diff --git a/src/main/java/frc/robot/subsystems/StateMachine.java b/src/main/java/frc/robot/subsystems/StateMachine.java
index d7a1e0e..bf2b31f 100644
--- a/src/main/java/frc/robot/subsystems/StateMachine.java
+++ b/src/main/java/frc/robot/subsystems/StateMachine.java
@@ -8,7 +8,13 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.commands.states.EjectingHopper;
+import frc.robot.commands.states.Intaking;
 import frc.robot.commands.states.None;
+import frc.robot.commands.states.RetractIntake;
+import frc.robot.commands.states.ReversingShooter;
+import frc.robot.commands.states.*;
+import frc.robot.commands.states.preps.*;
 
 @Logged
 public class StateMachine extends SubsystemBase {
@@ -22,6 +28,7 @@ public StateMachine() {
 
   public void setRobotState(RobotState robotState) {
     currentRobotState = robotState;
+
   }
 
   public RobotState getRobotState() {
@@ -33,9 +40,197 @@ public Command tryState(RobotState desiredState) {
       case NONE:
         switch (currentRobotState) {
           case NONE:
+          case INTAKING:
+          case REVERSING_SHOOTER:
+          case SHOOTING:
+          case EJECTING_HOPPER:
             return new None();
         }
         break;
+      case INTAKING:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+            return new Intaking();
+        }
+        break;
+      case SHOOTING:
+        switch (currentRobotState) {
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+            return new Shooting();
+        }
+      case RETRACT_INTAKE:
+        switch (currentRobotState) {
+          case NONE:
+          case SHOOTING:
+          case EJECTING_HOPPER:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TRENCH:
+
+            return new RetractIntake();
+        }
+        break;
+      case REVERSING_SHOOTER:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+            return new ReversingShooter();
+        }
+        break;
+      case PREP_ANYWHERE:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepAnywhere();
+        }
+        break;
+      case PREP_HUB:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepHub();
+        }
+        break;
+      case PREP_CORNER:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepCorner();
+        }
+        break;
+      case PREP_NEUTRAL_TO_ALLIANCE:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepNeutralToAlliance();
+        }
+        break;
+      case PREP_OPPONENT_TO_ALLIANCE:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepOpponentToAlliance();
+        }
+        break;
+      case PREP_TOWER:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepTower();
+        }
+        break;
+      case PREP_TRENCH:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case REVERSING_SHOOTER:
+          case INTAKING:
+            return new PrepTrench();
+        }
+        break;
+      case EJECTING_HOPPER:
+        switch (currentRobotState) {
+          case NONE:
+          case RETRACT_INTAKE:
+          case PREP_ANYWHERE:
+          case PREP_CORNER:
+          case PREP_HUB:
+          case PREP_NEUTRAL_TO_ALLIANCE:
+          case PREP_OPPONENT_TO_ALLIANCE:
+          case PREP_TOWER:
+          case PREP_TRENCH:
+          case INTAKING:
+            return new EjectingHopper();
+        }
+
     }
     return Commands
         .print("ITS SO OVER D: Invalid State Provided, Blame Eli. Attempted to go to: " + desiredState.toString()