diff --git a/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/Constants.java b/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/Constants.java
index bf8e542..a09e4c1 100644
--- a/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/Constants.java
+++ b/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/Constants.java
@@ -40,4 +40,7 @@ public class Constants {
 
     public static final int kBaseTrajPeriodMs = 0;
     public static final double kNeutralDeadband = 0.01;
+
+    public static double kIntakeSpeed = 0.4;
+    public static double kOuttakeSpeed = -0.3;
 }
diff --git a/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/commands/GamepadRunIntake.java b/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/commands/GamepadRunIntake.java
new file mode 100644
index 0000000..75ac263
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4079/RobotBuilderProject1/commands/GamepadRunIntake.java
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc4079.RobotBuilderProject1.commands;
+
+import org.usfirst.frc4079.RobotBuilderProject1.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import org.usfirst.frc4079.RobotBuilderProject1.Constants;
+
+public class GamepadRunIntake extends Command {
+  public GamepadRunIntake() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+    requires(Robot.intake);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    if (Robot.oi.gamePad.getRightBumper()) {
+      Robot.intake.run(Constants.kIntakeSpeed);
+    } else if (Robot.oi.gamePad.getLeftBumper()) {
+      Robot.intake.run(Constants.kOuttakeSpeed);
+    } else {
+      Robot.intake.run(0);
+    }
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.intake.stop();
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}
\ No newline at end of file