diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
index 92a3c3f..e43b006 100644
--- a/src/main/cpp/Robot.cpp
+++ b/src/main/cpp/Robot.cpp
@@ -58,7 +58,10 @@ void Robot::AutonomousPeriodic() {
   }
 }
 
-void Robot::TeleopInit() {}
+void Robot::TeleopInit() 
+{
+  _intake_manager.ResetIntake();
+}
 
 void Robot::TeleopPeriodic() {
   PrintSwerveInfo();
diff --git a/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp b/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
index 7428580..a776690 100644
--- a/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
+++ b/src/main/cpp/subsystems/subsystemManagers/IntakeManager.cpp
@@ -9,6 +9,14 @@ namespace
     const double PSEUDO_STOW_POS = 153.105;
 }
 
+void IntakeManager::ResetIntake()
+{
+    m_goToGroundPos = false;
+    m_goToStowPos = false;
+    m_goToAmpPos = false;
+    m_goToPseudoStowPos = false;
+}
+
 void IntakeManager::HandleInput(IntakeInput &input, IntakeOutput &output)
 {
     if (input.runIntakeIn && !input.runIntakeOut)
@@ -23,6 +31,7 @@ void IntakeManager::HandleInput(IntakeInput &input, IntakeOutput &output)
     {
         m_intake.RunIntake(0.0);
     }
+
     if (input.manualMove > 0.001)
     {
         m_intake.ManualMovePivot(input.manualMove);
diff --git a/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp b/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
index 699ee56..80d0188 100644
--- a/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
+++ b/src/main/cpp/subsystems/subsystemManagers/LauncherManager.cpp
@@ -8,6 +8,13 @@ namespace
     const double INDEXER_SPEED = 0.0;
 }
 
+void LauncherManager::ResetLauncher()
+{
+    m_goToStowPos = false;
+    m_goToSubPos = false;
+    m_visionResetProfiledMoveState = false;
+}
+
 void LauncherManager::HandleInput(LauncherInput &input, LauncherOutput &output)
 {
     if (input.useVisionControl)
diff --git a/src/main/include/subsystems/subsystemsManagers/IntakeManager.h b/src/main/include/subsystems/subsystemsManagers/IntakeManager.h
index cddf64f..0786f1a 100644
--- a/src/main/include/subsystems/subsystemsManagers/IntakeManager.h
+++ b/src/main/include/subsystems/subsystemsManagers/IntakeManager.h
@@ -32,7 +32,8 @@ class IntakeManager
 
 public:
     void HandleInput(IntakeInput &input, IntakeOutput &output);
-    
+    void ResetIntake();
+
 private:
     IntakeHAL m_intake;
     bool m_goToGroundPos;
diff --git a/src/main/include/subsystems/subsystemsManagers/LauncherManager.h b/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
index b0fcac4..7cd2725 100644
--- a/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
+++ b/src/main/include/subsystems/subsystemsManagers/LauncherManager.h
@@ -21,12 +21,13 @@ struct LauncherOutput
 
 class LauncherManager
 {
-public:
-    void HandleInput(LauncherInput &input, LauncherOutput &output);
-
-private:
-    LauncherHAL m_launcher;
-    bool m_goToStowPos;
-    bool m_goToSubPos;
-    bool m_visionResetProfiledMoveState = false;
+    public:
+        void HandleInput(LauncherInput &input, LauncherOutput &output);
+        void ResetLauncher();
+        
+    private:
+        LauncherHAL m_launcher;
+        bool m_goToStowPos;
+        bool m_goToSubPos;
+        bool m_visionResetProfiledMoveState = false;
 };
\ No newline at end of file