_score_mid_command_);
-    score_high_command_ = std::make_shared<MoveArmThenTiltCommand>(tilt_high_command_, arm_score_high_command_);
-    carry_command_ = std::make_shared<MoveArmThenTiltCommand>(tilt_carry_command_, arm_carry_command_);
-
-    // human player
-    human_player_command_ = std::make_shared<MoveArmThenTiltCommand>(tilt_human_player_command_, arm_human_player_command_);
-
     return true;
 }
 
diff --git a/src/main/cpp/autos/ScorePreloadedAuto.cpp b/src/main/cpp/autos/ScorePreloadedAuto.cpp
index d316f84..3393941 100644
--- a/src/main/cpp/autos/ScorePreloadedAuto.cpp
+++ b/src/main/cpp/autos/ScorePreloadedAuto.cpp
@@ -3,7 +3,6 @@
 #include "frc2/command/WaitCommand.h"
 #include "commands/intake/IntakeCommand.h"
 #include "commands/arm/ArmSetStateCommand.h"
-#include "commands/intake/IntakePositionCommand.h"
 #include "Parameters.h"
 
 ScorePreloadedAuto::ScorePreloadedAuto(std::shared_ptr<SwerveDrive> swerve, std::shared_ptr<Arm> arm, std::shared_ptr<Intake> intake) {
@@ -12,9 +11,6 @@ ScorePreloadedAuto::ScorePreloadedAuto(std::shared_ptr<SwerveDrive> swerve, std:
     double degrees = RobotParams::GetParam("arm.score_high.arm_setpoint", 0.0);
     double extend = RobotParams::GetParam("arm.score_high.extend_setpoint", 1.0);
 
-    double pickup_degrees = RobotParams::GetParam("arm.pickup.arm_setpoint", 0.0);
-    double pickup_extend = RobotParams::GetParam("arm.pickup.extend_setpoint", 1.0);
-
     double negative_pickup_degrees = RobotParams::GetParam("arm.negative_pickup.arm_setpoint", 0.0);
     double negative_pickup_extend = RobotParams::GetParam("arm.negative_pickup.extend_setpoint", 1.0);
 
diff --git a/src/main/cpp/autos/ScorePreloadedBalanceAuto.cpp b/src/main/cpp/autos/ScorePreloadedBalanceAuto.cpp
index 9b58da3..aebc9cf 100644
--- a/src/main/cpp/autos/ScorePreloadedBalanceAuto.cpp
+++ b/src/main/cpp/autos/ScorePreloadedBalanceAuto.cpp
@@ -4,7 +4,6 @@
 #include "commands/intake/IntakeCommand.h"
 #include "commands/swerve/AutoBalanceCommand.h"
 #include "commands/arm/ArmSetStateCommand.h"
-#include "commands/intake/IntakePositionCommand.h"
 #include "Parameters.h"
 
 ScorePreloadedBalanceAuto::ScorePreloadedBalanceAuto(std::shared_ptr<SwerveDrive> swerve, std::shared_ptr<Arm> arm, std::shared_ptr<Intake> intake) {
@@ -13,9 +12,6 @@ ScorePreloadedBalanceAuto::ScorePreloadedBalanceAuto(std::shared_ptr<SwerveDrive
     double degrees = RobotParams::GetParam("arm.score_high.arm_setpoint", 0.0);
     double extend = RobotParams::GetParam("arm.score_high.extend_setpoint", 1.0);
 
-    double pickup_degrees = RobotParams::GetParam("arm.pickup.arm_setpoint", 0.0);
-    double pickup_extend = RobotParams::GetParam("arm.pickup.extend_setpoint", 1.0);
-
     double score_position = RobotParams::GetParam("arm.score_high.intake_setpoint", 0.0);
 
     AddCommands(
diff --git a/src/main/cpp/autos/ScorePreloadedNoDriveAuto.cpp b/src/main/cpp/autos/ScorePreloadedNoDriveAuto.cpp
index 2ef94d6..d342427 100644
--- a/src/main/cpp/autos/ScorePreloadedNoDriveAuto.cpp
+++ b/src/main/cpp/autos/ScorePreloadedNoDriveAuto.cpp
@@ -3,7 +3,6 @@
 #include "frc2/command/WaitCommand.h"
 #include "commands/intake/IntakeCommand.h"
 #include "commands/arm/ArmSetStateCommand.h"
-#include "commands/intake/IntakePositionCommand.h"
 #include "Parameters.h"
 
 ScorePreloadedNoDriveAuto::ScorePreloadedNoDriveAuto(std::shared_ptr<Arm> arm, std::shared_ptr<Intake> intake) {
@@ -12,9 +11,6 @@ ScorePreloadedNoDriveAuto::ScorePreloadedNoDriveAuto(std::shared_ptr<Arm> arm, s
     double degrees = RobotParams::GetParam("arm.score_high.arm_setpoint", 0.0);
     double extend = RobotParams::GetParam("arm.score_high.extend_setpoint", 1.0);
 
-    double pickup_degrees = RobotParams::GetParam("arm.pickup.arm_setpoint", 0.0);
-    double pickup_extend = RobotParams::GetParam("arm.pickup.extend_setpoint", 1.0);
-
     double score_position = RobotParams::GetParam("arm.score_high.intake_setpoint", 0.0);
 
