diff --git a/src/main/java/org/team1540/robot2023/Constants.java b/src/main/java/org/team1540/robot2023/Constants.java
index 0a2b95d..c52d748 100644
--- a/src/main/java/org/team1540/robot2023/Constants.java
+++ b/src/main/java/org/team1540/robot2023/Constants.java
@@ -265,5 +265,7 @@ public static final class RollerIntakeConstants {
         public static final int ROLLER_INTAKE_ID = 16;
         public static final int INTAKE_IDLE_CURRENT = 10; // TODO: 8/29/2023 find the intake idle current limit
         public static final int INTAKE_AGGRO_CURRENT = 30; // TODO: 8/29/2023 find the intake aggravating current limit
+        public static final double VELOCITY_THRESH = 200; // TODO: 9/8/2023 figure out velocity threshold for hasGamePiece
+
     }
 }
\ No newline at end of file
diff --git a/src/main/java/org/team1540/robot2023/commands/wristintake/RollerIntake.java b/src/main/java/org/team1540/robot2023/commands/wristintake/RollerIntake.java
new file mode 100644
index 0000000..8fb6002
--- /dev/null
+++ b/src/main/java/org/team1540/robot2023/commands/wristintake/RollerIntake.java
@@ -0,0 +1,40 @@
+package org.team1540.robot2023.commands.wristintake;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
+import com.ctre.phoenix.motorcontrol.can.TalonFX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.team1540.robot2023.utils.AverageFilter;
+
+import static org.team1540.robot2023.Constants.RollerIntakeConstants.*;
+
+public class RollerIntake extends SubsystemBase {
+    private final TalonFX motor = new TalonFX(ROLLER_INTAKE_ID);
+    private final AverageFilter averageFilter = new AverageFilter(5);
+
+    public RollerIntake() {
+        motor.configStatorCurrentLimit(
+                new StatorCurrentLimitConfiguration(true, INTAKE_IDLE_CURRENT, INTAKE_IDLE_CURRENT, 0)
+        );
+        motor.setNeutralMode(NeutralMode.Brake);
+        motor.setInverted(false); // TODO: 8/29/2023 figure out inversion
+    }
+
+    public void setSpeed(double speed) {
+        motor.set(ControlMode.PercentOutput, speed);
+    }
+
+    public void stop() {
+        setSpeed(0);
+    }
+
+    public boolean hasGamePiece() {
+        return averageFilter.getAverage() < VELOCITY_THRESH;
+    }
+
+    @Override
+    public void periodic() {
+        averageFilter.add(motor.getSelectedSensorVelocity());
+    }
+}