diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 44de55f..3ee7dba 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -27,6 +27,10 @@ public static final class DriveTrainMotors {
             public static final int BRMOTOR = 2;
             public static final int BLMOTOR = 3;
         }
+        public static final class IntakeMotors {
+            public static final int LMOTOR = 4;
+            public static final int RMOTOR = 5;
+        }
     }
 
     /**
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c7a18fc..00e7752 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,7 +1,5 @@
 package frc.robot;
 
-import org.littletonrobotics.conduit.schema.Joystick;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -9,6 +7,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Robot.RobotRunType;
+import frc.robot.commands.Drive;
 import frc.robot.subsystems.drive.Drivetrain;
 import frc.robot.subsystems.drive.DrivetrainIO;
 import frc.robot.subsystems.drive.DrivetrainReal;
@@ -21,12 +20,12 @@
  */
 public class RobotContainer {
     /* Controllers */
-    Joystick driver = new Joystick();
+    XboxController driver = new XboxController(0);
     // Initialize AutoChooser Sendable
     private final SendableChooser<String> autoChooser = new SendableChooser<>();
 
     /* Subsystems */
-    private Drivetrain drivetrain;
+    private Drivetrain driveTrain;
 
 
     /**
@@ -37,13 +36,13 @@ public RobotContainer(RobotRunType runtimeType) {
         autoChooser.setDefaultOption("Wait 1 Second", "wait");
         switch (runtimeType) {
             case kReal:
-                drivetrain = new Drivetrain(new DrivetrainReal());
+                driveTrain = new Drivetrain(new DrivetrainReal());
                 break;
             case kSimulation:
                 // drivetrain = new Drivetrain(new DrivetrainSim() {});
                 break;
             default:
-                drivetrain = new Drivetrain(new DrivetrainIO() {});
+                driveTrain = new Drivetrain(new DrivetrainIO() {});
         }
         // Configure the button bindings
         configureButtonBindings();
@@ -55,7 +54,15 @@ public RobotContainer(RobotRunType runtimeType) {
      * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
      * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
      */
-    private void configureButtonBindings() {}
+
+    ;
+
+    private void configureButtonBindings() {
+
+        driveTrain.setDefaultCommand(new Drive(driveTrain, driver));
+
+
+    }
 
     /**
      * Gets the user's selected autonomous command.
diff --git a/src/main/java/frc/robot/commands/.keep b/src/main/java/frc/robot/commands/.keep
deleted file mode 100644
index e69de29..0000000
diff --git a/src/main/java/frc/robot/commands/Drive.java b/src/main/java/frc/robot/commands/Drive.java
new file mode 100644
index 0000000..1c97b37
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Drive.java
@@ -0,0 +1,32 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.drive.Drivetrain;
+
+/**
+ * Drive.
+ */
+
+public class Drive extends Command {
+    private XboxController controller;
+    private Drivetrain drive;
+
+    /**
+     * Drive again.
+     */
+
+    public Drive(Drivetrain drive, XboxController controller) {
+        this.controller = controller;
+        this.drive = drive;
+        addRequirements(drive);
+    }
+
+    @Override
+    public void execute() {
+        double leftY = (Math.abs(controller.getLeftY()) < .05) ? 0 : controller.getLeftY();
+        double rightY = (Math.abs(controller.getRightY()) < .05) ? 0 : controller.getRightY();
+        this.drive.setPower(leftY, rightY);
+
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/intake.java b/src/main/java/frc/robot/subsystems/intake/intake.java
new file mode 100644
index 0000000..cc91626
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/intake.java
@@ -0,0 +1,5 @@
+package frc.robot.subsystems.intake;
+
+public class intake {
+
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/intakeIO.java b/src/main/java/frc/robot/subsystems/intake/intakeIO.java
new file mode 100644
index 0000000..e5a8ca3
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/intakeIO.java
@@ -0,0 +1,18 @@
+package frc.robot.subsystems.intake;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface intakeIO {
+
+    @AutoLog
+    public static class intakeIOInputs {
+        public double rightMotor;
+        public double leftMotor;
+    }
+
+    /** Updates the set of loggable inputs. */
+
+    public default void intakePower(double lvolts, double rvolts) {}
+
+}
+
diff --git a/src/main/java/frc/robot/subsystems/intake/intakeReal.java b/src/main/java/frc/robot/subsystems/intake/intakeReal.java
new file mode 100644
index 0000000..c20914a
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/intake/intakeReal.java
@@ -0,0 +1,20 @@
+package frc.robot.subsystems.intake;
+
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+
+public class intakeReal implements intakeIO {
+    VictorSP leftIntake = new VictorSP(frc.robot.Constants.Motors.IntakeMotors.LMOTOR);
+    VictorSP rightIntake = new VictorSP(frc.robot.Constants.Motors.IntakeMotors.RMOTOR);
+
+    public intakeReal() {
+        rightIntake.setInverted(true);
+    }
+
+
+    public void intakeVoltage(double lvolts, double rvolts) {
+        leftIntake.set(lvolts);
+        rightIntake.set(rvolts);
+    }
+
+}
+