diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
index ab14d19..3ab38f4 100644
--- a/src/main/cpp/RobotContainer.cpp
+++ b/src/main/cpp/RobotContainer.cpp
@@ -11,53 +11,32 @@
 RobotContainer::RobotContainer() { ConfigureBindings(); }
 
 void RobotContainer::ConfigureBindings() {
+  // DEFAULT DRIVE COMMAND
   swerveSubsystem.SetDefaultCommand(swerveSubsystem.Drive(
       [this] {
         return str::NegateIfRed(
-            frc::ApplyDeadband<double>(-controller.GetLeftY(), .1) *
+            frc::ApplyDeadband<double>(-driverController.GetLeftY(), .1) *
             consts::swerve::physical::DRIVE_MAX_SPEED);
       },
       [this] {
         return str::NegateIfRed(
-            frc::ApplyDeadband<double>(-controller.GetLeftX(), .1) *
+            frc::ApplyDeadband<double>(-driverController.GetLeftX(), .1) *
             consts::swerve::physical::DRIVE_MAX_SPEED);
       },
       [this] {
-        return frc::ApplyDeadband<double>(-controller.GetRightX(), .1) *
+        return frc::ApplyDeadband<double>(-driverController.GetRightX(), .1) *
                consts::swerve::physical::DRIVE_MAX_ROT_SPEED;
       },
       true, true));
 
-  controller.LeftTrigger().WhileTrue(swerveSubsystem.AlignToAmp());
-  controller.LeftBumper().WhileTrue(
-    swerveSubsystem.NoteAssist(
-      [this] {
-        return str::NegateIfRed(
-            frc::ApplyDeadband<double>(-controller.GetLeftY(), .1) *
-            consts::swerve::physical::DRIVE_MAX_SPEED);
-      }, 
-      [this] {
-        return str::NegateIfRed(
-            frc::ApplyDeadband<double>(-controller.GetLeftX(), .1) *
-            consts::swerve::physical::DRIVE_MAX_SPEED);
-      },
-      [this] {
-        return swerveSubsystem.GetFoundNotePose();
-      })
-  );
-  // controller.Back().WhileTrue(
-  //     swerveSubsystem.WheelRadius(frc2::sysid::Direction::kReverse));
-  // controller.Start().WhileTrue(
-  //     swerveSubsystem.WheelRadius(frc2::sysid::Direction::kForward));
+  driverController.Start().WhileTrue(intakeSubsystem.FakeNote());
+  
+  driverController.LeftTrigger().OnTrue(IntakeNote());
+  (!driverController.LeftTrigger() && !intakeSubsystem.TouchedNote()).OnTrue(frc2::cmd::Sequence(intakeSubsystem.Stop(), frc2::cmd::Print("Cancelled")));
+  intakeSubsystem.TouchedNote().OnTrue(RumbleDriver([]{ return .1_s; }));
+  feederSubsystem.GotNote().OnTrue(frc2::cmd::Parallel(intakeSubsystem.Stop(), feederSubsystem.Stop(), RumbleDriver([] { return .5_s; }), RumbleOperator([] { return .5_s; })));
 
-  // controller.A().OnTrue(frc2::cmd::RunOnce([this] {
-  //   noteVisualizer.LaunchNote(
-  //       frc::Pose3d{swerveSubsystem.GetRobotPose()},
-  //       swerveSubsystem.GetRobotRelativeSpeed(),
-  //       frc::Transform3d{frc::Translation3d{-4_in, 0_in, 13_in},
-  //                        frc::Rotation3d{0_deg, -50_deg, 0_deg}},
-  //       41.71_fps);
-  // }));
+  driverController.A().WhileTrue(swerveSubsystem.AlignToAmp());
 
   // controller.A().WhileTrue(swerveSubsystem.SysIdDriveQuasistaticTorque(frc2::sysid::Direction::kForward));
   // controller.B().WhileTrue(swerveSubsystem.SysIdDriveQuasistaticTorque(frc2::sysid::Direction::kReverse));
@@ -69,23 +48,27 @@ void RobotContainer::ConfigureBindings() {
   // controller.POVUp().OnTrue(swerveSubsystem.TuneDrivePID([this] { return
   // controller.Start().Get(); }));
 
