diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6578bb7..a5d8efd 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import frc.robot.constants.ArmConstants;
+import frc.robot.constants.ElevatorConstants;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.ClimberPivot;
@@ -100,23 +102,58 @@ public class RobotContainer {
 
 		//Operator inputs
 		operator.povUp().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL4Position, 
+				ArmConstants.kArmL4Position
+			)
 		);
 
 		operator.povRight().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL3Position, 
+				ArmConstants.kArmL3Position
+			)
 		);
 
 		operator.povLeft().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL2Position, 
+				ArmConstants.kArmL2Position
+			)
 		);
 
 		operator.povDown().onTrue(
-			elevator.goToSetpoint(0, 0)
+			moveManipulator(
+				ElevatorConstants.kElevatorL1Position, 
+				ArmConstants.kArmL1Position
+			)
+		);
+
+		operator.a().onTrue(
+			coralIntakeRoutine()
 		);
 	}
 
 	public Command getAutonomousCommand() {
 		return new PrintCommand("NO AUTO DEFINED");
 	}
+
+	//teleop routines
+	private Command coralIntakeRoutine() {
+		return moveManipulator(
+			ElevatorConstants.kElevatorCoralIntakePosition, 
+			ArmConstants.kArmCoralIntakePosition
+		)
+			.andThen(manipulator.indexCoral(.5));
+	}
+
+	private Command moveManipulator(double elevatorPosition, double armPosition) {
+		if ((arm.getEncoderPosition() < ArmConstants.kArmSafeStowPosition && armPosition < ArmConstants.kArmSafeStowPosition) || (elevator.getEncoderPosition() > ElevatorConstants.kElevatorBracePosition && elevatorPosition > ElevatorConstants.kElevatorBracePosition)) {
+			return arm.goToSetpoint(armPosition, 2)
+				.alongWith(elevator.goToSetpoint(elevatorPosition, 2));
+		} else {
+			return arm.goToSetpoint(armPosition, 2)
+				.andThen(elevator.goToSetpoint(elevatorPosition, 2));
+		}
+	}
 }
diff --git a/src/main/java/frc/robot/constants/ArmConstants.java b/src/main/java/frc/robot/constants/ArmConstants.java
index f222b5f..03a7d35 100644
--- a/src/main/java/frc/robot/constants/ArmConstants.java
+++ b/src/main/java/frc/robot/constants/ArmConstants.java
@@ -7,4 +7,13 @@ public class ArmConstants {
     public static final double kEncoderConversionFactor = 0;
 
     public static final double kArmMaxVelocity = 0;
+
+    public static final double kArmCoralIntakePosition = 0;
+    public static final double kArmL1Position = 0;
+    public static final double kArmL2Position = 0;
+    public static final double kArmL3Position = 0;
+    public static final double kArmL4Position = 0;
+    public static final double kArmL2AlgaePosition = 0;
+    public static final double kArmL3AlgaePosition = 0;
+    public static final double kArmSafeStowPosition = 0;
 }
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
index 7654164..21fab1b 100644
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -35,6 +35,15 @@ public class ElevatorConstants {
 
     public static final double kElevatorMaxVelocity = 0;
 
+    public static final double kElevatorCoralIntakePosition = 0;
+    public static final double kElevatorL1Position = 0;
+    public static final double kElevatorL2Position = 0;
+    public static final double kElevatorL3Position = 0;
+    public static final double kElevatorL4Position = 0;
+    public static final double kElevatorL2AlgaePosition = 0;
+    public static final double kElevatorL3AlgaePosition = 0;
+    public static final double kElevatorBracePosition = 0;
+
     // 1, 7, 10 are the defaults for these, change as necessary
     public static final double kSysIDRampRate = 1;
     public static final double kSysIDStepVolts = 7;
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index eeaf5ab..68fd7f8 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -62,6 +62,10 @@ public class Arm extends SubsystemBase {
         }).until(positionController::atSetpoint).withTimeout(timeout);
     }
 
+    public double getEncoderPosition() {
+        return canCoder.getPosition().getValueAsDouble();
+    }
+
     protected double rotationsToRadians(double rotations) {
         return rotations * 2 * Math.PI;
     }
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index 7f96a23..606a9f8 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -6,8 +6,6 @@ import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
-import com.revrobotics.spark.SparkBase.PersistMode;
-import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.math.controller.ElevatorFeedforward;
@@ -111,4 +109,8 @@ public class Elevator extends SubsystemBase {
             () -> positionController.atSetpoint() || topLimitSwitch.get() || bottomLimitSwitch.get()
         ).withTimeout(timeout);
     }
+
+    public double getEncoderPosition() {
+        return encoder.getPosition();
+    }
 }