diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8d87f65..1dee16b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -245,8 +245,13 @@ public class RobotContainer {
                 () -> true
             )
         );
+        shooter.setDefaultCommand(shooter.maintainSpeed(ShooterSpeeds.kIdleSpeed));
+        intakeRoller.setDefaultCommand(intakeRoller.stop());
+        spindexer.setDefaultCommand(spindexer.stop());
 
-        driver.a().whileTrue(
+        intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
+
+        driver.leftTrigger().whileTrue(
             drivetrain.lockRotationToHub(
                 driver::getLeftY, 
                 driver::getLeftX, 
@@ -254,6 +259,9 @@ public class RobotContainer {
             ) 
         );
 
+        driver.rightTrigger().whileTrue(spindexer.spinToShooter());
+        driver.b().whileTrue(spindexer.spinToIntake());
+
         /*
         driver.b().whileTrue(
             drivetrain.lockToYaw(
@@ -267,9 +275,8 @@ public class RobotContainer {
             )
         );*/
 
-        shooter.setDefaultCommand(
-            shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
-        );
+        secondary.a().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
+        secondary.y().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
 
         hood.setDefaultCommand(hood.trackToAngle(() -> {
             Pose2d drivetrainPose = drivetrain.getPose();
diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
index 941bd07..d7e1183 100644
--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -10,9 +10,11 @@ public class ShooterConstants {
     public enum ShooterSpeeds {
         kHubSpeed(3000.0),
         kFeedSpeed(5000.0);
+        kIdleSpeed(750.0);
 
         private double speedMPS;
         private double speedRPM;
+        private double kIdleSpeed;
 
         private ShooterSpeeds(double speedRPM) {
             this.speedMPS = speedRPM * kWheelDiameter*Math.PI;