-  controller.A().WhileTrue(shooterSubsystem.RunShooter(
+  // controller.Back().WhileTrue(
+  //     swerveSubsystem.WheelRadius(frc2::sysid::Direction::kReverse));
+  // controller.Start().WhileTrue(
+  //     swerveSubsystem.WheelRadius(frc2::sysid::Direction::kForward));
+
+  operatorController.A().WhileTrue(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::AMP; }));
-  controller.A().OnFalse(shooterSubsystem.RunShooter(
+  operatorController.A().OnFalse(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::OFF; }));
 
-  controller.B().WhileTrue(shooterSubsystem.RunShooter(
+  operatorController.Y().WhileTrue(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::PASS; }));
-  controller.B().OnFalse(shooterSubsystem.RunShooter(
+  operatorController.Y().OnFalse(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::OFF; }));
 
-  controller.Y().WhileTrue(shooterSubsystem.RunShooter(
+  operatorController.B().WhileTrue(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::SUBWOOFER; }));
-  controller.Y().OnFalse(shooterSubsystem.RunShooter(
+  operatorController.B().OnFalse(shooterSubsystem.RunShooter(
       [] { return consts::shooter::PRESET_SPEEDS::SUBWOOFER; }));
 
-  controller.LeftTrigger().WhileTrue(intakeSubsystem.IntakeNote());
-  controller.RightTrigger().WhileTrue(intakeSubsystem.PoopNote());
+  operatorController.Back().WhileTrue(frc2::cmd::Parallel(intakeSubsystem.PoopNote(), feederSubsystem.Eject()));
 
   // controller.A().WhileTrue(shooterSubsystem.TopWheelSysIdQuasistatic(frc2::sysid::Direction::kForward));
   // controller.B().WhileTrue(shooterSubsystem.TopWheelSysIdQuasistatic(frc2::sysid::Direction::kReverse));
@@ -124,6 +107,16 @@ void RobotContainer::ConfigureBindings() {
   // { return 180_deg; }));
 }
 
+frc2::CommandPtr RobotContainer::IntakeNote() {
+  return frc2::cmd::Parallel(
+    frc2::cmd::Print("IntakeNote"),
+    intakeSubsystem.IntakeNote(),
+    feederSubsystem.Feed()
+  ).Until([this] {
+    return feederSubsystem.HasNote();
+  });
+}
+
 frc2::Command *RobotContainer::GetAutonomousCommand() {
   //return autos.GetSelectedCommand();
   return nullptr;
@@ -147,6 +140,38 @@ FeederSubsystem &RobotContainer::GetFeederSubsystem() {
 
 // str::Vision &RobotContainer::GetVision() { return vision; }
 
-// str::NoteVisualizer &RobotContainer::GetNoteVisualizer() {
-//   return noteVisualizer;
-// }
+str::NoteVisualizer &RobotContainer::GetNoteVisualizer() {
+  return noteVisualizer;
+}
+
+frc2::CommandPtr RobotContainer::RumbleDriver(std::function<units::second_t()> timeToRumble) {
+  return frc2::cmd::Sequence(
+             frc2::cmd::RunOnce([this] {
+               driverController.SetRumble(
+                   frc::GenericHID::RumbleType::kBothRumble, 1.0);
+             }),
+             frc2::cmd::Wait(timeToRumble()), frc2::cmd::RunOnce([this] {
+               driverController.SetRumble(
+                   frc::GenericHID::RumbleType::kBothRumble, 0.0);
+             }))
+      .FinallyDo([this] {
+        driverController.SetRumble(frc::GenericHID::RumbleType::kBothRumble,
+                                   0.0);
+      });
+}
+
+frc2::CommandPtr RobotContainer::RumbleOperator(std::function<units::second_t()> timeToRumble) {
+  return frc2::cmd::Sequence(
+             frc2::cmd::RunOnce([this] {
+               operatorController.SetRumble(
+                   frc::GenericHID::RumbleType::kBothRumble, 1.0);
+             }),
+             frc2::cmd::Wait(timeToRumble()), frc2::cmd::RunOnce([this] {
+               operatorController.SetRumble(
+                   frc::GenericHID::RumbleType::kBothRumble, 0.0);
+             }))
+      .FinallyDo([this] {
+        operatorController.SetRumble(frc::GenericHID::RumbleType::kBothRumble,
+                                     0.0);
+      });
+}
\ No newline at end of file
diff --git a/src/main/cpp/subsystems/FeederSubsystem.cpp b/src/main/cpp/subsystems/FeederSubsystem.cpp
index bf08080..d89f195 100644
--- a/src/main/cpp/subsystems/FeederSubsystem.cpp
+++ b/src/main/cpp/subsystems/FeederSubsystem.cpp
@@ -6,6 +6,8 @@
 #include "constants/Constants.h"
 #include <frc/DataLogManager.h>
 #include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/Commands.h>
+#include <iostream>
 
