diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index f9d1a95..679ba3e 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -19,7 +19,7 @@
 
 public class Robot extends TimedRobot {
   public Robot() {
-    DogLog.setOptions(new DogLogOptions().withLogEntryQueueCapacity(1500).withNtPublish(true));
+    DogLog.setOptions(new DogLogOptions().withNtPublish(true));
 
     // Record metadata
     DogLog.log("Metadata/ProjectName", BuildConstants.MAVEN_NAME);
@@ -66,6 +66,29 @@ public void robotInit() {}
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
+  
+  
+  // left trigger: intake
+  // right trigger: shoot
+
+  DogLog.log("Test/RobotPeriodic", true);
+
+  queuer.setIntakeMode(controller.getLeftTriggerAxis() >= 0.5);
+  queuer.setShootingMode(controller.getRightTriggerAxis() >= 0.5);
+
+  // if (controller.getLeftTriggerAxis() >= 0.5) {
+  //   queuer.setIntakeMode(true);
+  // } else if (controller.getLeftTriggerAxis() < 0.5) {
+  //   queuer.setIntakeMode(false);
+  // }
+  
+  // if (controller.getRightTriggerAxis() >= 0.5) {
+  //   queuer.setShootingMode(true);
+  // } else if (controller.getRightTriggerAxis() < 0.5) {
+  //   queuer.setShootingMode(false);
+  // }
+  
+  }
 
 
   @Override
diff --git a/src/main/java/frc/robot/queuer/QueuerSubsystem.java b/src/main/java/frc/robot/queuer/QueuerSubsystem.java
index 9f23136..b7cde68 100644
--- a/src/main/java/frc/robot/queuer/QueuerSubsystem.java
+++ b/src/main/java/frc/robot/queuer/QueuerSubsystem.java
@@ -2,6 +2,7 @@
 
 import com.revrobotics.CANSparkMax;
 
+import dev.doglog.DogLog;
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
 
@@ -22,6 +23,9 @@ public QueuerSubsystem(CANSparkMax motor) {
 
     @Override
     public void robotPeriodic() {
+        DogLog.log("Queuer/IntakeMode", intaking);
+        DogLog.log("Queuer/ShootingMode", shooting);
+
         if (intaking) {
             motor.set(0.3);
         } else if (shooting) {
@@ -33,10 +37,10 @@ public void robotPeriodic() {
         //if shooting set motor voltage to -0.5
         //if neither set voltage to 0
     }
-public boolean setIntakeMode() {
-   return intaking = true;
+public void setIntakeMode(boolean enabled) {
+    intaking = enabled;
 }
-public boolean setShootingMode() {
-    return shooting = true;
+public void setShootingMode(boolean on) {
+    shooting = on;
 }
 }
\ No newline at end of file