diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index c06ecc9..80ca6f0 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,14 +4,70 @@
 
 package frc.robot;
 
+
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.XboxController;
+
 public class Robot extends LoggedRobot {
+
+  private TalonFX armMotor = new TalonFX(16);
+  XboxController controller = new XboxController(0);
+  VoltageOut armVoltage = new VoltageOut(0);
+  StatusSignal<Double> armRotor = armMotor.getRotorPosition();
+  double xGoalRotations = Rotation2d.fromDegrees(10).getRotations();
+  double yGoalRotations = Rotation2d.fromDegrees(50).getRotations();
+
+
   public Robot() {
     Logger.getInstance().addDataReceiver(new NT4Publisher());
 
     Logger.getInstance().start();
   }
+
+  public void setWristAngle(double degrees, double currentRotation) {
+    double setDegrees = Rotation2d.fromDegrees(degrees).getRotations();
+
+    if (setDegrees<currentRotation) {
+      armMotor.setControl(armVoltage.withOutput(0.2));
+      if(setDegrees==currentRotation){
+        armMotor.setControl(armVoltage.withOutput(0));
+      }
+    } else if (setDegrees>currentRotation) {
+      armMotor.setControl(armVoltage.withOutput(-0.2));
+      if(setDegrees==currentRotation){
+        armMotor.setControl(armVoltage.withOutput(0));
+      }
+    } else if (setDegrees== currentRotation) {
+      armMotor.setControl(armVoltage.withOutput(0));
+    }
+  }
+  @Override
+  public void teleopPeriodic() {
+    boolean aPressed = controller.getAButtonPressed();
+    boolean xPressed = controller.getXButtonPressed();
+    boolean yPressed = controller.getYButtonPressed();
+    boolean bPressed = controller.getBButtonPressed();
+    double motorRotations = armRotor.getValue();
+    double armRotations = motorRotations /50;
+    if(aPressed){
+      armMotor.disable();
+    }
+    if (bPressed) {
+      armMotor.setRotorPosition(0);
+    }
+    if (xPressed) {
+      setWristAngle(10, armRotations);
+    }
+    if(yPressed) {
+      setWristAngle(50, armRotations);
+    }
+  }
 }