 FeederSubsystem::FeederSubsystem() {
   SetName("FeederSubsystem");
@@ -17,8 +19,41 @@ FeederSubsystem::FeederSubsystem() {
   frc::SmartDashboard::PutData(this);
 }
 
+frc2::CommandPtr FeederSubsystem::Feed() {
+  return frc2::cmd::RunEnd([this] {
+    feederWheelVoltageSetpoint = consts::feeder::gains::NOTE_FEED_VOLTAGE;
+  }, [this] {
+    feederWheelVoltageSetpoint = 0_V;
+  }, {this}).WithName("FeedUntilNote");
+}
+
+frc2::CommandPtr FeederSubsystem::Stop() {
+  return frc2::cmd::RunOnce([this] {
+    feederWheelVoltageSetpoint = 0_V;
+  }, {this}).WithName("Stop");
+}
+
+frc2::CommandPtr FeederSubsystem::Eject() {
+  return frc2::cmd::RunEnd([this] {
+    feederWheelVoltageSetpoint = consts::feeder::gains::NOTE_EJECT_VOLTAGE;
+  }, [this] {
+    feederWheelVoltageSetpoint = 0_V;
+  }, {this}).WithName("Eject");
+}
+
 // This method will be called once per scheduler run
 void FeederSubsystem::Periodic() {
+
+  ctre::phoenix::StatusCode feederWaitResult = ctre::phoenix6::BaseStatusSignal::RefreshAll({
+    &feederMotorVoltageSig,
+  });
+
+  if(!feederWaitResult.IsOK()) {
+    frc::DataLogManager::Log(fmt::format("Error grabbing feeder signals! Details: {}\n", feederWaitResult.GetName()));
+  }
+
+  currentFeederWheelVoltage = feederMotorVoltageSig.GetValue();
+
   noteSensorRawVal = noteSensor.Get();
   noteSensorDebouced = noteSensorDebouncer.Calculate(noteSensorRawVal);
   if (noteSensorDebouced) {
@@ -26,6 +61,9 @@ void FeederSubsystem::Periodic() {
   } else {
     hasNote = false;
   }
+  
+  feederMotor.SetControl(feederMotorVoltageSetter.WithOutput(feederWheelVoltageSetpoint));
+
   UpdateNTEntries();
 }
 
diff --git a/src/main/cpp/subsystems/IntakeSubsystem.cpp b/src/main/cpp/subsystems/IntakeSubsystem.cpp
index 96589ba..f565fdb 100644
--- a/src/main/cpp/subsystems/IntakeSubsystem.cpp
+++ b/src/main/cpp/subsystems/IntakeSubsystem.cpp
@@ -24,14 +24,32 @@ frc2::CommandPtr IntakeSubsystem::IntakeNote() {
     intakeWheelVoltageSetpoint = consts::intake::gains::NOTE_INTAKE_VOLTAGE;
   }, [this] {
     intakeWheelVoltageSetpoint = 0_V;
-  }, {this});
+    stateTimer.Restart();
+  }, {this}).WithName("IntakeNote").BeforeStarting([this] { stateTimer.Restart(); });
+}
+
+frc2::CommandPtr IntakeSubsystem::Stop() {
+  return frc2::cmd::RunOnce([this] {
+    intakeWheelVoltageSetpoint = 0_V;
+    stateTimer.Restart();
+  }, {this}).WithName("Stop");
+}
+
+frc2::CommandPtr IntakeSubsystem::FakeNote() {
+  return frc2::cmd::Run([this] {
+    simOverrideTorque = true;
+  }).FinallyDo([this] {
+    simOverrideTorque = false;
+  });
 }
 
 frc2::CommandPtr IntakeSubsystem::PoopNote() {
   return frc2::cmd::RunEnd([this] {
     intakeWheelVoltageSetpoint = consts::intake::gains::NOTE_EJECT_VOLTAGE;
+    stateTimer.Restart();
   }, [this] {
     intakeWheelVoltageSetpoint = 0_V;
+    stateTimer.Restart();
   }, {this});
 }
 
