diff --git a/CommandBase.cpp b/CommandBase.cpp
index c4defc3..ef64dae 100644
--- a/CommandBase.cpp
+++ b/CommandBase.cpp
@@ -3,10 +3,12 @@
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
 #include "Subsystems/BinElevator.h"
+#include "Subsystems/Pneumatics.h"
 Drivetrain* CommandBase::drivetrain = NULL;
 Collector* CommandBase::collector = NULL;
 Elevator* CommandBase::elevator = NULL;
 BinElevator* CommandBase::binElevator = NULL;
+Pneumatics* CommandBase::pneumatics=NULL;
 OI* CommandBase::oi = NULL;
 CommandBase::CommandBase(char const *name) : Command(name) {
 }
@@ -17,6 +19,7 @@ void CommandBase::init(){
   collector = new Collector();
   elevator = new Elevator();
   binElevator = new BinElevator();
+  pneumatics = new Pneumatics();
   oi = new OI();
 }
 // vim: ts=2:sw=2:et
diff --git a/CommandBase.h b/CommandBase.h
index 7443ebd..cb7453b 100644
--- a/CommandBase.h
+++ b/CommandBase.h
@@ -6,6 +6,7 @@
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
 #include "Subsystems/BinElevator.h"
+#include "Subsystems/Pneumatics.h"
 #include "OI.h"
 #include "WPILib.h"
 
@@ -18,6 +19,7 @@ class CommandBase: public Command {
     static Collector *collector;
     static Elevator *elevator;
     static BinElevator *binElevator;
+    static Pneumatics *pneumatics;
     static OI *oi;
 };
 #endif
diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp
new file mode 100644
index 0000000..1cb292f
--- /dev/null
+++ b/Commands/BinElevator/BinCloseArms.cpp
@@ -0,0 +1,21 @@
+#include "BinCloseArms.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinCloseArms::BinCloseArms() : Command("BinCloseArms"){
+}
+void BinCloseArms::Initialize(){
+  //Should never need to use this
+  SetTimeout(0.5);
+}
+void BinCloseArms::Execute(){
+  DentRobot::pneumatics->SetOpen(true);
+}
+bool BinCloseArms::IsFinished(){
+  return true;
+}
+void BinCloseArms::End(){
+}
+void BinCloseArms::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h
new file mode 100644
index 0000000..b6322b9
--- /dev/null
+++ b/Commands/BinElevator/BinCloseArms.h
@@ -0,0 +1,18 @@
+#ifndef BINCLOSEARMS_H
+#define BINCLOSEARMS_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+class BinCloseArms: public Command{
+  public:
+    BinCloseArms();
+    void Initialize();
+    void Execute();
+    bool IsFinished();
+    void End();
+    void Interrupted();
+};
+
+#endif
+// vim: ts=2:sw=2:et
diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp
new file mode 100644
index 0000000..c8936a4
--- /dev/null
+++ b/Commands/BinElevator/BinOpenArms.cpp
@@ -0,0 +1,21 @@
+#include "BinOpenArms.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinOpenArms::BinOpenArms() : Command("BinOpenArms"){
+}
+void BinOpenArms::Initialize(){
+  //Should never need to use this
+  SetTimeout(0.5);
+}
+void BinOpenArms::Execute(){
+  DentRobot::pneumatics->SetOpen(true);
+}
+bool BinOpenArms::IsFinished(){
+  return true;
+}
+void BinOpenArms::End(){
+}
+void BinOpenArms::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h
new file mode 100644
index 0000000..533d71c
--- /dev/null
+++ b/Commands/BinElevator/BinOpenArms.h
@@ -0,0 +1,18 @@
+#ifndef BINOPENARMS_H
+#define BINOPENARMS_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+class BinOpenArms: public Command{
+  public:
+    BinOpenArms();
+    void Initialize();
+    void Execute();
+    bool IsFinished();
+    void End();
+    void Interrupted();
+};
+
+#endif
+// vim: ts=2:sw=2:et
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 0eb8ffc..1b2d642 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -8,12 +8,14 @@ Drivetrain* DentRobot::drivetrain=NULL;
 Elevator* DentRobot::elevator=NULL;
 BinElevator* DentRobot::binElevator=NULL;
 CommandGroup* DentRobot::aut=NULL;
+Pneumatics* DentRobot::pneumatics=NULL;
 DentRobot::DentRobot(){
   oi=new OI();
   collector=new Collector();
   drivetrain=new Drivetrain();
   elevator=new Elevator();
   binElevator=new BinElevator();
+  pneumatics=new Pneumatics();
   aut=new Autonomous(0);
   CameraServer::GetInstance()->SetQuality(25);
   CameraServer::GetInstance()->StartAutomaticCapture("cam0");
diff --git a/DentRobot.h b/DentRobot.h
index 68b17ba..59658f2 100644
--- a/DentRobot.h
+++ b/DentRobot.h
@@ -6,6 +6,7 @@
 #include "Subsystems/BinElevator.h"
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
+#include "Subsystems/Pneumatics.h"
 #include "Commands/Autonomous/Autonomous.h"
 class DentRobot: public IterativeRobot {
   private:
@@ -17,6 +18,7 @@ class DentRobot: public IterativeRobot {
     static Drivetrain* drivetrain;
     static Elevator* elevator;
     static BinElevator* binElevator;
+    static Pneumatics* pneumatics;
     static CommandGroup* aut;
     void RobotInit();
     void DisabledPeriodic();
diff --git a/RobotMap.h b/RobotMap.h
index 13a443d..bb163e7 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -21,7 +21,7 @@
 #define BINELEVATOR_ENCODERA 10
 #define BINELEVATOR_ENCODERB 11
 #define BINELEVATOR_SOLDENOID_ONE   1
-#define BINELEVATOR_SOLDENOID_TWO   1
+#define BINELEVATOR_SOLDENOID_TWO   2
 
