diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c4e5c57..d976918 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,26 +8,46 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.constants.ArmConstants;
 import frc.robot.constants.IOConstants;
 import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.DriveTrain;
+import frc.robot.subsystems.Grabber;
 
 public class RobotContainer {
-    CommandXboxController driver;
+    CommandPS5Controller driver;
 
     Arm arm;
 
+    DriveTrain driveTrain;
+    Grabber grabber;
+
     public RobotContainer() {
         arm = new Arm();
-        driver = new CommandXboxController(IOConstants.kDriverID0);
+        driveTrain = new DriveTrain();
+        grabber = new Grabber(); 
+        driver = new CommandPS5Controller(IOConstants.kDriverID0);
         configureBindings();
     }
 
     private void configureBindings() {
+        driveTrain.setDefaultCommand(
+            driveTrain.driveArcade(
+              driver::getLeftY, 
+              driver::getLeftX 
+            )
+        );  
+        grabber.setDefaultCommand(grabber.stop());
+        driver.R1().whileTrue(grabber.runGrabberMotor(1));
+        driver.L1().whileTrue(grabber.runGrabberMotor(-1));
+        arm.setDefaultCommand(arm.stop());
+        driver.povUp().whileTrue(arm.runArmMotor(1));
+        driver.povDown().whileTrue(arm.runArmMotor(-1));
     }
 
     public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");
     }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/constants/GrabberConstants.java b/src/main/java/frc/robot/constants/GrabberConstants.java
new file mode 100644
index 0000000..0c01302
--- /dev/null
+++ b/src/main/java/frc/robot/constants/GrabberConstants.java
@@ -0,0 +1,6 @@
+package frc.robot.constants;
+
+public class GrabberConstants {
+    public static final int kGrabberLtMotorID6 = 6;
+    public static final int kGrabberRtMotorID7 = 7;
+}
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index 2a90e2e..1c3102e 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -18,4 +18,8 @@ public class Arm extends SubsystemBase {
             motor.set(speed);
         });
     }
+
+    public Command stop() {
+        return run(() -> motor.set(0));
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Grabber.java b/src/main/java/frc/robot/subsystems/Grabber.java
new file mode 100644
index 0000000..fa4f994
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Grabber.java
@@ -0,0 +1,30 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ArmConstants;
+import frc.robot.constants.DriveTrainConstants;
+import frc.robot.constants.GrabberConstants;
+
+public class Grabber extends SubsystemBase {
+    private WPI_TalonSRX motorRight;
+    private WPI_TalonSRX motorLeft;
+
+        
+    public Grabber() {
+        motorRight = new WPI_TalonSRX(GrabberConstants.kGrabberRtMotorID7);
+        motorLeft = new WPI_TalonSRX(GrabberConstants.kGrabberLtMotorID6);
+
+        motorLeft.follow(motorRight);
+    }
+        public Command runGrabberMotor(double speed) {
+        return run(() -> {
+            motorRight.set(speed);
+        });
+    }
+    public Command stop() {
+        return run(() -> motorRight.set(0));
+    }
+}