diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2cd8285..3745b75 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -103,14 +103,14 @@ public Command createTeleopInitSequence() {
       m_arm.createStowCommand(),
       m_arm.createFlapDeployCommand(),
       m_LEDs.createEnabledCommand(
-        m_intake.eitherSensorSupplier(), m_arm.stateChecker(ArmState.DEPLOYED)));
+        m_intake.hasNote, m_arm.stateChecker(ArmState.DEPLOYED)));
   }
 
   public Command createAutonomousInitSequence() {
     return new SequentialCommandGroup(
       m_arm.createFlapDeployCommand(),
       m_LEDs.createEnabledCommand(
-        m_intake.eitherSensorSupplier(), m_arm.stateChecker(ArmState.DEPLOYED)));
+        m_intake.hasNote, m_arm.stateChecker(ArmState.DEPLOYED)));
   }
 
   public Command createDisabledInitSequence() {
@@ -263,15 +263,13 @@ private void configureDriverButtonBindings() {
     new JoystickButton(m_driver,OIConstants.kZorroAIn)
     .whileTrue((new ZorroDriveCommand(m_swerve, DriveConstants.kDriveKinematicsDriveFromArm, m_driver)));
 
-
-    Trigger armDeployed = new Trigger(m_arm.stateChecker(ArmState.DEPLOYED));
     JoystickButton D_Button = new JoystickButton(m_driver, OIConstants.kZorroDIn);
     
     // Reverse intake to outake or reject intaking Note
-    D_Button.and(armDeployed.negate())
+    D_Button.and(m_arm.deployed.negate())
             .whileTrue(m_intake.createOuttakeToFloorCommand());
         // Shoot Note into Amp
-    D_Button.and(armDeployed)
+    D_Button.and(m_arm.deployed)
             .whileTrue(m_intake.createOuttakeToAmpCommand());
   }
   // spotless:on
@@ -281,9 +279,6 @@ private void configureOperatorButtonBindings() {
     JoystickButton rightBumper = new JoystickButton(m_operator, Button.kRightBumper.value);
     JoystickButton leftBumper = new JoystickButton(m_operator, Button.kLeftBumper.value);
 
-    Trigger hasNote = new Trigger(m_intake.eitherSensorSupplier());
-    Trigger armDeployed = new Trigger(m_arm.stateChecker(ArmState.DEPLOYED));
-
     // CLIMBER
     // Calibrate upper limit of climber actuators
     new JoystickButton(m_operator, Button.kStart.value).onTrue(new CalibrateCommand(m_climber)
@@ -307,25 +302,25 @@ private void configureOperatorButtonBindings() {
     // Control position of Note in intake
     Trigger leftStick = new Trigger(() -> Math.abs(m_operator.getLeftY()) > 0.2);
     //While arm is down
-    leftStick.and(armDeployed.negate()).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmDown));
+    leftStick.and(m_arm.deployed.negate()).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmDown));
     //While arm is up
-    leftStick.and(armDeployed).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmUp));
+    leftStick.and(m_arm.deployed).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmUp));
 
     // Intake Note from floor
-    rightBumper.and(hasNote.negate())
+    rightBumper.and(m_intake.hasNote.negate())
       .whileTrue(m_arm.createStowCommand()
       .andThen(m_intake.createIntakeCommand()));
     
-    hasNote.and(m_intake.stateChecker(IntakeState.INTAKING)).and(() -> RobotState.isTeleop())
+    m_intake.hasNote.and(m_intake.stateChecker(IntakeState.INTAKING)).and(() -> RobotState.isTeleop())
       .onTrue(m_arm.createCarryCommand()
       .andThen(m_intake.createAdvanceAfterIntakingCommand()));
     
     // Reverse intake to outake or reject intaking Note
-    leftBumper.and(armDeployed.negate())
+    leftBumper.and(m_arm.deployed.negate())
         .whileTrue(m_intake.createOuttakeToFloorCommand());
     
     // Shoot Note into Amp
-    leftBumper.and(armDeployed)
+    leftBumper.and(m_arm.deployed)
         .whileTrue(m_intake.createOuttakeToAmpCommand());
 
     // Shift Note further into Intake
@@ -366,7 +361,7 @@ private void configureOperatorButtonBindings() {
   public Command createAutoIntakeCommandSequence() {
     return new SequentialCommandGroup(
         m_arm.createStowCommand(),
-        m_intake.createIntakeCommand().until(m_intake.eitherSensorSupplier()),
+        m_intake.createIntakeCommand().until(m_intake.hasNote),
         m_arm.createCarryCommand(),
         m_intake.createAdvanceAfterIntakingCommand());
   }
diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java
index b8e44bd..67f3dbc 100644
--- a/src/main/java/frc/robot/arm/Arm.java
+++ b/src/main/java/frc/robot/arm/Arm.java
@@ -6,6 +6,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.ArmConstants;
 import frc.robot.Constants.ArmConstants.ArmState;
 import java.util.function.BooleanSupplier;
@@ -39,6 +40,8 @@ public void periodic() {
     if (m_armState != null) SmartDashboard.putString("Arm State", m_armState.name());
   }
 
+  public final Trigger deployed = new Trigger(this.stateChecker(ArmState.DEPLOYED));
+
   public BooleanSupplier stateChecker(ArmState state) {
     return () -> {
       if (this.m_armState != null) return this.m_armState.equals(state);
diff --git a/src/main/java/frc/robot/intake/Intake.java b/src/main/java/frc/robot/intake/Intake.java
index a4948ff..2287f37 100644
--- a/src/main/java/frc/robot/intake/Intake.java
+++ b/src/main/java/frc/robot/intake/Intake.java
@@ -15,6 +15,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.IntakeConstants;
 import frc.robot.Constants.IntakeConstants.IntakeState;
 import java.util.function.BooleanSupplier;
@@ -43,7 +44,7 @@ public class Intake extends SubsystemBase {
 
   private final EventLoop m_loop = new EventLoop();
   private final BooleanEvent m_secondSensorTriggered =
-      new BooleanEvent(m_loop, secondSensorSupplier());
+      new BooleanEvent(m_loop, m_noteSensorRetroReflective::get).negate().rising();
 
   public Intake() {
 
@@ -94,7 +95,7 @@ private void configurePositionController(double targetPosition) {
 
   // spotless:off
   private void advanceAfterIntaking(double targetPosition) {
-    m_secondSensorTriggered.rising().ifHigh(
+    m_secondSensorTriggered.ifHigh(
             () -> {
               m_positionController.reset(
                   m_relativeEncoder.getPosition(), m_relativeEncoder.getVelocity());
@@ -138,22 +139,13 @@ public Command createAdvanceAfterIntakingCommand() {
         // end
         interrupted -> {},
         // isFinished
-        this.atGoalSupplier(),
+        m_positionController::atGoal,
         // requirements
         this);
   }
 
-  public BooleanSupplier eitherSensorSupplier() {
-    return () -> (!m_noteSensorRetroReflective.get() || !m_noteSensorBeamBreak.get());
-  }
-
-  public BooleanSupplier secondSensorSupplier() {
-    return () -> !m_noteSensorRetroReflective.get();
-  }
-
-  public BooleanSupplier atGoalSupplier() {
-    return () -> m_positionController.atGoal();
-  }
+  public final Trigger hasNote =
+      new Trigger(() -> (!m_noteSensorRetroReflective.get() || !m_noteSensorBeamBreak.get()));
 
   private void setVelocity(double targetVelocity) {
     m_velocityController.setReference(targetVelocity, ControlType.kVelocity);