diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java
index 894210a19d6a..bbdd55a5f7a4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java
@@ -12,4 +12,10 @@ public static class Shooter {
         public static final String shooterMotorName = "shooterMotor";
         public static final double defaultSpeed = 1;
     }
+
+    public static class Intake {
+        public static final String intakeMotorName = "intakeMotor";
+        public static final String rampMotorName = "rampMotor";
+        public static final double defaultSpeed = 0.5;
+    }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java
index c68e02661cbe..07061ffff3fb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java
@@ -6,14 +6,17 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.Constants;
+import org.firstinspires.ftc.teamcode.commands.RunIntake;
 import org.firstinspires.ftc.teamcode.commands.RunShooter;
 import org.firstinspires.ftc.teamcode.commands.UserDrive;
 import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
 import org.firstinspires.ftc.teamcode.subsystems.Shooter;
 
 @TeleOp(name = "PrimaryOpMode", group = "NormalOpModes")
 public class PrimaryOpMode extends CommandOpMode {
     private Shooter shooter;
+    private Intake intake;
     private Drivetrain drivetrain;
 
     private GamepadEx driverOp;
@@ -35,7 +38,11 @@ public void initialize() {
         register(drivetrain);
         shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName);
         register(shooter);
+        intake = new Intake(hardwareMap, Constants.Intake.intakeMotorName, Constants.Intake.rampMotorName);
+        register(intake);
         coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(
                 new RunShooter(shooter, Constants.Shooter.defaultSpeed));
+        coOp.getGamepadButton(GamepadKeys.Button.B).whileHeld(
+                new RunIntake(intake, Constants.Intake.defaultSpeed));
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
new file mode 100644
index 000000000000..8d281ce27c71
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
@@ -0,0 +1,27 @@
+package org.firstinspires.ftc.teamcode.commands;
+
+import com.arcrobotics.ftclib.command.CommandBase;
+
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+
+public class RunIntake extends CommandBase {
+    public final Intake subsystem;
+
+    public final double speed;
+
+    public RunIntake(Intake _subsystem, double _speed) {
+        subsystem = _subsystem;
+        addRequirements(subsystem);
+        speed = _speed;
+    }
+
+    @Override
+    public void initialize() {
+        subsystem.run(speed);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        subsystem.stop();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
index 0569f5877804..9483dee28366 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
@@ -42,4 +42,17 @@ Subsystem that runs launcher
 ### Commands
 
 - RunShooter
-  - Runs shooter motors in raw mode with the specified power
\ No newline at end of file
+  - Runs shooter motors in raw mode with the specified power
+  - Controls
+    - A: Runs shooter
+
+## Intake
+
+Subsystem that runs launcher
+
+### Commands
+
+- RunIntake
+  - Runs intake motor and intake ramp motor
+  - Controls
+    - B: Runs Intake and Ramp
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java
new file mode 100644
index 000000000000..cc4033892be2
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java
@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.arcrobotics.ftclib.command.SubsystemBase;
+import com.arcrobotics.ftclib.hardware.motors.Motor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Intake extends SubsystemBase {
+    // intakeMotor is the one that runs the intake, rampMotor is the one on the ramp.
+    private final Motor intakeMotor, rampMotor;
+
+    public Intake(HardwareMap hardwareMap, String intakeMotorName, String rampMotorName) {
+        intakeMotor = new Motor(hardwareMap, intakeMotorName);
+        rampMotor = new Motor(hardwareMap, rampMotorName);
+
+        intakeMotor.setRunMode(Motor.RunMode.RawPower);
+        rampMotor.setRunMode(Motor.RunMode.RawPower);
+    }
+
+    public void run(double speed) {
+        double clampedSpeed = Math.max(-1.0, Math.min(1.0, speed));
+        intakeMotor.set(clampedSpeed);
+        rampMotor.set(clampedSpeed);
+    }
+
+    public void stop() {
+        intakeMotor.stopMotor();
+        rampMotor.stopMotor();
+    }
+}