     AddCommands(
diff --git a/src/main/cpp/autos/ScoreTwoAuto.cpp b/src/main/cpp/autos/ScoreTwoAuto.cpp
index fb3d7f2..2b0e3df 100644
--- a/src/main/cpp/autos/ScoreTwoAuto.cpp
+++ b/src/main/cpp/autos/ScoreTwoAuto.cpp
@@ -11,9 +11,6 @@ ScoreTwoAuto::ScoreTwoAuto(std::shared_ptr<SwerveDrive> swerve, std::shared_ptr<
     double degrees = RobotParams::GetParam("arm.score_high.arm_setpoint", 0.0);
     double extend = RobotParams::GetParam("arm.score_high.extend_setpoint", 1.0);
 
-    double pickup_degrees = RobotParams::GetParam("arm.pickup.arm_setpoint", 0.0);
-    double pickup_extend = RobotParams::GetParam("arm.pickup.extend_setpoint", 1.0);
-
     double negative_pickup_degrees = RobotParams::GetParam("arm.negative_pickup.arm_setpoint", 0.0);
     double negative_pickup_extend = RobotParams::GetParam("arm.negative_pickup.extend_setpoint", 1.0);
 
diff --git a/src/main/cpp/commands/arm/MoveArmThenTiltCommand.cpp b/src/main/cpp/commands/arm/MoveArmThenTiltCommand.cpp
deleted file mode 100644
index 5b1aade..0000000
--- a/src/main/cpp/commands/arm/MoveArmThenTiltCommand.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "commands/arm/MoveArmThenTiltCommand.h"
-#include "commands/intake/IntakePositionCommand.h"
-#include "commands/arm/ArmSetStateCommand.h"
-
-MoveArmThenTiltCommand::MoveArmThenTiltCommand(std::shared_ptr<frc2::Command> move_intake, std::shared_ptr<frc2::Command> move_arm) {
-    move_intake_ = move_intake;
-    move_arm_ = move_arm;
-
-    arm_good_ = false;
-    done_ = false;
-}
-
-void MoveArmThenTiltCommand::Initialize() {
-    move_arm_->Initialize();
-
-    arm_good_ = false;
-    done_ = false;
-}
-
-void MoveArmThenTiltCommand::Execute() {
-    if (!arm_good_) {
-        move_arm_->Execute();
-    }
-
-    if (move_arm_->IsFinished()) {
-        arm_good_ = true;
-    }
-
-    if (arm_good_) {
-        move_intake_->Execute();
-
-        done_ = true;
-    }
-}
-
-bool MoveArmThenTiltCommand::IsFinished() {
-    return done_;
-}
\ No newline at end of file
diff --git a/src/main/cpp/commands/arm/TiltThenMoveArmCommand.cpp b/src/main/cpp/commands/arm/TiltThenMoveArmCommand.cpp
deleted file mode 100644
index 8c292df..0000000
--- a/src/main/cpp/commands/arm/TiltThenMoveArmCommand.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "commands/arm/TiltThenMoveArmCommand.h"
-#include "commands/intake/IntakePositionCommand.h"
-#include "commands/arm/ArmSetStateCommand.h"
-
-TiltThenMoveArmCommand::TiltThenMoveArmCommand(std::shared_ptr<IntakeBlockingPositionCommand> move_intake, std::shared_ptr<ArmSetStateCommand> move_arm) {
-    move_intake_ = move_intake;
-    move_arm_ = move_arm;
-
-    intake_good = false;
-    done_ = false;
-}
-
-void TiltThenMoveArmCommand::Initialize() {
-    move_intake_->Initialize();
-
-    intake_good = false;
-    done_ = false;
-}
-
-void TiltThenMoveArmCommand::Execute() {
-    if (!intake_good) {
-        move_intake_->Execute();
-    }
-
-    if (move_intake_->IsFinished()) {
-        intake_good = true;
-    }
-
-    if (intake_good) {
-        move_arm_->Execute();
-
-        done_ = true;
-    }
-}
-
-bool TiltThenMoveArmCommand::IsFinished() {
-    return done_;
-}
\ No newline at end of file
diff --git a/src/main/cpp/commands/intake/FieldOrientedIntakeCommand.cpp b/src/main/cpp/commands/intake/FieldOrientedIntakeCommand.cpp
deleted file mode 100644
index 243c957..0000000
--- a/src/main/cpp/commands/intake/FieldOrientedIntakeCommand.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-#include "commands/intake/FieldOrientedIntakeCommand.h"
-
-FieldOrientedIntakeCommand::FieldOrientedIntakeCommand(std::shared_ptr<Intake> intake, std::shared_ptr<SwerveDrive> swerve, double angle, double reverse_angle) {
-    // Set everything.
-    intake_ = intake;
-    angle_ = angle;
-    swerve_drive_ = swerve;
-    reverse_angle_ = reverse_angle;
-
-    if (intake_ != nullptr) {
-        this->AddRequirements(intake_.get());
-    }
-}
-
-void FieldOrientedIntakeCommand::Initialize() {
-    VOKC_CHECK(intake_ != nullptr)
-    VOKC_CALL(intake_->SetControlMode(Auto));
-}
-
-
-void FieldOrientedIntakeCommand::Execute() {
-    VOKC_CHECK(intake_ != nullptr);
-
-    // get the current robot heading
-    double heading = 0.0;
-    VOKC_CALL(swerve_drive_->GetHeading(&heading));
-    
-    // convert to [-180, 180]
-    TeamOKC::WrapAngle(&heading);
-
-    // if the heading is pointing away from the scoring area
-    if (abs(heading) < 90.0) {
-        // score on the normal side of the robot
-        // set the desired state of the arm
-        VOKC_CALL(intake_->SetIntakeTilt(angle_));
