diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..97fb8c4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,13 +6,37 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.Flywheel;
 
 public class RobotContainer {
+  // Create an instance of the Arm subsystem
+  private final Arm arm = new Arm();
+
+  // Create an instance of the Flywheel subsystem
+  private final Flywheel flywheel = new Flywheel();
+
+  // Create a joystick to run subsystems off of
+  private final CommandXboxController joystick = new CommandXboxController(0);
+
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    // When left trigger is pressed the arm will run at a fast speed, and when not pressed it will
+    // stop
+    joystick.leftTrigger().onTrue(arm.runFast()).onFalse(arm.stopCommand());
+
+    // When right trigger is pressed the flywheel will run at a fast speed, and when not pressed it
+    // will spin slow
+    joystick.rightTrigger().onTrue(flywheel.runFast()).onFalse(flywheel.runSlow());
+
+    // When A button is pressed the flywheel will run at a fast speed, and when not pressed it will
+    // stop
+    joystick.a().onTrue(flywheel.runFast()).onFalse(flywheel.stopCommand());
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index a050dab..0f19ef2 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -12,6 +12,7 @@
 import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Arm extends SubsystemBase {
@@ -58,6 +59,35 @@ public void setVoltage(double voltage) {
     leader.setControl(voltageOut.withOutput(voltage));
   }
 
+  /**
+   * Command to run the arm at a slow speed.
+   *
+   * @return The command to run the arm slowly.
+   */
+  public Command runSlow() {
+    // Command to run the arm at a slow speed and stop it afterward
+    return runOnce(() -> setVoltage(3));
+  }
+
+  /**
+   * Command to run the arm at a fast speed.
+   *
+   * @return The command to run the arm quickly.
+   */
+  public Command runFast() {
+    // Command to run the arm at a fast speed and stop it afterward
+    return runOnce(() -> setVoltage(6));
+  }
+
+  /**
+   * Command to stop the arm.
+   *
+   * @return The command to stop the arm.
+   */
+  public Command stopCommand() {
+    return runOnce(() -> stop());
+  }
+
   // Stop the arm motor
   public void stop() {
     leader.stopMotor();
diff --git a/src/main/java/frc/robot/subsystems/Flywheel.java b/src/main/java/frc/robot/subsystems/Flywheel.java
index c15b556..db7cbcd 100644
--- a/src/main/java/frc/robot/subsystems/Flywheel.java
+++ b/src/main/java/frc/robot/subsystems/Flywheel.java
@@ -11,6 +11,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Flywheel extends SubsystemBase {
@@ -56,6 +57,35 @@ public void setVoltage(double voltage) {
     leader.setControl(voltageOut.withOutput(voltage));
   }
 
+  /**
+   * Command to run the flywheel at a slow speed.
+   *
+   * @return The command to run the flywheel slowly.
+   */
+  public Command runSlow() {
+    // Command to run the flywheel at a slow speed
+    return runOnce(() -> setVoltage(3));
+  }
+
+  /**
+   * Command to run the flywheel at a fast speed.
+   *
+   * @return The command to run the flywheel fast.
+   */
+  public Command runFast() {
+    // Command to run the flywheel at a fast speed
+    return runOnce(() -> setVoltage(6));
+  }
+
+  /**
+   * Command to stop the flywheel.
+   *
+   * @return The command to stop the flywheel.
+   */
+  public Command stopCommand() {
+    return runOnce(() -> stop());
+  }
+
   // Stop the flywheel motors
   public void stop() {
     leader.stopMotor();