@@ -43,9 +61,14 @@ void IntakeSubsystem::Periodic() {
   });
 
   currentIntakeWheelVoltage = intakeMotorVoltageSig.GetValue();
-  intakeWheelTorqueCurrent = intakeMotorTorqueCurrentSig.GetValue();
+  if(simOverrideTorque) {
+    intakeWheelTorqueCurrent = 300_A;
+  }
+  else {
+    intakeWheelTorqueCurrent = intakeMotorTorqueCurrentSig.GetValue();
+  }
 
-  isTouchingNote = intakeSpikeDebouncer.Calculate(intakeWheelTorqueCurrent > consts::intake::gains::NOTE_SPIKE_THRESHOLD);
+  isTouchingNote = stateTimer.HasElapsed(.25_s) && intakeSpikeDebouncer.Calculate(intakeWheelTorqueCurrent > consts::intake::gains::NOTE_SPIKE_THRESHOLD);
 
   intakeMotor.SetControl(intakeMotorVoltageSetter.WithOutput(intakeWheelVoltageSetpoint));
 
diff --git a/src/main/cpp/subsystems/SwerveSubsystem.cpp b/src/main/cpp/subsystems/SwerveSubsystem.cpp
index 133d236..925670f 100644
--- a/src/main/cpp/subsystems/SwerveSubsystem.cpp
+++ b/src/main/cpp/subsystems/SwerveSubsystem.cpp
@@ -177,7 +177,7 @@ bool SwerveSubsystem::IsNearAmp() {
          consts::yearSpecific::closeToAmpDistance;
 }
 
-frc2::CommandPtr SwerveSubsystem::NoteAssist(std::function<units::meters_per_second_t()> xVel, std::function<units::meters_per_second_t()> yVel, std::function<frc::Pose2d()> notePose) {
+frc2::CommandPtr SwerveSubsystem::NoteAssist(std::function<units::meters_per_second_t()> xVel, std::function<units::meters_per_second_t()> yVel, std::function<units::radians_per_second_t()> rotOverride, std::function<frc::Pose2d()> notePose) {
   return frc2::cmd::Sequence(
              frc2::cmd::RunOnce(
                  [this, notePose] {
@@ -197,7 +197,7 @@ frc2::CommandPtr SwerveSubsystem::NoteAssist(std::function<units::meters_per_sec
                  {this})
                  .WithName("NoteAssist Init"),
              frc2::cmd::Run(
-                 [this, notePose, xVel, yVel] {
+                 [this, notePose, xVel, yVel, rotOverride] {
                    frc::Pose2d currentPose = GetRobotPose();
 
                    frc::Translation2d diff = currentPose.Translation() - notePose().Translation();
@@ -207,6 +207,10 @@ frc2::CommandPtr SwerveSubsystem::NoteAssist(std::function<units::meters_per_sec
                        thetaController.Calculate(
                            currentPose.Rotation().Radians())};
 
+                   if(rotOverride() != 0_rad_per_s) {
+                    thetaSpeed = rotOverride();
+                   }
+
                    swerveDrive.Drive(xVel(), yVel(), thetaSpeed, true);
                  },
                  {this})
diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h
index 1fc5822..3af5e80 100644
--- a/src/main/include/RobotContainer.h
+++ b/src/main/include/RobotContainer.h
@@ -19,23 +19,29 @@ class RobotContainer {
 
   frc2::Command *GetAutonomousCommand();
 
+  frc2::CommandPtr IntakeNote();
+
   SwerveSubsystem &GetSwerveSubsystem();
   ShooterSubsystem &GetShooterSubsystem();
   IntakeSubsystem &GetIntakeSubsystem();
   FeederSubsystem &GetFeederSubsystem();
   //str::Vision &GetVision();
-  //str::NoteVisualizer &GetNoteVisualizer();
+  str::NoteVisualizer &GetNoteVisualizer();
 
 private:
   void ConfigureBindings();
-  frc2::CommandXboxController controller{0};
+  frc2::CommandXboxController driverController{0};
+  frc2::CommandXboxController operatorController{1};
+
+  frc2::CommandPtr RumbleDriver(std::function<units::second_t()> timeToRumble);
+  frc2::CommandPtr RumbleOperator(std::function<units::second_t()> timeToRumble);
 
