diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4e50c9fb..38e88a91 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -130,6 +130,7 @@ public class RobotContainer {
   DoubleSupplier zeroSup;
 
   BooleanSupplier intakeReverse;
+  Command autoPickup;
   // Replace with CommandPS4Controller or CommandJoystick if needed
   
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
@@ -287,10 +288,17 @@ private void configureBindings() {
       ));
 
     if(Preferences.getBoolean("Detector Limelight", false)) {
-      new Trigger(operatorController::getR1Button).whileTrue(new SequentialCommandGroup(
-        new CollectNote(driveTrain, limelight),
-        new DriveTimeCommand(-1, 0, 0, 1, driveTrain)
-      ));
+      autoPickup = new ParallelRaceGroup(
+        new AutoGroundIntake(indexer, intake, angleShooterSubsystem),
+        new SequentialCommandGroup(
+          new CollectNote(driveTrain, limelight),
+          new DriveTimeCommand(-1, 0, 0, 1.5, driveTrain),
+          new DriveTimeCommand(1, 0, 0, 0.5, driveTrain),
+          new DriveTimeCommand(-1, 0, 0, 0.5, driveTrain),
+          new WaitCommand(0.5)
+          )
+          ).withTimeout(4);
+      new Trigger(operatorController::getR1Button).whileTrue(autoPickup);
     }
     new Trigger(ForceVisionSup).onTrue(new InstantCommand(()->SmartDashboard.putBoolean("force use limelight", true))).onFalse(new InstantCommand(()->SmartDashboard.putBoolean("force use limelight", false)));
     SmartDashboard.putData("force update limelight position", new InstantCommand(()->driveTrain.forceUpdateOdometryWithVision(), driveTrain));
@@ -445,15 +453,7 @@ private void registerNamedCommands() {
       new AutoGroundIntake(indexer, intake, angleShooterSubsystem)
     ));
     if(intakeExists&&indexerExists&&angleShooterExists) {
-      NamedCommands.registerCommand("autoPickup",new ParallelCommandGroup(
-        new AutoGroundIntake(indexer, intake, angleShooterSubsystem),
-        new SequentialCommandGroup(
-          new CollectNote(driveTrain, limelight),
-          new DriveTimeCommand(-1, 0, 0, 1.5, driveTrain),
-          new DriveTimeCommand(1, 0, 0, 0.5, driveTrain)
-        )
-      ).withTimeout(3.5)
-      );
+      NamedCommands.registerCommand("autoPickup", autoPickup);
     }
     if(intakeExists&&!indexerExists&&!angleShooterExists) {
       NamedCommands.registerCommand("groundIntake", new InstantCommand(()->intake.intakeYes(IntakeConstants.INTAKE_SPEED)));
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
index 2f40d3ee..7d1b2696 100644
--- a/src/main/java/frc/robot/settings/Constants.java
+++ b/src/main/java/frc/robot/settings/Constants.java
@@ -265,7 +265,7 @@ public static final class ShooterConstants{
   public static final double HUMAN_PLAYER_ANGLE = 97;
   public static final double HUMAN_PLAYER_RPS = -15;
   public static final double SAFE_SHOOTER_ANGLE = 15;
-  public static final double GROUND_INTAKE_SHOOTER_ANGLE = 90;
+  public static final double GROUND_INTAKE_SHOOTER_ANGLE = 69;
   /**
    * the values used when adjusting the shooter's angle based on our speaker distance. Here's how we calculated them:
    * <p>
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 5b553a46..f311faaf 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -42,8 +42,7 @@ public IntakeSubsystem() {
     } else {
       m_DistanceSensor = intake2.getAnalog(Mode.kAbsolute);
     }
-    intake2.follow(intake1);
-    intake2.setInverted(false);
+    intake2.setInverted(true);
     intake1.setInverted(true);
     intake1.setIdleMode(IdleMode.kCoast);
     intake2.setIdleMode(IdleMode.kCoast);
@@ -65,6 +64,7 @@ public IntakeSubsystem() {
    */
   public void intakeYes(double intakeRunSpeed) {
     intake1.set(intakeRunSpeed);
+    intake2.set(intakeRunSpeed);
   }
   /**
    * sets the intakes speed
@@ -73,12 +73,14 @@ public void intakeYes(double intakeRunSpeed) {
    */
   public void intakeNo(double intakeRunSpeed) {
     intake1.set(-intakeRunSpeed);
+    intake2.set(-intakeRunSpeed);
   }
   /**
    * sets the intake's power to 0
    */
   public void intakeOff() {
     intake1.set(0);
+    intake2.set(0);
   }
   /**
    * uses the distance sensor inside the indexer to tell if there is a note fully inside the indexer