-    } else {
-        // otherwise, score on the other side
-        // set the desired state of the arm
-        VOKC_CALL(intake_->SetIntakeTilt(reverse_angle_));
-    }
-    
-}
-
-bool FieldOrientedIntakeCommand::IsFinished() {
-    // Always end this command.
-    return true;
-}
\ No newline at end of file
diff --git a/src/main/cpp/commands/intake/IncrementIntakePositionCommand.cpp b/src/main/cpp/commands/intake/IncrementIntakePositionCommand.cpp
deleted file mode 100644
index e57680b..0000000
--- a/src/main/cpp/commands/intake/IncrementIntakePositionCommand.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-#include "commands/intake/IncrementIntakePositionCommand.h"
-
-IncrementIntakePositionCommand::IncrementIntakePositionCommand(std::shared_ptr<Intake> intake, double angle) {
-    // Set everything.
-    intake_ = intake;
-    angle_ = angle;
-
-    if (intake_ != nullptr) {
-        this->AddRequirements(intake_.get());
-    }
-}
-
-void IncrementIntakePositionCommand::Initialize() {
-    VOKC_CHECK(intake_ != nullptr);
-    VOKC_CALL(intake_->SetControlMode(Auto));
-}
-
-
-void IncrementIntakePositionCommand::Execute() {
-    VOKC_CHECK(intake_ != nullptr);
-    VOKC_CALL(intake_->IncrementIntakeTilt(angle_));
-}
-
-bool IncrementIntakePositionCommand::IsFinished() {
-    // Always end this command.
-    return true;
-}
\ No newline at end of file
diff --git a/src/main/cpp/commands/intake/IntakeBlockingPositionCommand.cpp b/src/main/cpp/commands/intake/IntakeBlockingPositionCommand.cpp
deleted file mode 100644
index 4f9be9f..0000000
--- a/src/main/cpp/commands/intake/IntakeBlockingPositionCommand.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-#include "commands/intake/IntakeBlockingPositionCommand.h"
-
-IntakeBlockingPositionCommand::IntakeBlockingPositionCommand(std::shared_ptr<Intake> intake, double angle) {
-    // Set everything.
-    intake_ = intake;
-    angle_ = angle;
-
-    if (intake_ != nullptr) {
-        this->AddRequirements(intake_.get());
-    }
-}
-
-void IntakeBlockingPositionCommand::Initialize() {
-    VOKC_CHECK(intake_ != nullptr)
-    VOKC_CALL(intake_->SetControlMode(Auto));
-}
-
-
-void IntakeBlockingPositionCommand::Execute() {
-    VOKC_CHECK(intake_ != nullptr);
-    VOKC_CALL(intake_->SetIntakeTilt(angle_));
-}
-
-bool IntakeBlockingPositionCommand::IsFinished() {
-    // bool at = false;
-
-    // OKC_CALL(intake_->AtSetpoint(&at));
-    
-    // return at;
-
-    return true;
-}
\ No newline at end of file
diff --git a/src/main/cpp/commands/intake/IntakePositionCommand.cpp b/src/main/cpp/commands/intake/IntakePositionCommand.cpp
deleted file mode 100644
index 8d2d26b..0000000
--- a/src/main/cpp/commands/intake/IntakePositionCommand.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-#include "commands/intake/IntakePositionCommand.h"
-
-IntakePositionCommand::IntakePositionCommand(std::shared_ptr<Intake> intake, double angle) {
-    // Set everything.
-    intake_ = intake;
-    angle_ = angle;
-
-    if (intake_ != nullptr) {
-        this->AddRequirements(intake_.get());
-    }
-}
-
-void IntakePositionCommand::Initialize() {
-    VOKC_CHECK(intake_ != nullptr)
-    VOKC_CALL(intake_->SetControlMode(Auto));
-}
-
-
-void IntakePositionCommand::Execute() {
-    VOKC_CHECK(intake_ != nullptr);
-
-    // if the setpoint is 0
-    if (angle_ == 0) {
-        // then we have to do some special stuff because we can't have the wrist be at 0 inside the robot with a game piece, so we want to slide it either to 80 or -80
-
-        double tilt = 0.0;
-        VOKC_CALL(intake_->GetIntakeTilt(&tilt));
-
-        // if we're already more than 0, send it to positive 80
-        if (tilt > 0) {
-            intake_->SetIntakeTilt(70);
-        } else {
-            // otherwise slide it to -80
-            intake_->SetIntakeTilt(-70);
-        }
-    } else {
-        VOKC_CALL(intake_->SetIntakeTilt(angle_));
-    }
-}
-
-bool IntakePositionCommand::IsFinished() {
-    // Always end this command.
-    return true;
-}
\ No newline at end of file
diff --git a/src/main/cpp/hardware/Hardware.cpp b/src/main/cpp/hardware/Hardware.cpp
index a96a64e..7582670 100644
--- a/src/main/cpp/hardware/Hardware.cpp
+++ b/src/main/cpp/hardware/Hardware.cpp
@@ -120,8 +120,6 @@ bool SetupIntakeInterface(std::unique_ptr<Hardware> &hardware, std::shared_ptr<I
     IntakeHardwareInterface intake_interface = {
         actuators->intake_motor.get(),
         sensors->intake_encoder.get(),
-        actuators->wrist_motor.get(),
-        sensors->wrist_encoder.get()
     };
 
