I did intake

src/main/java/com/team766/robot/rookie_bot/OI.java

@@ -37,13 +37,15 @@ public void run(final Context context) {
 
             Robot.drive.setArcadeDrivePower(-1 * joystick0.getAxis(1), joystick0.getAxis(3));
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
-            if (joystick0.getButtonPressed(1)) {
+            if (joystick0.getButtonPressed(4)) {
                 context.startAsync(new PIDElevator(true));
 
             }
             if (joystick0.getButtonPressed(2)) {
                 context.startAsync(new PIDElevator(false));
+
             }
+            if (joystick0.getButtonPressed)
         }
     }
 }

src/main/java/com/team766/robot/rookie_bot/mechanisms/intake.java

@@ -0,0 +1,22 @@
+package com.team766.robot.rookie_bot.mechanisms;
+
+import com.team766.framework.Mechanism;
+import com.team766.hal.MotorController;
+import com.team766.hal.RobotProvider;
+
+public class intake extends Mechanism {
+    private MotorController leftMotor;
+    private MotorController rightMotor;
+
+public intake() {
+    leftMotor = RobotProvider.instance.getMotor("intake.leftMotor");
+    rightMotor = RobotProvider.instance.getMotor("intake.rightMotor");
+}
+
+public void setintakePower(double leftPower, double rightPower) {
+    checkContextOwnership();
+    leftMotor.set(leftPower);
+    rightMotor.set(rightPower);
+}
+
+}