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 2
diff --git a/Subsystems/Pnuematics.cpp b/Subsystems/Pneumatics.cpp
similarity index 66%
rename from Subsystems/Pnuematics.cpp
rename to Subsystems/Pneumatics.cpp
index d2840a2..8ae164d 100644
--- a/Subsystems/Pnuematics.cpp
+++ b/Subsystems/Pneumatics.cpp
@@ -1,13 +1,13 @@
-#include "Pnuematics.h"
+#include "Pneumatics.h"
 #include "../RobotMap.h"
 
-Pnuematics::Pnuematics() : Subsystem("Pnuematics"){
+Pneumatics::Pneumatics() : Subsystem("Pneumatics"){
   solenoid1 = new Solenoid(BINELEVATOR_SOLDENOID_ONE);
   solenoid2 = new Solenoid(BINELEVATOR_SOLDENOID_TWO);
 }
-void Pnuematics::InitDefaultCommand(){
+void Pneumatics::InitDefaultCommand(){
 }
-void Pnuematics::SetOpen(bool k){
+void Pneumatics::SetOpen(bool k){
   if(k){
     solenoid1->Set(true);
     solenoid2->Set(false);
diff --git a/Subsystems/Pnuematics.h b/Subsystems/Pneumatics.h
similarity index 63%
rename from Subsystems/Pnuematics.h
rename to Subsystems/Pneumatics.h
index cbc0152..9f57b72 100644
--- a/Subsystems/Pnuematics.h
+++ b/Subsystems/Pneumatics.h
@@ -1,13 +1,13 @@
-#ifndef PNUEMATICS_H
-#define PNUEMATICS_H
+#ifndef PNEUMATICS_H
+#define PNEUMATICS_H
 
 #include "WPILib.h"
-class Pnuematics: public Subsystem
+class Pneumatics: public Subsystem
 {
   private:
     Solenoid *solenoid1, *solenoid2;
   public:
-    Pnuematics();
+    Pneumatics();
     void InitDefaultCommand();
     void SetOpen(bool);
 };