diff --git a/src/main/java/frc/robot/subsystems/coraller/Coraller.java b/src/main/java/frc/robot/subsystems/coraller/Coraller.java
index b366a93..fa1813e 100644
--- a/src/main/java/frc/robot/subsystems/coraller/Coraller.java
+++ b/src/main/java/frc/robot/subsystems/coraller/Coraller.java
@@ -24,11 +24,21 @@ public Command prepareToScore(Configuration cfg) {
   }
 
   public Command intakeCoral() {
-    return this.runOnce(() -> intake.intake());
+    return this.startEnd(
+      intake::start, // can also be written as () -> intake.start()
+      intake::stop
+    )
+    // TODO: We need a sensor to tell us if we have coral
+    .until(() -> { return false; }) 
+    .withTimeout(3);
   }
 
   public Command releaseCoral() {
-    return this.runOnce(() -> intake.release());
+    return this.startEnd(
+      intake::reverse,
+      intake::stop
+    )
+    .withTimeout(.5);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/coraller/Intake.java b/src/main/java/frc/robot/subsystems/coraller/Intake.java
index f55c86a..d8055e0 100644
--- a/src/main/java/frc/robot/subsystems/coraller/Intake.java
+++ b/src/main/java/frc/robot/subsystems/coraller/Intake.java
@@ -22,11 +22,16 @@ public Intake() {
   }
 
   // TODO() find out volts and which are inversed
-  public void intake() {
+  public void start() {
     intake.setVoltage(6);
   }
 
-  public void release() {
+  public void reverse() {
     intake.setVoltage(-6);
   }
+  
+  public void stop() {
+    intake.setVoltage(0);
+  }
+
 }