     interface = std::make_shared<IntakeHardwareInterface>(intake_interface);
diff --git a/src/main/cpp/io/IntakeIO.cpp b/src/main/cpp/io/IntakeIO.cpp
index 0144a4a..a2112e9 100644
--- a/src/main/cpp/io/IntakeIO.cpp
+++ b/src/main/cpp/io/IntakeIO.cpp
@@ -2,7 +2,8 @@
 #include "Parameters.h"
 
 bool IntakeIO::Init() {
-    offset_ = RobotParams::GetParam("intake.tilt_offset", 0.0);
+    
+    hw_interface_->intake_motor->SetSmartCurrentLimit(30);
 
     hw_interface_->intake_motor->SetSmartCurrentLimit(30);
 
@@ -45,15 +46,10 @@ bool IntakeIO::ProcessIO() {
     OKC_CHECK(hw_interface_->intake_motor != nullptr);
     sw_interface_->intake_encoder = hw_interface_->intake_encoder->GetPosition();
 
-    // wrist encoder
-    OKC_CHECK(hw_interface_->wrist_encoder != nullptr);
-    sw_interface_->tilt_encoder = hw_interface_->wrist_encoder->GetAbsolutePosition() * 360.0 + offset_;
-    TeamOKC::WrapAngle(&sw_interface_->tilt_encoder);
+   
 
     // === outputs ===
     hw_interface_->intake_motor->Set(sw_interface_->intake_power);
-    hw_interface_->wrist_motor->Set(sw_interface_->tilt_power);
-  
 
     return true;
 }
diff --git a/src/main/cpp/subsystems/Arm.cpp b/src/main/cpp/subsystems/Arm.cpp
index 0a8e6bb..cbd50f6 100644
--- a/src/main/cpp/subsystems/Arm.cpp
+++ b/src/main/cpp/subsystems/Arm.cpp
@@ -277,14 +277,14 @@ bool Arm::AutoControl() {
 
 void Arm::Periodic() {
 
-    if (ArmUI::nt_manual_arm_mode->GetBoolean(false)){
+    if (ArmUI::nt_test_mode->GetBoolean(false)) {
+        mode_ = Test;
+    } else  if (ArmUI::nt_manual_arm_mode->GetBoolean(false)) {
         mode_ = Manual;
-    }
-
-    else {
+    } else {
         mode_ = Auto;
-
     }
+    
     // control the arm either using the raw axis values or PID controllers
     switch (mode_) {
         case Auto:
diff --git a/src/main/cpp/subsystems/Intake.cpp b/src/main/cpp/subsystems/Intake.cpp
index 5410d42..529121b 100644
--- a/src/main/cpp/subsystems/Intake.cpp
+++ b/src/main/cpp/subsystems/Intake.cpp
@@ -4,93 +4,37 @@
 
 //pulls PID values from the parameters.toml file
 bool Intake::Init() {
-    OKC_CHECK(this->interface_ != nullptr);
-
-    // the PID controller for the wrist
-    double wrist_kP = RobotParams::GetParam("intake.wrist_pid.kP", 0.005);
-    double wrist_kI = RobotParams::GetParam("intake.wrist_pid.kI", 0.0);
-    double wrist_kD = RobotParams::GetParam("intake.wrist_pid.kD", 0.0);
-    wrist_pid_ = std::make_shared<frc::PIDController>(wrist_kP, wrist_kI, wrist_kD);
-    wrist_pid_->SetTolerance(7, 10);
-    
-    setpoint_log_ = wpi::log::DoubleLogEntry(TeamOKC::log, "/tilt/setpoint");
-    output_log_ = wpi::log::DoubleLogEntry(TeamOKC::log, "/tilt/output");
-    encoder_log_ = wpi::log::DoubleLogEntry(TeamOKC::log, "/tilt/encoder");
-
-    wrist_pid_->SetSetpoint(0.0);
-
     return true;
 }
 
-bool Intake::Reset() {
-    OKC_CHECK(this->interface_ != nullptr);
-
-    this->wrist_pid_->Reset();
+bool Intake::SetControlMode(const ControlMode &mode) {
+    mode_= mode;
 
     return true;
-}
-
-bool Intake::GetIntakeTilt(double *tilt) {
-    OKC_CHECK(interface_ != nullptr);
-
-    *tilt = interface_->tilt_encoder;
 
-    return true;
 }
 
+
 bool Intake::SetIntakePower(double power) {
     intake_power_ = power;
 
     return true;
 }
 
-bool Intake::SetIntakeTilt(double degrees) {
-    OKC_CHECK(this->wrist_pid_ != nullptr);
-
-    this->wrist_pid_->SetSetpoint(degrees);
-    
-    return true;
-}
-
-bool Intake::IncrementIntakeTilt(double degrees) {
-    OKC_CHECK(this->wrist_pid_ != nullptr);
-
-    this->wrist_pid_->SetSetpoint(this->wrist_pid_->GetSetpoint() + degrees);
-
-    return true;
-}
-
-bool Intake::SetControlMode(const ControlMode &mode) {
-    mode_= mode;
-
-    return true;
-}
-
 bool Intake::ManualControl() {
     OKC_CHECK(interface_ != nullptr);
 
     interface_->intake_power = intake_power_;
    
