diff --git a/Commands/Elevator/CloseArm.cpp b/Commands/Elevator/CloseArm.cpp
new file mode 100644
index 0000000..d898cd0
--- /dev/null
+++ b/Commands/Elevator/CloseArm.cpp
@@ -0,0 +1,18 @@
+#include "CloseArm.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+CloseArm::CloseArm(double timeout): Command("CloseArm") {
+  SetTimeout(timeout);
+}
+void CloseArm::Initialize() {}
+void CloseArm::Execute() {
+  DentRobot::pneumatics->SetElevatorArmOpen(false);
+}
+bool CloseArm::IsFinished() {
+  return true;
+}
+void CloseArm::End() {}
+void CloseArm::Interrupted() {
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/CloseArm.h b/Commands/Elevator/CloseArm.h
new file mode 100644
index 0000000..d173efd
--- /dev/null
+++ b/Commands/Elevator/CloseArm.h
@@ -0,0 +1,46 @@
+#ifndef CLOSEARM_H
+#define CLOSEARM_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+/**
+ * @brief Opens bin arms (unused)
+ */
+class CloseArm: public Command {
+ public:
+  /**
+   * @brief Constructs CloseArm
+   *
+   * @param timeout Timeout in seconds
+   */
+  CloseArm(double timeout);
+  /**
+   * @brief Constructs CloseArm
+   */
+  CloseArm();
+  /**
+   * @brief Initializes the class
+   */
+  void Initialize();
+  /**
+   * @brief Sets the solenoid to open the arms
+   */
+  void Execute();
+  /**
+   * @brief Returns true to prevent solenoid damage
+   *
+   * @return True
+   */
+  bool IsFinished();
+  /**
+   * @brief Ends the command
+   */
+  void End();
+  /**
+   * @brief Calls End()
+   */
+  void Interrupted();
+};
+#endif
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/OpenArm.cpp b/Commands/Elevator/OpenArm.cpp
new file mode 100644
index 0000000..845af3b
--- /dev/null
+++ b/Commands/Elevator/OpenArm.cpp
@@ -0,0 +1,18 @@
+#include "OpenArm.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+OpenArm::OpenArm(double timeout): Command("OpenArm") {
+  SetTimeout(timeout);
+}
+void OpenArm::Initialize() {}
+void OpenArm::Execute() {
+  DentRobot::pneumatics->SetElevatorArmOpen(true);
+}
+bool OpenArm::IsFinished() {
+  return true;
+}
+void OpenArm::End() {}
+void OpenArm::Interrupted() {
+  End();
+}
+// vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/OpenArm.h b/Commands/Elevator/OpenArm.h
new file mode 100644
index 0000000..59d0253
--- /dev/null
+++ b/Commands/Elevator/OpenArm.h
@@ -0,0 +1,46 @@
+#ifndef OPENARM_H
+#define OPENARM_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+/**
+ * @brief Opens bin arms (unused)
+ */
+class OpenArm: public Command {
+ public:
+  /**
+   * @brief Constructs OpenArm
+   *
+   * @param timeout Timeout in seconds
+   */
+  OpenArm(double timeout);
+  /**
+   * @brief Constructs OpenArm
+   */
+  OpenArm();
+  /**
+   * @brief Initializes the class
+   */
+  void Initialize();
+  /**
+   * @brief Sets the solenoid to open the arms
+   */
+  void Execute();
+  /**
+   * @brief Returns true to prevent solenoid damage
+   *
+   * @return True
+   */
+  bool IsFinished();
+  /**
+   * @brief Ends the command
+   */
+  void End();
+  /**
+   * @brief Calls End()
+   */
+  void Interrupted();
+};
+#endif
+// vim: ts=2:sw=2:et
diff --git a/OI.cpp b/OI.cpp
index 81c3c8d..19f3e1c 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -1,6 +1,8 @@
 #include "OI.h"
 #include "Commands/Elevator/Lower.h"
 #include "Commands/Elevator/Raise.h"
+#include "Commands/Elevator/OpenArm.h"
+#include "Commands/Elevator/CloseArm.h"
 #include "Commands/Elevator/ElevatorCycle.h"
 #include "Commands/Collector/RollIn.h"
 #include "Commands/Collector/RollOut.h"
@@ -29,12 +31,16 @@ OI::OI() {
   raise = new Raise(3.5);
   lower = new Lower(3.0);
   cycle = new ElevatorCycle();
+  JoystickButton *left11 = new JoystickButton(leftStick, 11);
+  JoystickButton *left12 = new JoystickButton(leftStick, 12);
   JoystickButton *right4 = new JoystickButton(rightStick, 4);
   JoystickButton *right6 = new JoystickButton(rightStick, 6);
   JoystickButton *right7 = new JoystickButton(rightStick, 7);
   JoystickButton *right10 = new JoystickButton(rightStick, 10);
   JoystickButton *right11 = new JoystickButton(rightStick, 11);
   JoystickButton *right12 = new JoystickButton(rightStick, 12);
+  left11->WhenPressed(new OpenArm(2));
+  left12->WhenPressed(new CloseArm(2));
   right4->WhileHeld(lower);
   right6->WhileHeld(raise);
   right7->WhenPressed(cycle);
diff --git a/Subsystems/Pneumatics.cpp b/Subsystems/Pneumatics.cpp
index 1b4ca18..c66a226 100644
--- a/Subsystems/Pneumatics.cpp
+++ b/Subsystems/Pneumatics.cpp
@@ -15,7 +15,7 @@ void Pneumatics::SetArmsOpen(bool state) {
     solenoid2->Set(!state);
     armState=state;
 }
-void Pneumatics::SetBinArm(bool state){
+void Pneumatics::SetElevatorArmOpen(bool state){
   solenoid3->Set(state);
   solenoid4->Set(!state);
 }
diff --git a/Subsystems/Pneumatics.h b/Subsystems/Pneumatics.h
index 332613b..7d64705 100644
--- a/Subsystems/Pneumatics.h
+++ b/Subsystems/Pneumatics.h
@@ -37,11 +37,11 @@ class Pneumatics: public Subsystem {
    */
   void SetCompressorEnabled(bool state);
   /**
-   * @brief Sets the state of the bin arm
+   * @brief Sets the state of the elevator arm
    *
    * @param state State of the arm
    */
-  void SetBinArm(bool state);
+  void SetElevatorArmOpen(bool state);
   /**
    * @brief Gets the state of the arms
    *