diff --git a/src/ConveyorSubsystem.cpp b/src/ConveyorSubsystem.cpp
index 9d66dca..b9e4bfc 100644
--- a/src/ConveyorSubsystem.cpp
+++ b/src/ConveyorSubsystem.cpp
@@ -22,27 +22,45 @@ void ConveyorSubsystem::robotInit(){
     operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::RIGHT_BUTTON);
     operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER);
     operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON);
+    operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::Y_BUTTON);
 }
 
-void ConveyorSubsystem::teleopInit() {}
+void ConveyorSubsystem::teleopInit() {
+    m_autoConveyor = false;
+}
 
 void ConveyorSubsystem::teleop(){
-    
-    if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
-        setLowerMotor(lowerConveyorSpeed.Get());
-    } else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
-        setLowerMotor(-lowerConveyorSpeed.Get());
-    } else {
-        setLowerMotor(0.0);
-    }
-    
-    if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
-        setUpperMotor(upperConveyorSpeed.Get());
-    } else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
-        setUpperMotor(-upperConveyorSpeed.Get());
-    } else {
-        setUpperMotor(0.0);
+    bool ballDetected = m_input.Get();
+    frc::SmartDashboard::PutBoolean("Ball Detected", ballDetected);
+
+    if (operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::Y_BUTTON)) {
+        if (ballDetected){
+            setLowerMotor(-lowerConveyorSpeed.Get());
+            setUpperMotor(-upperConveyorSpeed.Get());
+        } else {
+            setLowerMotor(0.0);
+            setUpperMotor(0.0);
+        }
+        m_autoConveyor = true;
+    } else if (!operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::Y_BUTTON)) {
+        if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
+            setLowerMotor(lowerConveyorSpeed.Get());
+        } else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
+            setLowerMotor(-lowerConveyorSpeed.Get());
+        } else {
+            setLowerMotor(0.0);
+        }
+        
+        if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
+            setUpperMotor(upperConveyorSpeed.Get());
+        } else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
+            setUpperMotor(-upperConveyorSpeed.Get());
+        } else {
+            setUpperMotor(0.0);
+        }
+
     }
+    frc::SmartDashboard::PutBoolean("Conveyor Auto Run", m_autoConveyor);
 }
 
 void ConveyorSubsystem::setLowerMotor(double lowerConveyorSpeed){
diff --git a/src/ConveyorSubsystem.h b/src/ConveyorSubsystem.h
index 08c8827..772601f 100644
--- a/src/ConveyorSubsystem.h
+++ b/src/ConveyorSubsystem.h
@@ -2,6 +2,8 @@
 
 #include <CORERobotLib.h>
 #include <ctre/Phoenix.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc/DigitalInput.h>
 #include "Config.h"
 
 class ConveyorSubsystem : public CORESubsystem {
@@ -16,5 +18,7 @@ class ConveyorSubsystem : public CORESubsystem {
     COREConstant<double> lowerConveyorSpeed, upperConveyorSpeed;
 private: 
     TalonSRX m_lowerConveyorMotor, m_frontConveyorMotor, m_backConveyorMotor;
+    frc::DigitalInput m_input{0};
+    bool m_autoConveyor;
 };
 
diff --git a/src/IntakeSubsystem.cpp b/src/IntakeSubsystem.cpp
index 3461f36..4099a39 100644
--- a/src/IntakeSubsystem.cpp
+++ b/src/IntakeSubsystem.cpp
@@ -1,9 +1,9 @@
 #include "IntakeSubsystem.h"
 
 IntakeSubsystem::IntakeSubsystem() : 
+                                     intakeSpeed("Intake Speed", 0.45),
                                      m_intakeMotor(INTAKE_PORT), 
-                                     m_intakeSolenoid(LEFT_DRIVE_SHIFTER_PCM, INTAKE_DOWN_PORT, INTAKE_UP_PORT),
-                                     intakeSpeed("Intake Speed", 0.45){
+                                     m_intakeSolenoid(LEFT_DRIVE_SHIFTER_PCM, INTAKE_DOWN_PORT, INTAKE_UP_PORT){
 }
 
 void IntakeSubsystem::robotInit(){