+
     return true;
 }
 
+
 bool Intake::AutoControl() {
     OKC_CHECK(interface_ != nullptr);
-    OKC_CHECK(this->wrist_pid_ != nullptr);
     
-    interface_->tilt_power = -this->wrist_pid_->Calculate(interface_->tilt_encoder);
-    TeamOKC::Clamp(-0.6, 0.6, &interface_->tilt_power);
-    interface_->intake_power = intake_power_;
- 
-    return true;
-}
-
-bool Intake::AtSetpoint(bool *at) {
-    OKC_CHECK(interface_ != nullptr);
-
-    *at = wrist_pid_->AtSetpoint();
-
-    return true;
+   return true;
 }
 
 void Intake::SimulationPeriodic() {
@@ -98,6 +42,7 @@ void Intake::SimulationPeriodic() {
 }
 
 void Intake::Periodic() {
+        
     switch (mode_) {
         case Manual:
             VOKC_CALL(this->ManualControl());
@@ -106,15 +51,8 @@ void Intake::Periodic() {
             VOKC_CALL(this->AutoControl());
             break;
         default:
-            VOKC_CHECK_MSG(false, "unhandled intake enum");
+            VOKC_CHECK_MSG(false, "Unhandled enum");
     }
-
-    VOKC_CALL(IntakeUI::nt_tilt->SetDouble(this->interface_->tilt_encoder));
-    VOKC_CALL(IntakeUI::nt_tilt_setpoint->SetDouble(this->wrist_pid_->GetSetpoint()));
-
-    setpoint_log_.Append(this->wrist_pid_->GetSetpoint());
-    output_log_.Append(this->interface_->tilt_power);
-    encoder_log_.Append(this->interface_->tilt_encoder);
 }
 
 
diff --git a/src/main/cpp/subsystems/SwerveDrive.cpp b/src/main/cpp/subsystems/SwerveDrive.cpp
index 82863fb..d22455a 100644
--- a/src/main/cpp/subsystems/SwerveDrive.cpp
+++ b/src/main/cpp/subsystems/SwerveDrive.cpp
@@ -90,8 +90,6 @@ bool SwerveDrive::Init() {
 
     // auton parameters
     run_up_speed_ = RobotParams::GetParam("auto_balance.run_up_speed", 0.4);
-    tilted_speed_ = RobotParams::GetParam("auto_balance.tilted_speed", 0.2);
-    tilted_threshold_ = RobotParams::GetParam("auto_balance.tilted_threshold", 13.0);
     reverse_threshold_ = RobotParams::GetParam("auto_balance.reverse_threshold", 1.0);
     pitch_threshold_ = RobotParams::GetParam("auto_balance.pitch_threshold", 1.0);
     drive_backward_speed_ = RobotParams::GetParam("auto_balance.drive_backward_speed", -0.15);
@@ -375,17 +373,9 @@ bool SwerveDrive::AutoBalance(double sign) {
         OKC_CALL(this->right_front_module_->GetSteerOutput(&this->interface_->right_front_steer_motor_output));
         OKC_CALL(this->right_back_module_->GetSteerOutput(&this->interface_->right_back_steer_motor_output));
 
-        // once we've tilted enough, then we can move on to climbing slower to avoid rocketing over the thing
-        if (this->interface_->imu_pitch > tilted_threshold_*sign) {
-            balance_state_ = CLIMB;
-        }
+      
     } else if (balance_state_ == CLIMB) {
-        // drive slower
-        this->interface_->left_front_drive_motor_output = tilted_speed_ * sign;
-        this->interface_->left_back_drive_motor_output = tilted_speed_ * sign;
-        this->interface_->right_front_drive_motor_output = tilted_speed_ * sign;
-        this->interface_->right_back_drive_motor_output = tilted_speed_ * sign;
-
+       
         // keep the wheels straight
         OKC_CALL(this->left_front_module_->SetAngle(0.0));
         OKC_CALL(this->left_back_module_->SetAngle(0.0));
diff --git a/src/main/cpp/ui/UserInterface.cpp b/src/main/cpp/ui/UserInterface.cpp
index 8073beb..bdfbbe6 100644
--- a/src/main/cpp/ui/UserInterface.cpp
+++ b/src/main/cpp/ui/UserInterface.cpp
@@ -60,6 +60,8 @@ namespace ArmUI {
 
     nt::GenericEntry *const nt_manual_arm_mode = nt_tab.Add("manual arm mode", false).GetEntry();
     nt::GenericEntry *const arm_control_state = nt_tab.Add("arm control state", "init").GetEntry();
+    nt::GenericEntry *const nt_test_mode = nt_tab.Add("test mode", false ).GetEntry();
+    
 }
 
 namespace ClawUI {
@@ -71,6 +73,5 @@ namespace ClawUI {
 namespace IntakeUI {
     frc::ShuffleboardTab &nt_tab = frc::Shuffleboard::GetTab("intake");
 
