diff --git a/Robot2019/src/main/java/frc/robot/OI.java b/Robot2019/src/main/java/frc/robot/OI.java
index 9277518..cac1ebc 100644
--- a/Robot2019/src/main/java/frc/robot/OI.java
+++ b/Robot2019/src/main/java/frc/robot/OI.java
@@ -14,9 +14,9 @@
 import frc.robot.commands.ActuateClimberRails;
 import frc.robot.commands.Climb;
 import frc.robot.commands.EjectCargo;
-import frc.robot.commands.EjectHatch;
+import frc.robot.commands.ToggleHatchEject;
 import frc.robot.commands.IntakeCargo;
-import frc.robot.commands.IntakeHatch;
+import frc.robot.commands.ToggleHatchIntake;
 import frc.robot.commands.ManualClimb;
 import frc.robot.commands.NormalDrive;
 import frc.robot.commands.ResetWobble;
@@ -70,9 +70,9 @@ public class OI {
     normDriveBtn.whileHeld(new NormalDrive());
 
     hatchIntakeBtn = new JoystickButton(manipulator, Manip.X);
-    hatchIntakeBtn.whenPressed(new IntakeHatch(hp));
+    hatchIntakeBtn.whenPressed(new ToggleHatchIntake(hp));
     hatchEjectBtn = new JoystickButton(manipulator, Manip.Y);
-    hatchEjectBtn.whenPressed(new EjectHatch(hp));
+    hatchEjectBtn.whenPressed(new ToggleHatchEject(hp));
 
     cargoIntakeBtn = new JoystickButton(manipulator, Manip.A); // TODO: set ports to correct values
     cargoIntakeBtn.whenPressed(new IntakeCargo(cargo));
diff --git a/Robot2019/src/main/java/frc/robot/commands/EjectHatch.java b/Robot2019/src/main/java/frc/robot/commands/EjectHatch.java
deleted file mode 100644
index bc664b3..0000000
--- a/Robot2019/src/main/java/frc/robot/commands/EjectHatch.java
+++ /dev/null
@@ -1,67 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc.robot.commands;
-
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.subsystems.HatchPanel;
-
-public class EjectHatch extends Command {
-  private HatchPanel hp;
-  private Timer timey;
-  private boolean ejecting;
-
-  /**
-   * Toggles the eject pistons of the hatch panel mechanism
-   */
-  public EjectHatch(HatchPanel hp) {
-    requires(hp);
-    this.hp = hp;
-
-    timey = new Timer();
-
-    if (!SmartDashboard.containsKey("Hatch Eject Delay")) {
-      SmartDashboard.putNumber("Hatch Eject Delay", 0.5);
-    }
-  }
-
-  @Override
-  protected void initialize() {
-    // If the pistons are currently extend them, retract them back, otherwise release and then eject
-    if (hp.state == HatchPanel.State.EJECTING) {
-      hp.reset();
-      ejecting = false;
-    } else {
-      hp.reset();
-      ejecting = true;
-
-      timey.reset();
-      timey.start();
-    }
-  }
-
-  @Override
-  protected boolean isFinished() {
-    // if it's ejecting, wait until end of delay to extend pistons after release
-    return !ejecting || (timey.get() > SmartDashboard.getNumber("Hatch Eject Delay", 0.5));
-  }
-
-  @Override
-  protected void end() {
-    if (ejecting) {
-      hp.eject();
-    }
-  }
-
-  @Override
-  protected void execute() {}
-
-  @Override
-  protected void interrupted() {}
-}
diff --git a/Robot2019/src/main/java/frc/robot/commands/ToggleHatchEject.java b/Robot2019/src/main/java/frc/robot/commands/ToggleHatchEject.java
new file mode 100644
index 0000000..2acbeef
--- /dev/null
+++ b/Robot2019/src/main/java/frc/robot/commands/ToggleHatchEject.java
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+import frc.robot.subsystems.HatchPanel;
+
+public class ToggleHatchEject extends InstantCommand {
+  private HatchPanel hp;
+
+  /**
+   * Toggles the eject pistons of the hatch panel mechanism, also closes the
+   * grabbing piston when ejecting
+   */
+  public ToggleHatchEject(HatchPanel hp) {
+    requires(hp);
+    this.hp = hp;
+  }
+
+  @Override
+  protected void initialize() {
+    // If the pistons are currently extend them, retract them back, otherwise
+    // release and then eject
+    if (hp.state == HatchPanel.State.EJECTING) {
+      hp.reset();
+    } else {
+      hp.reset();
+      hp.eject();
+    }
+  }
+}
diff --git a/Robot2019/src/main/java/frc/robot/commands/IntakeHatch.java b/Robot2019/src/main/java/frc/robot/commands/ToggleHatchIntake.java
similarity index 90%
rename from Robot2019/src/main/java/frc/robot/commands/IntakeHatch.java
rename to Robot2019/src/main/java/frc/robot/commands/ToggleHatchIntake.java
index 9293dd5..67194b2 100644
--- a/Robot2019/src/main/java/frc/robot/commands/IntakeHatch.java
+++ b/Robot2019/src/main/java/frc/robot/commands/ToggleHatchIntake.java
@@ -10,13 +10,13 @@
 import edu.wpi.first.wpilibj.command.InstantCommand;
 import frc.robot.subsystems.HatchPanel;
 
-public class IntakeHatch extends InstantCommand {
+public class ToggleHatchIntake extends InstantCommand {
   private HatchPanel hp;
 
   /**
    * Toggles the grabbing piston of the hatch mechanism
    */
-  public IntakeHatch(HatchPanel hp) {
+  public ToggleHatchIntake(HatchPanel hp) {
     requires(hp);
     this.hp = hp;
   }
diff --git a/Robot2019/src/main/java/frc/robot/subsystems/HatchPanel.java b/Robot2019/src/main/java/frc/robot/subsystems/HatchPanel.java
index 9d6f7fa..2bfcfc0 100644
--- a/Robot2019/src/main/java/frc/robot/subsystems/HatchPanel.java
+++ b/Robot2019/src/main/java/frc/robot/subsystems/HatchPanel.java
@@ -34,18 +34,21 @@ public void reset() {
     grabPiston.set(DoubleSolenoid.Value.kReverse);
     ejectPistons.set(DoubleSolenoid.Value.kReverse);
     state = State.DEFAULT;
+    SmartDashboard.putString("Hatch Piston State", state.name());
   }
 
   public void grab() {
     grabPiston.set(DoubleSolenoid.Value.kForward);
     ejectPistons.set(DoubleSolenoid.Value.kReverse);
     state = State.GRABBING;
+    SmartDashboard.putString("Hatch Piston State", state.name());
   }
 
   public void eject() {
     grabPiston.set(DoubleSolenoid.Value.kReverse);
     ejectPistons.set(DoubleSolenoid.Value.kForward);
     state = State.EJECTING;
+    SmartDashboard.putString("Hatch Piston State", state.name());
   }
 
   @Override