diff --git a/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetIntakeMode.java b/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetIntakeMode.java
index 202d1e1..7dffb1e 100644
--- a/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetIntakeMode.java
+++ b/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetIntakeMode.java
@@ -42,25 +42,15 @@ public SetIntakeMode(HopperSubsystem hopper, IntakeSubsystem intake, ShooterSubs
   public void initialize() {
     System.out.println("Setting Intake Mode");
     m_hopper.resetBallCount();
-  }
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
     m_hopper.setIntakeMode();
-    m_hopper.intakeOneBall();
     m_intake.intakeOn();
     m_shooter.shooterOff();
   }
 
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true; // end after one execution
   }
 }
diff --git a/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetShootingMode.java b/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetShootingMode.java
index fe67782..652db1a 100644
--- a/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetShootingMode.java
+++ b/Thunderclap/src/main/java/frc/robot/commands/SetHopperModeCommands/SetShootingMode.java
@@ -41,24 +41,15 @@ public SetShootingMode(HopperSubsystem hopper, ShooterSubsystem shooter, IntakeS
   @Override
   public void initialize() {
     System.out.println("Setting Shooter Mode");
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
+    
     m_hopper.setShootingMode();
     m_shooter.shooterOn();
     m_intake.intakeOff();
   }
 
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-  }
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true; // end after one execution
   }
 }
diff --git a/Thunderclap/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/Thunderclap/src/main/java/frc/robot/subsystems/HopperSubsystem.java
index 7a12f1a..43ee426 100644
--- a/Thunderclap/src/main/java/frc/robot/subsystems/HopperSubsystem.java
+++ b/Thunderclap/src/main/java/frc/robot/subsystems/HopperSubsystem.java
@@ -60,6 +60,7 @@ public HopperSubsystem(final double stopperForwardSpeed, final double stopperRev
         // SmartDashboard.putData("Sucker Motor", m_suckerMotor);
         SmartDashboard.putNumber("Ball Count", m_ballCount);
     }
+
     public void hopperOn() {
         m_hopperMotor.set(Constants.kHopperForwardSpeed);
         m_isHopperOn = true;
@@ -155,6 +156,10 @@ public void periodic() {
         // m_ballSensor.IsBallPresent();
         // m_ballOutputSensor.IsBallPresent();
         SmartDashboard.putBoolean("Bumper Switch", m_bumperSwitch.get());
+
+        if (m_hopperMode == HopperMode.intakeMode) {
+            intakeOneBall();
+        }
     }
 
     public void setIntakeMode() {