diff --git a/src/main/java/competition/operator_interface/OperatorCommandMap.java b/src/main/java/competition/operator_interface/OperatorCommandMap.java
index 105607cc..a389b4d1 100644
--- a/src/main/java/competition/operator_interface/OperatorCommandMap.java
+++ b/src/main/java/competition/operator_interface/OperatorCommandMap.java
@@ -71,11 +71,16 @@ public void setupDriveCommands(OperatorInterface operatorInterface,
                                    DriveThroughAllianceTrenchCommand driveThroughAllianceTrenchCommand,
                                    IntakeSlowlyAndFireWhenReady intakeSlowlyAndFireWhenReady,
                                    PrecisionModeCommand precisionModeCommand,
-                                   AimAndShootFromHereCommand aimAndShootFromHereCommand
+                                   AimAndShootFromHereCommand aimAndShootFromHereCommand,
+                                   IntakeDeployExtendCommand intakeDeployExtendCommand,
+                                   IntakeDeployRetractCommand intakeDeployRetractCommand,
+                                   HopperAndIntakeCommandGroup collect
     ) {
         operatorInterface.driverGamepad.getPovIfAvailable(0).onTrue(driveThroughAllianceTrenchCommand);
-        // operatorInterface.driverGamepad.getPovIfAvailable(180).onTrue(lowPowerModeOffCommand);
-        operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Start).onTrue(resetHeading);
+        operatorInterface.driverGamepad.getPovIfAvailable(180).onTrue(intakeDeployRetractCommand);
+        operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Back).onTrue(resetHeading);
+        var extendAndCollect = collect.alongWith(intakeDeployExtendCommand);
+        operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.Start).onTrue(extendAndCollect);
         operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.X).whileTrue(xPositionCommand);
         operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.A).whileTrue(rotateToHubCommand);
         operatorInterface.driverGamepad.getifAvailable(XXboxController.XboxButton.RightBumper).whileTrue(intakeSlowlyAndFireWhenReady);