diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a341959..5ffd297 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -44,6 +44,8 @@ public class RobotContainer {
   // https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/wpilibj/XboxController.Button.html,and https://first.wpi.edu/wpilib/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/XboxController.Button.html#line.24
   public static final JoystickButton shootButton =
       new JoystickButton(controller, Constants.JOYSTICK_BUTTON_SHOOT_ID);
+  public static final TriggerL2Button intakeButton = new TriggerL2Button();
+  public static final TriggerR2Button flywheelButton = new TriggerR2Button();
 
   // Subystems
   public static Drivetrain drivetrain = new Drivetrain(); // Drivetrain
@@ -65,8 +67,9 @@ public class RobotContainer {
   // Shintake
   public static ExtendInAndOut extendInAndOut =
       new ExtendInAndOut(inAndOut2); // Extend linear actuator for Shintake Assybemly
-  public static SpinIntakeWheel spinIntakeWheel = new SpinIntakeWheel(intake); // Spin intake wheel
-  public static SpinFeedWheel spinFeedWheel =
+  public static final SpinIntakeWheel spinIntakeWheel =
+      new SpinIntakeWheel(intake); // Spin intake wheel
+  public static final SpinFeedWheel spinFeedWheel =
       new SpinFeedWheel(outtake); // Spin feed wheel for shooter
   public static SpinFlywheel spinFlywheel = new SpinFlywheel(outtake); // Spin flywheel
   public static BringInOutAndIn bringInOutAndIn =
@@ -83,8 +86,6 @@ public class RobotContainer {
   public RobotContainer() {
     // setting default commands
     drivetrain.setDefaultCommand(arcadeDrive);
-    intake.setDefaultCommand(spinIntakeWheel); // TODO: Change to trigger
-    outtake.setDefaultCommand(spinFlywheel); // TODO: Change to trigger
 
     // Configure the button bindings
     configureButtonBindings();
@@ -98,6 +99,8 @@ public RobotContainer() {
    */
   private void configureButtonBindings() {
     shootButton.whileHeld(spinFeedWheel);
+    intakeButton.whileActiveContinuous(spinIntakeWheel);
+    flywheelButton.whileActiveContinuous(spinFlywheel);
   }
 
   /**
diff --git a/src/main/java/frc/robot/TriggerL2Button.java b/src/main/java/frc/robot/TriggerL2Button.java
new file mode 100644
index 0000000..655bdf9
--- /dev/null
+++ b/src/main/java/frc/robot/TriggerL2Button.java
@@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+
+/** Add your docs here. */
+public class TriggerL2Button extends Trigger {
+  @Override
+  public boolean get() {
+    return RobotContainer.controller.getRawAxis(3) > 0.5;
+  }
+}
diff --git a/src/main/java/frc/robot/TriggerR2Button.java b/src/main/java/frc/robot/TriggerR2Button.java
new file mode 100644
index 0000000..238be50
--- /dev/null
+++ b/src/main/java/frc/robot/TriggerR2Button.java
@@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+
+/** Add your docs here. */
+public class TriggerR2Button extends Trigger {
+  @Override
+  public boolean get() {
+    return RobotContainer.controller.getRawAxis(2) > 0.5;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java
index 5150ec7..1f3b8da 100644
--- a/src/main/java/frc/robot/commands/ExampleCommand.java
+++ b/src/main/java/frc/robot/commands/ExampleCommand.java
@@ -9,7 +9,7 @@
 
 /** An example command that uses an example subsystem. */
 public class ExampleCommand extends CommandBase {
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField", "unused"}) // :) Now its gone :)
   private final ExampleSubsystem m_subsystem;
 
   /**
diff --git a/src/main/java/frc/robot/commands/SpinFlywheel.java b/src/main/java/frc/robot/commands/SpinFlywheel.java
index 4f452fb..563c110 100644
--- a/src/main/java/frc/robot/commands/SpinFlywheel.java
+++ b/src/main/java/frc/robot/commands/SpinFlywheel.java
@@ -5,7 +5,6 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.RobotContainer;
 import frc.robot.subsystems.Outtake;
 
 public class SpinFlywheel extends CommandBase {
@@ -25,14 +24,14 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // outtake.spinFlywheel(.1);
-    outtake.spinFlywheel(
-        RobotContainer.controller.getRawAxis(2)); // TODO Chagne to trigger and set speed
+    outtake.spinFlywheel(.75);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    outtake.spinFlywheel(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/SpinIntakeWheel.java b/src/main/java/frc/robot/commands/SpinIntakeWheel.java
index 2138e6d..9567c73 100644
--- a/src/main/java/frc/robot/commands/SpinIntakeWheel.java
+++ b/src/main/java/frc/robot/commands/SpinIntakeWheel.java
@@ -5,7 +5,6 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.RobotContainer;
 import frc.robot.subsystems.Intake;
 
 public class SpinIntakeWheel extends CommandBase {
@@ -26,13 +25,14 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    intake.spinIntakeWheel(
-        RobotContainer.controller.getRawAxis(3)); // TODO Chagne to trigger and set speed
+    intake.spinIntakeWheel(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    intake.spinIntakeWheel(0);
+  }
 
   // Returns true when the command should end.
   @Override