   SwerveSubsystem swerveSubsystem;
   ShooterSubsystem shooterSubsystem;
   IntakeSubsystem intakeSubsystem;
   FeederSubsystem feederSubsystem;
-  // str::Vision vision;
-  // str::NoteVisualizer noteVisualizer;
+  //str::Vision vision;
+  str::NoteVisualizer noteVisualizer;
 
   // Autos autos{swerveSubsystem, shooterSubsystem, intakeSubsystem,
   //             feederSubsystem};
diff --git a/src/main/include/constants/FeederConstants.h b/src/main/include/constants/FeederConstants.h
index 137603c..1c04502 100644
--- a/src/main/include/constants/FeederConstants.h
+++ b/src/main/include/constants/FeederConstants.h
@@ -45,7 +45,7 @@ inline constexpr units::kilogram_square_meter_t FEEDER_MOI =
 
 namespace gains {
 inline constexpr units::volt_t NOTE_FEED_VOLTAGE = 10_V;
-inline constexpr units::volt_t NOTE_EJECT_VOLTAGE = -5_V;
+inline constexpr units::volt_t NOTE_EJECT_VOLTAGE = -10_V;
 inline constexpr units::second_t NOTE_SENSOR_DEBOUNCE_TIME = 0.1_s;
 } // namespace gains
 } // namespace feeder
diff --git a/src/main/include/constants/IntakeConstants.h b/src/main/include/constants/IntakeConstants.h
index 9470903..382c99c 100644
--- a/src/main/include/constants/IntakeConstants.h
+++ b/src/main/include/constants/IntakeConstants.h
@@ -35,13 +35,13 @@ inline constexpr frc::DCMotor INTAKE_MOTOR = frc::DCMotor::Falcon500(1);
 inline constexpr units::meter_t WHEEL_RADIUS = 1_in;
 
 //From onshape doc
-inline constexpr units::kilogram_square_meter_t INTAKE_MOI = 12.350445 * 1_in * 1_in * 1_lb;
+inline constexpr units::kilogram_square_meter_t INTAKE_MOI = 5.350445 * 1_in * 1_in * 1_lb;
 } // namespace physical
 
 namespace gains {
 inline constexpr units::ampere_t NOTE_SPIKE_THRESHOLD = 100_A;
 inline constexpr units::volt_t NOTE_INTAKE_VOLTAGE = 10_V;
-inline constexpr units::volt_t NOTE_EJECT_VOLTAGE = -5_V;
+inline constexpr units::volt_t NOTE_EJECT_VOLTAGE = -10_V;
 }
 } // namespace intake
 } // namespace consts
diff --git a/src/main/include/str/Vision.h b/src/main/include/str/Vision.h
index 7fbf23e..3b2d651 100644
--- a/src/main/include/str/Vision.h
+++ b/src/main/include/str/Vision.h
@@ -29,7 +29,7 @@ class Vision {
   std::array<Camera, 4> cameras{
       Camera{consts::vision::FL_CAM_NAME, consts::vision::FL_ROBOT_TO_CAM,
              consts::vision::SINGLE_TAG_STD_DEV,
-             consts::vision::MULTI_TAG_STD_DEV, false},
+             consts::vision::MULTI_TAG_STD_DEV, true},
       Camera{consts::vision::FR_CAM_NAME, consts::vision::FR_ROBOT_TO_CAM,
              consts::vision::SINGLE_TAG_STD_DEV,
              consts::vision::MULTI_TAG_STD_DEV, false},
@@ -42,6 +42,6 @@ class Vision {
   Camera noteCamera{consts::vision::NOTE_CAM_NAME,
                     consts::vision::ROBOT_TO_NOTE_CAM,
                     consts::vision::SINGLE_TAG_STD_DEV,
-                    consts::vision::MULTI_TAG_STD_DEV, true};
+                    consts::vision::MULTI_TAG_STD_DEV, false};
 };
 } // namespace str
diff --git a/src/main/include/subsystems/FeederSubsystem.h b/src/main/include/subsystems/FeederSubsystem.h
index 218a769..088c452 100644
--- a/src/main/include/subsystems/FeederSubsystem.h
+++ b/src/main/include/subsystems/FeederSubsystem.h
@@ -15,11 +15,19 @@
 #include <networktables/BooleanTopic.h>
 #include <networktables/DoubleTopic.h>
 #include <networktables/NetworkTableInstance.h>
+#include <frc2/command/button/Trigger.h>
 
 class FeederSubsystem : public frc2::SubsystemBase {
 public:
   FeederSubsystem();
 
