diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4eacdc4..ef0fa1e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -10,12 +10,16 @@
 import frc.robot.commands.ArcadeDrive;
 import frc.robot.commands.AutonomousDistance;
 import frc.robot.commands.AutonomousTime;
-import frc.robot.subsystems.Arm;
+import frc.robot.commands.DriveDistance;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.arm.Arm;
+import frc.robot.subsystems.arm.ArmIO;
+import frc.robot.subsystems.arm.ArmIOXRP;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.xrp.XRPOnBoardIO;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -31,7 +35,7 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final Drivetrain m_drivetrain = new Drivetrain();
   private final XRPOnBoardIO m_onboardIO = new XRPOnBoardIO();
-  private final Arm m_arm = new Arm();
+  private Arm m_arm = new Arm(new ArmIOXRP());
 
   // Assumes a gamepad plugged into channel 0
   private final Joystick m_controller = new Joystick(0);
@@ -64,13 +68,28 @@ private void configureButtonBindings() {
 
     JoystickButton joystickAButton = new JoystickButton(m_controller, 1);
     joystickAButton
-        .onTrue(new InstantCommand(() -> m_arm.setAngle(45.0), m_arm))
-        .onFalse(new InstantCommand(() -> m_arm.setAngle(0.0), m_arm));
+        .onTrue(new InstantCommand(() -> m_arm.goToAngle(45.0), m_arm))
+        .onFalse(new InstantCommand(() -> m_arm.goToAngle(0.0), m_arm));
+
 
     JoystickButton joystickBButton = new JoystickButton(m_controller, 2);
     joystickBButton
-        .onTrue(new InstantCommand(() -> m_arm.setAngle(90.0), m_arm))
-        .onFalse(new InstantCommand(() -> m_arm.setAngle(0.0), m_arm));
+        .onTrue(
+          new InstantCommand(() -> m_arm.goToAngle(90.0), m_arm))
+        .onFalse(new InstantCommand(() -> m_arm.goToAngle(0.0), m_arm));
+
+    
+    JoystickButton joystickCButton = new JoystickButton(m_controller, 3);
+
+    joystickCButton
+        .onTrue(Commands.sequence(
+            new DriveDistance(0.5, 10, m_drivetrain),
+            new InstantCommand(() -> m_arm.goToAngle(0.0), m_arm),
+            Commands.waitSeconds(1),
+            new InstantCommand(() -> m_arm.goToAngle(180.0), m_arm),
+            new DriveDistance(-0.5, 10, m_drivetrain)
+        ))
+        .onFalse(new InstantCommand(() -> m_arm.goToAngle(0.0), m_arm));
 
     // Setup SmartDashboard options
     m_chooser.setDefaultOption("Auto Routine Distance", new AutonomousDistance(m_drivetrain));
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
deleted file mode 100644
index 530a999..0000000
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// 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.subsystems;
-
-import edu.wpi.first.wpilibj.xrp.XRPServo;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Arm extends SubsystemBase {
-  private final XRPServo m_armServo;
-
-  /** Creates a new Arm. */
-  public Arm() {
-    // Device number 4 maps to the physical Servo 1 port on the XRP
-    m_armServo = new XRPServo(4);
-  }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-
-  /**
-   * Set the current angle of the arm (0 - 180 degrees).
-   *
-   * @param angleDeg Desired arm angle in degrees
-   */
-  public void setAngle(double angleDeg) {
-    m_armServo.setAngle(angleDeg);
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/arm/Arm.java b/src/main/java/frc/robot/subsystems/arm/Arm.java
new file mode 100644
index 0000000..eeac592
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/arm/Arm.java
@@ -0,0 +1,27 @@
+package frc.robot.subsystems.arm;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.subsystems.arm.ArmIO.ArmIOInputs;
+
+public class Arm extends SubsystemBase {
+    private ArmIO io;
+
+    private final ArmIOInputs inputs = new ArmIOInputs();
+
+    public Arm(ArmIO io) {
+        this.io = io;
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(inputs);
+    }
+
+    public void goToAngle(double angleDeg) {
+        io.setAngle(angleDeg);
+    }
+
+    public double getAngle() {
+        return inputs.positionDeg;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/robot/subsystems/arm/ArmIO.java
new file mode 100644
index 0000000..8151e02
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/arm/ArmIO.java
@@ -0,0 +1,17 @@
+package frc.robot.subsystems.arm;
+
+import edu.wpi.first.wpilibj.xrp.XRPServo;
+
+public interface ArmIO {
+
+    public static class ArmIOInputs {
+        
+        public double positionDeg = 0.0;
+    
+    }
+
+    public default void updateInputs(ArmIOInputs inputs){}
+
+    public default void setAngle(double angleDeg){}
+}
+    
diff --git a/src/main/java/frc/robot/subsystems/arm/ArmIOXRP.java b/src/main/java/frc/robot/subsystems/arm/ArmIOXRP.java
new file mode 100644
index 0000000..a6adf43
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/arm/ArmIOXRP.java
@@ -0,0 +1,19 @@
+package frc.robot.subsystems.arm;
+
+import edu.wpi.first.wpilibj.xrp.XRPServo;
+
+public class ArmIOXRP implements ArmIO{
+
+    private final XRPServo armMotor = new XRPServo(4);
+
+    @Override
+    public void updateInputs(ArmIOInputs inputs) {
+        inputs.positionDeg = armMotor.getAngle();
+    }
+
+    @Override
+    public void setAngle(double angleDeg) {
+        armMotor.setAngle(angleDeg);
+    }
+    
+}