-    nt::GenericEntry *const nt_tilt = nt_tab.Add("wrist encoder", 0.0).GetEntry();
-    nt::GenericEntry *const nt_tilt_setpoint = nt_tab.Add("wrist setpoint", 0.0).GetEntry();
+   
 }
\ No newline at end of file
diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h
index 7b784cd..214a4d0 100644
--- a/src/main/include/RobotContainer.h
+++ b/src/main/include/RobotContainer.h
@@ -45,15 +45,10 @@
 #include "commands/arm/IncrementArmExtendCommand.h"
 #include "commands/arm/ArmFieldOrientedCommand.h"
 #include "commands/arm/ArmSetStateCommand.h"
-#include "commands/arm/TiltThenMoveArmCommand.h"
-#include "commands/arm/MoveArmThenTiltCommand.h"
+
 
 //intake
 #include "commands/intake/IntakeCommand.h"
-#include "commands/intake/IntakePositionCommand.h"
-#include "commands/intake/IncrementIntakePositionCommand.h"
-#include "commands/intake/FieldOrientedIntakeCommand.h"
-#include "commands/intake/IntakeBlockingPositionCommand.h"
 
 // misc
 #include <frc2/command/Command.h>
@@ -192,26 +187,4 @@ class RobotContainer {
     std::shared_ptr<IntakeCommand> intake_command;
     std::shared_ptr<IntakeCommand> other_intake_command;
     std::shared_ptr<IntakeCommand> stop_intake_command;
-
-    std::shared_ptr<IncrementIntakePositionCommand> inc_wrist_tilt_command_;
-    std::shared_ptr<IncrementIntakePositionCommand> dec_wrist_tilt_command_;
-
-    std::shared_ptr<IntakeBlockingPositionCommand> tilt_pickup_reverse_command_;
-    std::shared_ptr<IntakeBlockingPositionCommand> tilt_pickup_command_;
-    std::shared_ptr<IntakePositionCommand> tilt_carry_command_;
-
-    std::shared_ptr<FieldOrientedIntakeCommand> tilt_mid_command_;
-    std::shared_ptr<FieldOrientedIntakeCommand> tilt_high_command_;
-
-    std::shared_ptr<FieldOrientedIntakeCommand> tilt_human_player_command_;
-
-    // sequential commands
-    std::shared_ptr<TiltThenMoveArmCommand> pickup_command_;
-    std::shared_ptr<TiltThenMoveArmCommand> pickup_reverse_command_;
-
-    std::shared_ptr<MoveArmThenTiltCommand> score_mid_command_;
-    std::shared_ptr<MoveArmThenTiltCommand> score_high_command_;
-    std::shared_ptr<MoveArmThenTiltCommand> carry_command_;
-
-    std::shared_ptr<MoveArmThenTiltCommand> human_player_command_;
 };
diff --git a/src/main/include/commands/arm/MoveArmThenTiltCommand.h b/src/main/include/commands/arm/MoveArmThenTiltCommand.h
deleted file mode 100644
index dbc683a..0000000
--- a/src/main/include/commands/arm/MoveArmThenTiltCommand.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "commands/intake/IntakeBlockingPositionCommand.h"
-#include "commands/arm/ArmSetStateCommand.h"
-
-/**
- * Move arm to a preset position
- */
-class MoveArmThenTiltCommand
-    : public frc2::CommandHelper<frc2::CommandBase, MoveArmThenTiltCommand> {
-public:
-    explicit MoveArmThenTiltCommand(std::shared_ptr<frc2::Command> move_intake, std::shared_ptr<frc2::Command> move_arm);
-
-    void Initialize() override;
-    void Execute() override;
-    bool IsFinished() override;
-
-private:
-    std::shared_ptr<frc2::Command> move_intake_;
-    std::shared_ptr<frc2::Command> move_arm_;
-
-    bool arm_good_ = false;
-    bool done_ = false;
-
-};
\ No newline at end of file
diff --git a/src/main/include/commands/arm/TiltThenMoveArmCommand.h b/src/main/include/commands/arm/TiltThenMoveArmCommand.h
deleted file mode 100644
index 541fe76..0000000
--- a/src/main/include/commands/arm/TiltThenMoveArmCommand.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#pragma once
-
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "commands/intake/IntakeBlockingPositionCommand.h"
-#include "commands/arm/ArmSetStateCommand.h"
-
-/**
- * Move arm to a preset position
- */
-class TiltThenMoveArmCommand
-    : public frc2::CommandHelper<frc2::CommandBase, TiltThenMoveArmCommand> {
-public:
-    explicit TiltThenMoveArmCommand(std::shared_ptr<IntakeBlockingPositionCommand> move_intake, std::shared_ptr<ArmSetStateCommand> move_arm);
-
-    void Initialize() override;
-    void Execute() override;
-    bool IsFinished() override;
-
-private:
-    std::shared_ptr<IntakeBlockingPositionCommand> move_intake_;
