Does anybody know how I can get the speeds on the intake to change depending on the voltage of the battery if possible?
You can get the battery voltage by using nAverageBatteryLevel. Then you could multiply it by some constant and your control value for the intake. @jpearman did a post on this a while ago that you can see for more detailed information.
I’m guessing you don’t want the intake speed to change? You could also apply velocity control to the intake, if you have velocity control for a flywheel, then you can just use the same one for your intake. (Copy and paste!) 
Well… I think so anyway, I have yet to test it, but it has been done.
Ok thanks, I’ll try to add it.
Oh by the way I meant flywheels, not the intake…