diff --git a/main/java/frc/robot/Commands/PostionsCommands/ElevatorGroundPickUp.java b/main/java/frc/robot/Commands/PostionsCommands/ElevatorGroundPickUp.java
index 3480acf..94c078f 100644
--- a/main/java/frc/robot/Commands/PostionsCommands/ElevatorGroundPickUp.java
+++ b/main/java/frc/robot/Commands/PostionsCommands/ElevatorGroundPickUp.java
@@ -1,26 +1,21 @@
-import frc.robot.subsystems.MechanicalParts.ElevatorSubsystem;
-import frc.robot.Commands.PostionsCommands;
-
-
-
 public class ElevatorGroundPickUp {
-    
-    private final Elevator elevator;
 
-    public ElevatorGroundPickUp(Elevator elevator) {
-        this.elevator = elevator;
+  private final Elevator elevator;
+
+  public ElevatorGroundPickUp(Elevator elevator) {
+    this.elevator = elevator;
 
-        addRequirements(elevator);
-    }
+    addRequirements(elevator);
+  }
 
-    @Override
-    public void execute() {
-        if (!elevator.atTargetExtent()) return;
-        elevator.setDegrees(ElevatorGroundPickUp.ElevatorPosition);
-    }
+  @Override
+  public void execute() {
+    if (!elevator.atTargetExtent()) return;
+    elevator.setDegrees(ElevatorGroundPickUp.ElevatorPosition);
+  }
 
-    @Override
-    public void end(boolean interrupted) {
-        elevator.hold();
-    }
+  @Override
+  public void end(boolean interrupted) {
+    elevator.hold();
+  }
 }
diff --git a/main/java/frc/robot/Commands/PostionsCommands/ElevatorL1.java b/main/java/frc/robot/Commands/PostionsCommands/ElevatorL1.java
index f45b543..cb195e2 100644
--- a/main/java/frc/robot/Commands/PostionsCommands/ElevatorL1.java
+++ b/main/java/frc/robot/Commands/PostionsCommands/ElevatorL1.java
@@ -1,20 +1,20 @@
 public class ElevatorL1 {
-    private final Elevator elevator;
+  private final Elevator elevator;
 
-    public ElevatorL1(Elevator elevator) {
-        this.elevator = elevator;
+  public ElevatorL1(Elevator elevator) {
+    this.elevator = elevator;
 
-        addRequirements(elevator);
-    }
+    addRequirements(elevator);
+  }
 
-    @Override
-    public void execute() {
-        if (!elevator.atTargetExtent()) return;
-        elevator.setDegrees(ElevatorL1.ElevatorPosition);
-    }
+  @Override
+  public void execute() {
+    if (!elevator.atTargetExtent()) return;
+    elevator.setDegrees(ElevatorL1.ElevatorPosition);
+  }
 
-    @Override
-    public void end(boolean interrupted) {
-        elevator.hold();
-    }
+  @Override
+  public void end(boolean interrupted) {
+    elevator.hold();
+  }
 }
diff --git a/main/java/frc/robot/Constants.java b/main/java/frc/robot/Constants.java
index 68f4e0a..8632504 100644
--- a/main/java/frc/robot/Constants.java
+++ b/main/java/frc/robot/Constants.java
@@ -65,13 +65,14 @@ public static final class ElevatorConstants {
     public static final int L3Position = 2;
     public static final int L4Position = 3;
     public static final int AlgaeNetPosition = 4;
-
   }
+
   public static final class CoralIntakeConstants {
     public static final int CoralIntakeMotor = 30;
     public static final int CoralFlatPosition = 0;
     public static final int CoralStraightPosition = 1;
   }
+
   public static final class ArmConstants {
     public static final int ArmMotor = 40;
     public static final int ArmFlatPosition = 0;
@@ -82,8 +83,9 @@ public static final class ArmConstants {
     public static final int ArmRightGroundPickUpPosition = 5;
     public static final int ArmStowedPosition = 6;
   }
+
   public static final class AlgaeIntakeConstants {
-    public static final int AlgaeIntakeMotor = 50;
+    public static final int AlgaeIntakeMotorID = 50;
   }
 
   public static final class ModuleConstants {
diff --git a/main/java/frc/robot/RobotContainer.java b/main/java/frc/robot/RobotContainer.java
index 7a21e5d..1deb78c 100644
--- a/main/java/frc/robot/RobotContainer.java
+++ b/main/java/frc/robot/RobotContainer.java
@@ -23,6 +23,8 @@
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.commands.ElevatorDown;
+import frc.robot.commands.ElevatorUp;
 import frc.robot.subsystems.Elevator;
 import java.util.List;
 
@@ -35,7 +37,7 @@
 public class RobotContainer {
   // The robot's subsystems
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
-  private final Elevator elevator = new Elevator(20);
+  private final Elevator elevator = new Elevator();
 
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
diff --git a/main/java/frc/robot/subsystems/AlgaeIntake.java b/main/java/frc/robot/subsystems/AlgaeIntake.java
index 48a6faf..7cfe895 100644
--- a/main/java/frc/robot/subsystems/AlgaeIntake.java
+++ b/main/java/frc/robot/subsystems/AlgaeIntake.java
@@ -1,3 +1,28 @@
-public class AlgaeIntake {
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class AlgaeIntake extends SubsystemBase {
+    private final CANSparkMax AlgaeIntakeMotor;
+    public AlgaeIntake(int AlgaeIntakeMotorID) {
+    AlgaeIntakeMotor =
+        new CANSparkMax(AlgaeIntakeConstants.AlgaeIntakeMotorID, CANSparkMax.MotorType.kBrushless);
     
-}
+    }
+    public void RotateRight() {
+        AlgaeIntakeMotor.set(1);
+      }
+    
+      public void down() {
+       AlgaeIntakeMotor.set(-1);
+      }
+    
+      public void hold() {
+        AlgaeIntakeMotor.set(0);
+      }
+    
+  @Override
+  public void periodic() {}
+
+  public void stop() {
+    AlgaeIntakeMotor.stopMotor();
+  }
+}   
diff --git a/main/java/frc/robot/subsystems/Arm.java b/main/java/frc/robot/subsystems/Arm.java
index 4050f0f..555c968 100644
--- a/main/java/frc/robot/subsystems/Arm.java
+++ b/main/java/frc/robot/subsystems/Arm.java
@@ -1,3 +1,6 @@
+import edu.wpi.first.wpilibj2.command.Subsystem;
+
 public class Arm {
+
     
 }
diff --git a/main/java/frc/robot/subsystems/CoralIntake.java b/main/java/frc/robot/subsystems/CoralIntake.java
index e69de29..e26c3fe 100644
--- a/main/java/frc/robot/subsystems/CoralIntake.java
+++ b/main/java/frc/robot/subsystems/CoralIntake.java
@@ -0,0 +1 @@
+public class CoralIntake {}