-    std::shared_ptr<ArmSetStateCommand> move_arm_;
-
-    bool intake_good = false;
-    bool done_ = false;
-};
\ No newline at end of file
diff --git a/src/main/include/commands/intake/FieldOrientedIntakeCommand.h b/src/main/include/commands/intake/FieldOrientedIntakeCommand.h
deleted file mode 100644
index bb8ecdf..0000000
--- a/src/main/include/commands/intake/FieldOrientedIntakeCommand.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-#include "subsystems/SwerveDrive.h"
-
-/**
- *
- */
-class FieldOrientedIntakeCommand
-    : public frc2::CommandHelper<frc2::CommandBase, FieldOrientedIntakeCommand> {
-public:
-    /**
-     * Creates a new IncrementArmExtendCommand.
-     *
-     * @param arm The subsystem used by this command.
-     */
-    explicit FieldOrientedIntakeCommand(std::shared_ptr<Intake> intake, std::shared_ptr<SwerveDrive> swerve, double angle, double reverse_angle);
-
-    void Execute() override;
-    void Initialize() override;
-    bool IsFinished() override;
-
-private:
-    std::shared_ptr<Intake> intake_;
-    std::shared_ptr<SwerveDrive> swerve_drive_;
-    double angle_;
-    double reverse_angle_;
-};
\ No newline at end of file
diff --git a/src/main/include/commands/intake/IncrementIntakePositionCommand.h b/src/main/include/commands/intake/IncrementIntakePositionCommand.h
deleted file mode 100644
index da4681d..0000000
--- a/src/main/include/commands/intake/IncrementIntakePositionCommand.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-/**
- *
- */
-class IncrementIntakePositionCommand
-    : public frc2::CommandHelper<frc2::CommandBase, IncrementIntakePositionCommand> {
-public:
-    /**
-     * Creates a new IncrementArmExtendCommand.
-     *
-     * @param arm The subsystem used by this command.
-     */
-    explicit IncrementIntakePositionCommand(std::shared_ptr<Intake> intake, double angle);
-
-    void Execute() override;
-    void Initialize() override;
-    bool IsFinished() override;
-
-private:
-    std::shared_ptr<Intake> intake_;
-    double angle_;
-};
\ No newline at end of file
diff --git a/src/main/include/commands/intake/IntakeBlockingPositionCommand.h b/src/main/include/commands/intake/IntakeBlockingPositionCommand.h
deleted file mode 100644
index 5ef2288..0000000
--- a/src/main/include/commands/intake/IntakeBlockingPositionCommand.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-/**
- *
- */
-class IntakeBlockingPositionCommand
-    : public frc2::CommandHelper<frc2::CommandBase, IntakeBlockingPositionCommand> {
-public:
-    /**
-     * Creates a new IncrementArmExtendCommand.
-     *
-     * @param arm The subsystem used by this command.
-     */
-    explicit IntakeBlockingPositionCommand(std::shared_ptr<Intake> intake, double angle);
-
-    void Execute() override;
-    void Initialize() override;
-    bool IsFinished() override;
-
-private:
-    std::shared_ptr<Intake> intake_;
-    double angle_;
-};
\ No newline at end of file
diff --git a/src/main/include/commands/intake/IntakePositionCommand.h b/src/main/include/commands/intake/IntakePositionCommand.h
deleted file mode 100644
index 1d2ec17..0000000
--- a/src/main/include/commands/intake/IntakePositionCommand.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#include <frc2/command/CommandBase.h>
-#include <frc2/command/CommandHelper.h>
-
-#include "Utils.h"
-#include "subsystems/Intake.h"
-
-/**
- *
- */
-class IntakePositionCommand
-    : public frc2::CommandHelper<frc2::CommandBase, IntakePositionCommand> {
-public:
-    /**
-     * Creates a new IncrementArmExtendCommand.
-     *
-     * @param arm The subsystem used by this command.
-     */
-    explicit IntakePositionCommand(std::shared_ptr<Intake> intake, double angle);
-
-    void Execute() override;
-    void Initialize() override;
-    bool IsFinished() override;
-
-private:
-    std::shared_ptr<Intake> intake_;
-    double angle_;
-};
\ No newline at end of file
diff --git a/src/main/include/hardware/Actuators.h b/src/main/include/hardware/Actuators.h
index 5042f50..e500975 100644
--- a/src/main/include/hardware/Actuators.h
+++ b/src/main/include/hardware/Actuators.h
@@ -30,7 +30,6 @@
 #define CLAW_MOTOR 12
 