+
+  frc2::CommandPtr Feed();
+  frc2::CommandPtr Stop();
+  frc2::CommandPtr Eject();
+
+  frc2::Trigger GotNote() { return gotNote; }
+
   /**
    * Will be called periodically whenever the CommandScheduler runs.
    */
@@ -73,6 +81,8 @@ class FeederSubsystem : public frc2::SubsystemBase {
   bool noteSensorDebouced{false};
   bool hasNote{false};
 
+  frc2::Trigger gotNote{[this] { return hasNote; }};
+
   units::volt_t feederWheelVoltageSetpoint{0_V};
   units::volt_t currentFeederWheelVoltage{0_V};
 };
diff --git a/src/main/include/subsystems/IntakeSubsystem.h b/src/main/include/subsystems/IntakeSubsystem.h
index 762dbb9..e4c9e2f 100644
--- a/src/main/include/subsystems/IntakeSubsystem.h
+++ b/src/main/include/subsystems/IntakeSubsystem.h
@@ -16,6 +16,7 @@
 #include <networktables/NetworkTableInstance.h>
 #include <units/base.h>
 #include <units/current.h>
+#include <frc2/command/button/Trigger.h>
 
 class IntakeSubsystem : public frc2::SubsystemBase {
 public:
@@ -27,9 +28,12 @@ class IntakeSubsystem : public frc2::SubsystemBase {
   void Periodic() override;
   void SimulationPeriodic() override;
   bool TouchingNote();
+  frc2::Trigger TouchedNote() { return touchedNote; }
 
   frc2::CommandPtr IntakeNote();
+  frc2::CommandPtr Stop();
   frc2::CommandPtr PoopNote();
+  frc2::CommandPtr FakeNote();
 
 private:
   void UpdateNTEntries();
@@ -68,8 +72,12 @@ class IntakeSubsystem : public frc2::SubsystemBase {
   nt::BooleanPublisher touchingNotePub{
       nt->GetBooleanTopic("TouchingNote").Publish()};
 
+  frc::Timer stateTimer{};
   frc::Debouncer intakeSpikeDebouncer{.25_s, frc::Debouncer::kFalling};
   bool isTouchingNote{false};
+  bool simOverrideTorque{false};
+
+  frc2::Trigger touchedNote{[this] { return isTouchingNote; }};
 
   units::volt_t intakeWheelVoltageSetpoint{0_V};
   units::volt_t currentIntakeWheelVoltage{0_V};
diff --git a/src/main/include/subsystems/SwerveSubsystem.h b/src/main/include/subsystems/SwerveSubsystem.h
index 6521fb7..e983e7d 100644
--- a/src/main/include/subsystems/SwerveSubsystem.h
+++ b/src/main/include/subsystems/SwerveSubsystem.h
@@ -64,7 +64,7 @@ class SwerveSubsystem : public frc2::SubsystemBase {
   frc2::CommandPtr TuneDrivePID(std::function<bool()> isDone);
   void CalculateFoundNotePose(std::optional<units::meter_t> distanceToNote, std::optional<units::radian_t> angleToNote);
   frc::Pose2d GetFoundNotePose() const;
-  frc2::CommandPtr NoteAssist(std::function<units::meters_per_second_t()> xVel, std::function<units::meters_per_second_t()> yVel, std::function<frc::Pose2d()> notePose);
+  frc2::CommandPtr NoteAssist(std::function<units::meters_per_second_t()> xVel, std::function<units::meters_per_second_t()> yVel, std::function<units::radians_per_second_t()> rotOverride, std::function<frc::Pose2d()> notePose);
 private:
   void SetupPathplanner();
   void LoadChoreoTrajectories();