 #define INTAKE_MOTOR 12
-#define WRIST_MOTOR 13
 
 
 typedef struct actuators_t {
@@ -56,5 +55,4 @@ typedef struct actuators_t {
 
     //intake motors
     std::unique_ptr<rev::CANSparkMax> intake_motor;
-    std::unique_ptr<rev::CANSparkMax> wrist_motor;
 } Actuators;
\ No newline at end of file
diff --git a/src/main/include/hardware/Sensors.h b/src/main/include/hardware/Sensors.h
index 8a34a53..d5e411c 100644
--- a/src/main/include/hardware/Sensors.h
+++ b/src/main/include/hardware/Sensors.h
@@ -18,7 +18,6 @@
 // DIO ports (on the RIO)
 #define EXTEND_LIMIT_SWITCH 9
 #define ARM_ABS_ENCODER 1
-#define WRIST_ABS_ENCODER 3
 
 typedef struct sensors_t {
     // navX IMU
@@ -54,5 +53,4 @@ typedef struct sensors_t {
 
     //intake sensord
     std::unique_ptr<rev::SparkMaxRelativeEncoder> intake_encoder;
-    std::unique_ptr<frc::DutyCycleEncoder> wrist_encoder;
 } Sensors;
diff --git a/src/main/include/io/IntakeIO.h b/src/main/include/io/IntakeIO.h
index d647b83..e24febb 100644
--- a/src/main/include/io/IntakeIO.h
+++ b/src/main/include/io/IntakeIO.h
@@ -19,20 +19,14 @@ typedef struct intake_config_t {
 typedef struct intake_hardware_interface_t {
     rev::CANSparkMax *const  intake_motor;
     rev::RelativeEncoder *const intake_encoder;
-
-    rev::CANSparkMax *const wrist_motor;
-    frc::DutyCycleEncoder *const wrist_encoder; // (rev through-bore encoder in the absolute position mode)
 } IntakeHardwareInterface;
 
 typedef struct intake_software_interface_t {
     // actuator outputs
-    double intake_power;
-    double tilt_power;
-    
+    double intake_power;    
 
     // sensor inputs
     double intake_encoder;
-    double tilt_encoder;
   
 
     // config
diff --git a/src/main/include/subsystems/Intake.h b/src/main/include/subsystems/Intake.h
index 08a3c52..03e9c0e 100644
--- a/src/main/include/subsystems/Intake.h
+++ b/src/main/include/subsystems/Intake.h
@@ -20,10 +20,7 @@ class Intake : public frc2::SubsystemBase {
     bool Init();
 
     bool SetIntakePower(double power);
-    bool SetIntakeTilt(double tilt);
-    bool GetIntakeTilt(double *tilt);
-    bool IncrementIntakeTilt(double inc);
-
+  
     bool SetControlMode(const ControlMode &mode);
     bool ManualControl();
     bool AutoControl();
@@ -37,7 +34,6 @@ class Intake : public frc2::SubsystemBase {
 private:
     IntakeSoftwareInterface *const interface_;
 
-    std::shared_ptr<frc::PIDController> wrist_pid_;
    
     double intake_power_;
    
diff --git a/src/main/include/subsystems/SwerveDrive.h b/src/main/include/subsystems/SwerveDrive.h
index 565a278..fb3c331 100644
--- a/src/main/include/subsystems/SwerveDrive.h
+++ b/src/main/include/subsystems/SwerveDrive.h
@@ -119,8 +119,6 @@ class SwerveDrive : public frc2::SubsystemBase {
     BalanceState balance_state_ = RUN_UP;
 
     double run_up_speed_;
-    double tilted_speed_;
-    double tilted_threshold_;
     double reverse_threshold_;
     double pitch_threshold_;
     double drive_backward_speed_;
diff --git a/src/main/include/ui/UserInterface.h b/src/main/include/ui/UserInterface.h
index 73ecf2e..cbf0d46 100644
--- a/src/main/include/ui/UserInterface.h
+++ b/src/main/include/ui/UserInterface.h
@@ -57,6 +57,8 @@ namespace ArmUI {
     extern nt::GenericEntry *const nt_extend_setpoint;
     extern nt::GenericEntry *const nt_extend_power;
     extern nt::GenericEntry *const nt_limit_switch;
+    
+    extern nt::GenericEntry *const nt_test_mode;
     extern nt::GenericEntry *const nt_manual_arm_mode;
 
     // arm state
@@ -72,6 +74,4 @@ namespace ClawUI {
 namespace IntakeUI {
     extern frc::ShuffleboardTab &nt_tab;
 
-    extern nt::GenericEntry *const nt_tilt;
-    extern nt::GenericEntry *const nt_tilt_setpoint;
 }
\ No newline at end of file
diff --git a/src/test/cpp/subsystems/intake_test.cpp b/src/test/cpp/subsystems/intake_test.cpp
new file mode 100644
index 0000000..f790c0b
--- /dev/null
+++ b/src/test/cpp/subsystems/intake_test.cpp
@@ -0,0 +1,47 @@
+#include <frc/Filesystem.h>
+#include <gtest/gtest.h>
+#include <iostream>
+
+#include <filesystem>
+
+#include "frc/geometry/Pose2d.h"
+
+#include "subsystems/Intake.h"
+#include "io/IntakeIO.h"
+#include "Parameters.h"
+
+class IntakeTest : public testing::Test {
+public:
+    virtual void SetUp() {
+        intake_ = std::make_shared<Arm>(&intake_interface_);
+        intake_->Init();
+        // std::string deploy_path = frc::filesystem::GetDeployDirectory();
+        // std::string param_file = deploy_path + "/parameters.toml";
+        // RobotParams::LoadParameters(param_file);
+    }
+
+protected:
+    std::shared_ptr<Intake> intake_;
+    
+    IntakeSoftwareInterface intake_interface_;
+};
+
+TEST_F(IntakeTest, InitIntake) {
+    ASSERT_TRUE(intake_->Init());
+
+}
+
+TEST_F(IntakeTest, SetIntake) {
+    ASSERT_TRUE(intake_->SetControlMode());
+    ASSERT_TRUE(intake_->SetIntakePower());
+    ASSERT_TRUE(intake_->SetTurn());
+    //TODO  get value from mode
+    //EXPECT_EQ(mode_, Manual);
+
+}
+
+TEST_F(IntakeTest, ControlIntake) {
+    ASSERT_TRUE(intake_->ManualControl());
+    ASSERT_TRUE(intake_->AutoControl());
+
+}
\ No newline at end of file